A dual-robot automatic drilling and riveting equipment

Abstract

A dual-robot automatic drilling and riveting equipment comprises a drilling and riveting robot, a pushing iron robot, a drilling and riveting end effector, a pushing iron end effector, a mounting base and an automatic tool changing system. The drilling and riveting robot and the pushing iron robot are slidably arranged on both sides of the mounting base, the drilling and riveting end effector and the automatic tool changing system are mounted on the drilling and riveting robot, the pushing iron end effector is mounted on the pushing iron robot, and the drilling and riveting robot and the pushing iron robot are mounted with a joint angle feedback control system for adjusting the joint angle error of the drilling and riveting robot and the pushing iron robot. The position information of the joint shafts of the drilling and riveting robot and the pushing iron robot is measured by a grating ruler and a reading head in the joint angle feedback control system, and then transmitted to a servo motor. The servo motor controls a reducer to drive the joint shafts of the drilling and riveting robot and the pushing iron robot to rotate, thereby reducing the joint angle error of the drilling and riveting robot and the pushing iron robot, and improving the positioning accuracy and repeatability accuracy of the drilling and riveting robot and the pushing iron robot.

Description

Technical Field

[0001] The invention belongs to the technical field of robot equipment, and in particular relates to a dual-robot automatic drilling and riveting equipment. Background Art

[0002] Aerospace equipment manufacturing is a basic industry of high-tech pillars, with the characteristics of intensive knowledge and technology, complex systems, and high quality and reliability requirements. Aerospace manufacturing enterprises currently have some problems, which are mainly manifested in the following two aspects: weak manufacturing technology foundation, insufficient research and application of advanced manufacturing technology, and low overall process level. Aerospace manufacturing enterprises have always followed a production and manufacturing model that focuses on research and development, single-piece and small-batch production. The manufacturing technology capabilities and levels are in a leading position in some individual aspects, but the overall process technology level is still not high; the manufacturing equipment has low flexibility and intelligence, and a large number of special tooling and fixtures are used, which is difficult to adapt to the characteristics of aerospace products with multiple varieties and small batches, increasing the production costs of enterprises, reducing the production efficiency of enterprises, and restricting the development of aerospace equipment manufacturing industry.

[0003] As an important part of the manufacturing industry, aerospace equipment manufacturing is particularly critical to the advancement, intelligence and reliability of manufacturing technology, and its development can also greatly promote the development of the manufacturing industry. As a new manufacturing model and technology, intelligent manufacturing can provide new solutions for the manufacturing of high-quality complex parts and better meet the needs of multi-variety and small-batch product production. Intelligent manufacturing can use robotics, sensing technology, and intelligent technology to realize unmanned manufacturing processes and improve product production efficiency and reliability.

[0004] In recent years, robot drilling and riveting has become a hot topic for domestic and foreign scholars. Many scholars and experts at home and abroad have analyzed the impact of robot drilling and riveting vibration on riveting quality, pointing out that in the process of robot drilling and riveting, process parameters should be optimized to avoid the vibration frequency approaching the natural frequency of the robot, and the robot posture should be reasonably planned to further improve the quality of robot drilling and riveting. Other scholars have studied the accessibility of robot drilling and riveting tools and path planning for obstacle avoidance when applying robot riveting in typical scenarios (beam-rib combination) in aerospace manufacturing and assembly.

[0005] When the existing robot drilling and riveting equipment is in use, the robot will generate external force torque due to its own weight and inertia, causing a certain deformation. In addition, gear clearance will appear when the joint moves in the reverse direction, which will increase the error of the joint rotation angle. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a dual-robot automatic drilling and riveting device.

[0007] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a dual-robot automatic drilling and riveting equipment, comprising a drilling and riveting robot, a pushing iron robot, a drilling and riveting end effector, a pushing iron end effector, a mounting base and an automatic tool changing system, the drilling and riveting robot and the pushing iron robot are slidably arranged on both sides of the mounting base, the drilling and riveting end effector and the automatic tool changing system are installed on the drilling and riveting robot to assist the drilling and riveting robot in drilling and riveting, the pushing iron end effector is installed on the pushing iron robot to perform the pushing operation of the pushing iron robot, and the drilling and riveting robot and the pushing iron robot are installed with a joint angle feedback control system for adjusting the joint angle error of the drilling and riveting robot and the pushing iron robot.

