Drilling and riveting system and working method

Abstract

This invention provides a drilling and riveting system and its working method, relating to the field of machining equipment technology. It includes a rotary positioning system and a mobile robot platform. The rotary positioning system positions and mounts the product to be processed, and drives the product to rotate around an axis at a positioning center. The mobile robot platform is located on one side of the rotary positioning system and includes an AGV (Automated Guided Vehicle) mobile platform and an actuator. The actuator is mounted on the end of a robotic arm on the AGV mobile platform, and the AGV mobile platform moves along a designated path between an initial position and a working area. By rotating the product to be processed through a rotary platform, and by placing the mobile robot platform on one side of the rotary platform, the problem of repeated positioning of the mobile robot platform is eliminated, which helps save equipment space. Furthermore, the motion control process of the mobile robot platform, which does not require repeated positioning, is simple.

Description

Technical Field

[0001] This invention relates to the field of machining equipment technology, specifically to a drilling and riveting system and its working method. Background Technology

[0002] Riveting and assembly play a vital role in aircraft manufacturing. It is estimated that aircraft assembly labor accounts for about 40%-50% of the total aircraft manufacturing labor, of which riveting accounts for about 30%. With the continuous improvement of aircraft performance requirements, people are paying more and more attention to riveting quality to meet the requirements of stable quality, high production rate and long fatigue life.

[0003] A Chinese patent application with authorization publication number CN107932081B discloses a form-position adaptive automatic drilling and riveting system and its usage method. The mobile platform includes a base and casters installed at the lower end of the base. The mobile platform can move omnidirectionally outside the cabin and frame. It integrates a CNC system, a positioning and navigation system, a vision sensing system, a hand-eye and force-position hybrid control system, and a measurement system. The mobile robotic arm is fixed to one side of the upper end of the mobile platform and includes a robotic arm and an end effector. The frame includes an upper positioning plate, a lower positioning plate, a base, a support arm shaft, and a rotating support arm. The lower end of the base is fixed to the foundation, and the upper end is equipped with the lower positioning plate. The lower positioning plate is connected to the upper positioning plate through the support arm shaft, and the rotating support arm is assembled on the support arm shaft.

[0004] In existing drilling and riveting systems, the mobile platform needs to move omnidirectionally outside the cabin and frame, requiring a large amount of space and a complicated motion control process, which needs improvement. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this invention is to provide a drilling and riveting system and its working method.

[0006] According to the present invention, a drilling and riveting system includes a rotary positioning system and a mobile robot platform; the rotary positioning system positions and installs the product to be processed, and the rotary positioning system drives the product to be processed to rotate around the axis of the positioning center; the mobile robot platform is disposed on one side of the rotary positioning system, and the mobile robot platform includes an AGV mobile platform and an actuator, the actuator being installed at the end of the robotic arm on the AGV mobile platform, and the AGV mobile platform moving between an initial position and a working area along a specified path.

[0007] Preferably, the bottom of the AGV mobile platform is provided with a first liftable caster, and the bottom of the AGV mobile platform is also provided with an optical sensor; a colored guide is provided on the ground between the initial position of the AGV mobile platform and the working area, and the optical sensor identifies the colored guide and causes the AGV mobile platform to move along the trajectory of the colored guide.

[0008] Preferably, the bottom of the AGV mobile platform is equipped with a scanner, and when the scanner detects an approaching object in the monitoring area, the actuator safely stops.

[0009] Preferably, the AGV mobile platform is equipped with an automatic tool changer, a rivet rack, and a test plate rack; the robotic arm allows the actuator to move to the automatic tool changer to change tools, the robotic arm allows the actuator to move to the rivet rack to obtain rivets, and the robotic arm allows the actuator to move to the test plate rack to perform operation tests.

[0010] Preferably, the actuator integrates an automatic positioning device, a drilling device, an adhesive application device, and a riveting device.

[0011] Preferably, the rotary positioning system includes a tooling platform and a rotary platform, the rotary platform being rotatably mounted on the tooling platform, and the mobile robot platform being disposed on one side of the tooling platform.

[0012] Preferably, the rotating platform includes a frame frame, a frame support, and a rotating frame. The frame frame is fastened to the frame support by positioning and fixing devices, and the frame support is fastened to the rotating frame by fasteners. The bottom of the tooling platform is provided with an annular guide rail, and the bottom of the rotating frame is provided with casters. The casters are mounted on the annular guide rail and allow the rotating frame to rotate around the central axis of the annular guide rail.

[0013] Preferably, the top of the rotating frame is provided with a platform pattern plate; when the platform pattern plate is in the normal state, the platform pattern plate closes the top of the rotating frame; when the platform pattern plate is in the folded state, the top of the rotating frame is connected to the interior of the fuselage frame.

[0014] Preferably, the rotating frame is provided with an internal entry ladder and an internal lifting platform. The internal entry ladder is used for operators to enter the rotating platform. The internal lifting platform is used to lift operators to the top outer surface of the rotating frame when the platform's patterned plate is in a folded state.

[0015] According to the present invention, a method for operating a drilling and riveting system includes the following steps: positioning and installation: the product to be processed is positioned and installed on the rotating platform of the rotary positioning system; platform movement: the AGV mobile platform moves from its initial position along a designated path to the working area; drilling and riveting: the robotic arm drives the actuator to sequentially perform positioning, drilling, gluing, and riveting operations on the surface of the product to be processed near the working area; rotation and surface changing: the rotating platform drives the product to be processed to rotate around the axis of the positioning center, rotating one unprocessed surface of the product to be processed to the working area near the actuator; the drilling and riveting process and rotation and surface changing are repeated until all surfaces of the product to be processed have been processed, and then the equipment is reset.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. This invention uses a rotating platform to drive the product to be processed to rotate, and sets a mobile robot platform on one side of the rotating platform, which eliminates the problem of repeated movement and positioning of the mobile robot platform, helps to save the space occupied by the equipment, and the motion control process of the mobile robot platform is simple without repeated positioning.

[0018] 2. This invention solves the problems of difficulty and cumbersome process in manually operating a mobile platform to locate itself