[0008] In order to optimize the above technical solution, specific measures taken also include: a servo motor and a reducer are installed on the drilling and riveting robot and the pushing iron robot, and the servo motor controls the reducer to drive the joint shafts of the drilling and riveting robot and the pushing iron robot to rotate.

[0009] Furthermore, a joint base and a connecting rod arm are installed at the joints of the drilling and riveting robot and the pushing iron robot, the joint base is a mounting carrier, and the servo motor and the reducer are both installed on the joint base, and in the drilling and riveting robot and the pushing iron robot, adjacent joint axes are connected by a connecting rod arm.

[0010] Furthermore, the joint angle feedback control system includes an encoder, a grating ruler and a reading head. The encoder is arranged on the servo motor. The encoder feeds back speed information of the servo motor. The grating ruler and the reading head are installed on the output side of each joint axis of the drilling and riveting robot and the pushing iron robot. The reading head obtains the actual position information of the joint axes of the drilling and riveting robot and the pushing iron robot through the grating ruler.

[0011] Furthermore, the grating ruler is an absolute grating ruler.

[0012] Furthermore, it also includes a control system, which includes a position controller, a speed controller, a current controller and a driver; the position controller generates a speed command and sends it to the speed controller based on the input position command and the actual position information of the joint axis obtained by the grating ruler and the reading head; the speed controller generates a current command and sends it to the current controller based on the speed command and the speed information fed back by the encoder; the driver drives the servo motor to work according to the current signal output by the current controller.

[0013] Furthermore, the top iron end effector includes a support frame, a cylinder, a damping buffer, a force sensor, a linear laser displacement sensor, an inner push rod and a replaceable top iron, the cylinder is fixedly mounted on the support frame, the damping buffer and the force sensor are mounted on the cylinder, the linear laser displacement sensor is mounted on the support frame and is used to measure the pier head height, diameter and position of the replaceable top iron, one end of the inner push rod is connected to the output end of the cylinder, and the replaceable top iron is mounted on the other end of the inner push rod.

[0014] The beneficial effects of the present invention are:

[0015] 1. The real position information of the joint axis of the drilling and riveting robot and the pushing iron robot is measured by the grating ruler and the reading head in the joint angle feedback control system, and then transmitted to the servo motor. The servo motor controls the reducer to drive the joint axis of the drilling and riveting robot and the pushing iron robot to rotate, so that the drilling and riveting robot and the pushing iron robot can accurately control the position and eliminate the error caused by the reverse clearance, thereby reducing the joint angle error of the drilling and riveting robot and the pushing iron robot, and improving the positioning accuracy and repeatability accuracy of the drilling and riveting robot and the pushing iron robot.

[0016] 2. The encoder feeds back the rotation speed information of the joint shaft of the drilling and riveting robot and the pushing iron robot to the servo motor, so that the servo motor controls the reducer to reduce the rotation speed and increase the torque, so that the joint shaft of the drilling and riveting robot and the pushing iron robot can move more flexibly.

[0017] 3. By setting up a replaceable top iron, the top iron end effector can be used in different scenarios. The height, diameter and position of the pier head of the replaceable top iron can be measured by a linear laser displacement sensor, thereby improving the accuracy of the top iron end effector in top ironing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the top view of the structure of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of the drilling and riveting end effector used to embody the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the KUKA industrial robot used in the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of the top iron end effector of the present invention;

[0023] Figure 6 It is a schematic diagram of the structure of the joint angle feedback control system of the present invention;

[0024] Figure 7 A system block diagram for reflecting the operation of the joint angle feedback control system of the present invention;

[0025] Figure 8 It is a schematic diagram of the structure of the joint angle feedback control system of the present invention for six axis positions of a KUKA industrial robot;

[0026] Fig. 9 This is a system configuration diagram of the 840Dsl numerical control system directly driving the robot in an embodiment of the present invention.

[0027] In the figure: 1. Drilling and riveting robot, 2. Pushing iron robot, 3. Drilling and riveting end effector, 4. Pushing iron end effector, 41. Support frame, 42. Cylinder, 43. Damping buffer, 44. Force sensor, 45. Line laser displacement sensor, 46. Inner push rod, 47. Replaceable push iron, 5. Mounting base, 6. Automatic tool changing system, 7. Joint angle feedback control system, 71. Encoder, 72. Grating ruler, 73. Reading head, 8. Servo motor, 9. Reducer, 10. Joint base, 11. Link arm. DETAILED DESCRIPTION

[0028] The present invention will now be described in further detail with reference to the accompanying drawings.

[0029] See also Figure 1-2 A dual-robot automatic drilling and riveting equipment is characterized in that it includes a drilling and riveting robot 1, a pushing iron robot 2, a drilling and riveting end effector 3, a pushing iron end effector 4, a mounting base 5 and an automatic tool changing system 6. The drilling and riveting robot 1 and the pushing iron robot 2 are slidably arranged on both sides of the mounting base 5. The drilling and riveting end effector 3 and the automatic tool changing system 6 are installed on the drilling and riveting robot 1 to assist the drilling and riveting robot 1 in drilling and riveting. The pushing iron end effector 4 is installed on the pushing iron robot 2 to perform the pushing iron operation of the pushing iron robot 2.

[0030] In this embodiment, the main processing products of the dual robot automatic drilling and riveting equipment are metal cabin sections. It mainly performs drilling and riveting tasks on cabin sections with a diameter of 1400 mm and cabin sections with a maximum diameter of 1700 mm, completes the processing of the bracket connection holes on the cabin sections, enables the brackets to be pre-connected with the cabin body components, and provides conditions for subsequent automatic drilling and riveting processing of the brackets and the cabin body.

[0031] Furthermore, the dual-robot automatic drilling and riveting equipment also includes a dust removal system, a video monitoring system, a processing area safety protection system and a handheld operating unit. The dust removal system, the video monitoring system, the processing area safety protection system and the handheld operating unit are used to improve the cleanliness of the construction environment and ensure the safety of personnel in the construction environment.

[0032] See also Figure 3 The drilling and riveting end effector 3 includes a modular integrated spindle system, a machine vision reference hole position detection system, a normal alignment pressure foot system, a nail insertion and feeding system, and a riveting system. The drilling and riveting end effector 3 has the functions of reference detection, normal alignment, automatic drilling, countersinking and pneumatic riveting, and can realize drilling and riveting processing, detection and other functions, including pressure foot clamping, feed control, spindle speed change, tool detection, countersink depth detection, and compared with general end effectors, the particularity of the drilling and riveting end effector 3 is mainly reflected in: highly modular core components, high reliability of the control system, and optimized design of core modules. The tool of the drilling and riveting end effector 3 of the dual robot automatic drilling and riveting equipment adopts the integrated form of drilling, reaming and countersinking. The drilling diameter range is φ2.5mm~φ10mm, and the hole spacing accuracy is: 0.2mm; the reference detection accuracy is: 0.05mm; the countersink depth detection accuracy is: 0.05mm, the drilling spindle circular runout: 0.005mm, and the hole diameter tolerance is H7; the riveting rivet diameter range is φ2.5mm~φ6mm, the rivet head height error is: 0.1mm, and the rivet head diameter error is: 0.1mm.

[0033] See also Figure 4 Taking into account the robot's stability, payload, motion range, control accuracy and other requirements, the robot body of the dual-robot automatic drilling and riveting system uses the KR480 robot and KR340 robot produced by Germany's KUKA company. The drilling and riveting robot 1 can be a KR480 robot, and the jacking robot 2 can be a KR340 robot. The KR480 robot realizes automatic hole making and automatic riveting tasks, and the KR340 robot realizes automatic tightening work.

[0034] See also Figure 5 The top iron end effector 4 includes a support frame 41, a cylinder 42, a damping buffer 43, a force sensor 44, a linear laser displacement sensor 45, an inner push rod 46 and a replaceable top iron 47. The cylinder 42 is fixedly mounted on the support frame 41, the damping buffer 43 and the force sensor 44 are mounted on the cylinder 42, the linear laser displacement sensor 45 is mounted on the support frame 41, and is used to measure the pier head height, diameter and position of the replaceable top iron 47. One end of the inner push rod 46 is connected to the output end of the cylinder 42, and the replaceable top iron 47 is mounted on the other end of the inner push rod 46.

[0035] In this embodiment, the top iron end effector 4 is provided with a buffer device to prevent damage to the workpiece, and is equipped with a special replaceable top rod to meet the application requirements of different occasions. In addition, the top iron end effector 4 is also equipped with an active floating mechanism.

[0036] Furthermore, the top iron end effector 4 adopts a Keyence line laser displacement sensor, which can measure the pier head height, pier head diameter, and pier head position of the replaceable top iron 47. The line width of the line laser scanner can reach 30-40mm, and the sampling frequency can reach 60khz, which can meet the measurement of the surface of the riveted workpiece when the top iron robot 2 moves. The Z-axis accuracy can reach 0.01mm, and the X-axis accuracy can reach 0.01mm. Combined with the top iron robot 2 for scanning movement, it can meet the requirements of pier head height accuracy: 0.1mm, and pier head diameter accuracy: 0.1mm.

[0037] See also Figure 6 A joint base 10 and a connecting rod arm 11 are installed at the joints of the drilling and riveting robot 1 and the top iron robot 2. The joint base 10 is a mounting carrier, and the servo motor 8 and the reducer 9 are both installed on the joint base 10. The two adjacent joint axes of the drilling and riveting robot 1 and the top iron robot 2 are connected through the connecting rod arm 11. The drilling and riveting robot 1 and the top iron robot 2 are installed with a joint angle feedback control system 7 for adjusting the joint angle error of the drilling and riveting robot 1 and the top iron robot 2, wherein the joint angle feedback control system 7 includes an encoder 71, a grating ruler 72 and a reading head 73. The encoder 71 is arranged on the servo motor 8. The encoder 71 is used to feedback the information of the joint axis rotation speed of the drilling and riveting robot 1 and the top iron robot 2 to the servo motor 8. The grating ruler 72 and the reading head 73 are installed on the output side of the joint axis of the drilling and riveting robot 1 and the top iron robot 2. The reading head 73 obtains the actual position information of the joint axis of the drilling and riveting robot 1 and the top iron robot 2 through the grating ruler 72, and transmits it to the servo motor 8.

[0038] In the embodiment, the drilling and riveting robot 1 and the pushing iron robot 2 need to be driven by the servo motor 8 through the reducer 9 to drive the joint shafts of the drilling and riveting robot 1 and the pushing iron robot 2 to rotate, and the real position information of the joint shafts of the drilling and riveting robot 1 and the pushing iron robot 2 is measured by the grating ruler 72 and the reading head 73 in the joint angle feedback control system 7, and then transmitted to the servo motor 8, and the reducer 9 is controlled by the servo motor 8 to drive the joint shafts of the drilling and riveting robot 1 and the pushing iron robot 2 to rotate, so as to improve the ability of the drilling and riveting robot 1 and the pushing iron robot 2 to reach the command position, so that the drilling and riveting robot 1 and the pushing iron robot 2 can accurately control the position, eliminate the error caused by the reverse clearance, and then reduce the joint angle error of the drilling and riveting robot and the pushing iron robot, and improve the positioning accuracy and repeatability of the drilling and riveting robot 1 and the pushing iron robot 2.

[0039] See also Figure 7, also includes a control system, the control system includes a position controller, a speed controller, a current controller and a driver; the position controller generates a speed command and sends it to the speed controller according to the input position command and the actual position information of the joint axis obtained by the grating ruler 72 and the reading head 73; the speed controller generates a current command and sends it to the current controller according to the speed command and the speed information fed back by the encoder 71; the driver drives the servo motor 8 to work according to the current signal output by the current controller, and installs an absolute grating ruler at the six joints of the drilling and riveting robot 1 and the top iron robot 2, and directly feeds back the grating signal to the control unit of the numerical control system for position closed-loop control, wherein the second measurement system provides position loop control, the first measurement system provides speed loop and current loop, the first measurement system is the encoder of the servo motor, which feeds back position and speed information to the servo motor; the reducer can reduce the speed and increase the torque, so that the robot joints can move more flexibly and flexibly; the servo motor is installed at the joints of the drilling and riveting robot 1 and the top iron robot 2, as the drilling and riveting robot 1 and the top iron robot 2 The execution unit provides power for the articulated arm; the joint bodies of the drilling and riveting robot 1 and the top iron robot 2 are cast articulated arm structures, which are installation carriers for servo motors, reducers, etc.; the connecting rod arms of the drilling and riveting robot 1 and the top iron robot 2 are structures connected by two joint shafts; the second measurement system is mainly composed of a grating ruler and a reading head, which can feedback the actual position of the robot joint shaft in real time and output it to the driver as a position loop feedback, thereby improving the positioning accuracy and repeat positioning accuracy of the joint shaft, wherein the control system directly performs position closed-loop feedback processing, and the processing process is to first calculate the measurement transmission ratio of the second measurement system and the first measurement system, and then activate the second measurement system in the numerical control system, and configure the absolute grating ruler as the second measurement system to the numerical control system to realize drive closed-loop feedback control. Compared with joint angle feedback control in the host computer software, position closed-loop control in the driver can realize real-time feedback of the robot joint angle value, and the real-time performance and compensation effect are better than those processed in the host computer, thereby effectively improving the absolute positioning accuracy and trajectory accuracy of the drilling and riveting robot 1 and the top iron robot 2.

[0040] Furthermore, the input of the current loop is the output of the speed loop after PID adjustment, the feedback of the current loop is fed back by the Hall element installed in each phase inside the driver, the main function of the current loop is to control the motor torque, the input of the speed loop comes from the output of the position loop after PID adjustment, the feedback of the speed loop is obtained by the value of the encoder feedback through the speed operator, the input of the position loop comes from the pulse feedback of the external encoder 71, the position setting value and the actual value of the encoder 71 feedback are output to the speed loop after PID adjustment of the position loop. Through the position loop, speed loop and current loop, it is obtained that the voltage maps the change of current, the current maps the torque size, the torque size maps the change of speed, and the speed maps the change of position, so as to accurately control the operation of the motor.

[0041] See also Figure 8 By adding an external closed-loop joint angle feedback control system 7 to the standard KUKA industrial robot A1-A6 axis and combining it with a precision algorithm, the absolute positioning accuracy of the KUKA industrial robot can be effectively improved to 0.2mm, and the position repeatability accuracy can be improved to 0.04mm.

[0042] See also Fig. 9Considering that the Siemens CNC system 840Dsl has good dynamic responsiveness and high interpolation accuracy, it has the permission to modify the kinematic parameters and dynamic parameters of the open robot DH. The grating can be configured to the joint axes of the drilling and riveting robot 1 and the top iron robot 2 for joint servo control, and it has a variety of precision compensation modules. By modifying the controllers of the drilling and riveting robot 1 and the top iron robot 2, and combining advanced precision control technology to improve the absolute and repeated positioning accuracy of the robot, it can meet the needs of high-precision aviation processing work. The system uses Siemens CNC Sinumerik840Dsl or well-known brands with equivalent performance; the system uses a Chinese operating interface, can set up a catalog management product program, configure WINDOWS 7 or above operating platform, and call subroutines and macro programs; the spindle and feed system uses Siemens 840D book-type servo drive system and Siemens IP65 or above servo motors or well-known brands with equivalent performance; the hard disk is ≥40G, the memory is ≥4GB, and the user storage area is ≥10MB; it provides a device model running under DELMIA simulation software, and uses program codes under DELMIA simulation software to perform 3D entity motion interference inspection and CNC program operation simulation on the device; it has a post-processor, which can easily realize CATIA-based V5R18 3D model interactive graphical or modular automatic offline programming; automatically compiled programs are readable, editable, and have program lock functions; equipped with a handheld operating unit with LCD display, which contains the function of controlling the movement of each coordinate, but does not have the function of operating the spindle; the control system has a user login authority classification function, which is convenient for customers to set operator authority (people with different authorities perform different levels of operation and maintenance on the equipment); the equipment has Chinese versions of running time, spindle running time, and processing time data recording and display; it has the function of real-time video monitoring of working conditions. The description of controlling the robot joint servo motor, NCU as the most important control unit in the system, is responsible for NC. All are system configuration diagrams that directly drive the robot through the 840Dsl CNC system, remove the robot's own controller, and use the Siemens S120 driver function, including robot interpolation algorithm processing. Combining the advantages of Siemens 840Dsl direct drive solution, absolute grating rulers can be installed at the robot joints, and then the grating signals can be fed back to the S120 driver for full closed-loop position control, which can effectively reduce the joint angle error and improve the positioning and trajectory accuracy of drilling and riveting robot 1 and pushing iron robot 2. In addition, the tool management module built into the CNC system can uniformly manage the end tools of drilling and riveting robot 1, and can also perform online diagnosis and processing of drilling and riveting robot 1 and pushing iron robot 2 faults, and has various software and hardware fault automatic diagnosis functions, etc. These auxiliary functions can improve the robot's processing efficiency.

[0043] Furthermore, in order to improve the control efficiency of the dual-robot automatic drilling and riveting equipment, a set of offline programming software and simulation software for the assembly system is adopted. Under the premise of unified management, the system has the output of CNC programs, and has the ability to simulate digital models, and respond to interference and collision problems; the offline programming software can easily realize three-dimensional digital model interaction or modular hole making, riveting process path planning programming, and has post-processing functions; it can be used in the CAITIA V5R18 software environment; the offline programming software can extract the point information of standard parts in the digital model file, generate processing path points, and automatically generate the normal information of the path points; the offline programming software can sort the selected path points according to different sorting rules, generate processing sequences, and the automatically compiled program is readable, editable and modifiable, and has program locking functions. The system is mainly composed of UI layer, application layer, data layer and support layer. Support layer: select the system development platform and development tools; data layer: select the software database development tools and perform background processing and storage of the system's application data and calculation results; application layer: the main functional layer of the software, including the functional modules of the system's processing task offline planning system; UI layer: the functional interface developed by the software to realize the human-computer interaction function.

[0044] The specific composition of the system is as follows:

[0045]

[0046] Working principle:

[0047] First, the various components of the product are pre-assembled manually offline and the reference holes are processed. Then, the product is transferred to the workpiece area and fixed by a mobile intelligent handling robot.

[0048] Then, holes are made through the drilling and riveting end effector 3. During the hole making process, the riveting robot 1 and the pushing iron robot 2 need to use the servo motor 8, which drives the joint shafts of the drilling and riveting robot 1 and the pushing iron robot 2 to rotate after passing through the reducer 9. The real position information of the joint shafts of the drilling and riveting robot 1 and the pushing iron robot 2 is measured by the grating ruler 72 and the reading head 73 in the joint angle feedback control system 7, and then transmitted to the servo motor 8. The reducer 9 is controlled by the servo motor 8 to drive the joint shafts of the drilling and riveting robot 1 and the pushing iron robot 2 to rotate, thereby improving the hole making accuracy. After the hole making is completed, the pushing iron robot 2 cooperates with the drilling and riveting robot 1 to rivet the cabin; after the hole making and riveting in the current drilling and riveting area are completed, the mounting base 5 is rotated to the next drilling and riveting area to perform drilling and riveting of the next assembly area of ​​the product until the drilling and riveting tasks of all cabins of the product are completed.

[0049] Finally, after the cabin body is processed, it is transferred to the manual hole making / riveting station by a mobile intelligent handling robot.

[0050] It should be noted that the terms such as "upper", "lower", "left", "right", "front", "back", etc. cited in the invention are only for the convenience of description and are not used to limit the scope of implementation of the present invention. Changes or adjustments in their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0051] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A dual-robot automatic drilling and riveting equipment, characterized in that: The invention comprises a drilling and riveting robot (1), a pushing iron robot (2), a drilling and riveting end effector (3), a pushing iron end effector (4), a mounting base (5), and an automatic tool changing system (6); the drilling and riveting robot (1) and the pushing iron robot (2) are slidably arranged on both sides of the mounting base (5); the drilling and riveting end effector (3) and the automatic tool changing system (6) are mounted on the drilling and riveting robot (1) and are used to assist the drilling and riveting robot (1) in drilling and riveting; the pushing iron end effector (4) is mounted on the pushing iron robot (2) and is used to perform a pushing operation of the pushing iron robot (2); and the drilling and riveting robot (1) and the pushing iron robot (2) are mounted with a joint rotation angle feedback control system (7) for adjusting the joint rotation angle error of the drilling and riveting robot (1) and the pushing iron robot (2); A servo motor (8) and a reducer (9) are installed on the drilling and riveting robot (1) and the pushing iron robot (2); the servo motor (8) controls the reducer (9) to drive the joint axes of the drilling and riveting robot (1) and the pushing iron robot (2) to rotate; The top iron end effector (4) comprises a support frame (41), a cylinder (42), a damping buffer (43), a force sensor (44), a linear laser displacement sensor (45), an inner push rod (46) and a replaceable top iron (47); the cylinder (42) is fixedly mounted on the support frame (41); the damping buffer (43) and the force sensor (44) are mounted on the cylinder (42); the linear laser displacement sensor (45) is mounted on the support frame (41) and is used to measure the pier head height, diameter and position of the replaceable top iron (47); one end of the inner push rod (46) is connected to the output end of the cylinder (42); the replaceable top iron (47) is mounted on the other end of the inner push rod (46); the top iron end effector (4) is provided with a buffer device and a replaceable push rod; the top iron end effector (4) is also provided with an active floating mechanism; The joint angle feedback control system (7) comprises an encoder (71), a grating ruler (72), a reading head (73), and a control system, wherein the encoder (71) is arranged on a servo motor (8), the encoder (71) feeds back speed information for the servo motor (8), the grating ruler (72) and the reading head (73) are installed on the output side of each joint axis of the drilling and riveting robot (1) and the pushing iron robot (2), and the reading head (73) obtains actual position information of the joint axes of the drilling and riveting robot (1) and the pushing iron robot (2) through the grating ruler (72); the control system comprises a position controller, a speed controller, a current controller, and a driver; the position controller generates a speed command according to an input position command and actual position information of the joint axis obtained by the grating ruler (72) and the reading head (73), and sends the command to the speed controller; the speed controller generates a current command according to the speed command and the speed information fed back by the encoder (71), and sends the command to the current controller; the driver drives the servo motor (8) to work according to a current signal output by the current controller; The first measurement system provides speed loop and current loop control, and the second measurement system provides position loop control; the first measurement system is an encoder (71) provided by the servo motor (8), which feeds back position and speed information to the servo motor (8); The second measurement system is composed of a grating ruler (72) and a reading head (73), and is used to feed back the actual position of the robot joint axis in real time and output it to the driver as position loop feedback; the control system directly performs position closed-loop feedback processing, and the processing process is to first calculate the measurement transmission ratio of the second measurement system and the first measurement system, then activate the second measurement system in the numerical control system, and configure the grating ruler (72) as the second measurement system in the numerical control system to realize drive closed-loop feedback control; The input of the current loop is the output of the speed loop after PID adjustment. The feedback of the current loop is fed back by the Hall element installed in each phase inside the driver. The function of the current loop is to control the motor torque. The input of the speed loop comes from the output of the position loop after PID adjustment. The feedback of the speed loop is obtained by the value fed back by the encoder (71) through the speed operator. The input of the position loop comes from the pulse feedback from the external encoder (71). The position set value and the actual value fed back by the encoder (71) are adjusted by the position loop PID and then output to the speed loop.

2. The dual-robot automatic drilling and riveting equipment according to claim 1 is characterized in that: A joint base (10) and a connecting rod arm (11) are installed at the joints of the drilling and riveting robot (1) and the pushing iron robot (2); the joint base (10) is a mounting carrier, and the servo motor (8) and the reducer (9) are both installed on the joint base (10); in the drilling and riveting robot (1) and the pushing iron robot (2), adjacent joint axes are connected via the connecting rod arm (11).

3. The dual-robot automatic drilling and riveting equipment according to claim 1 is characterized in that: The grating ruler (72) is an absolute grating ruler.

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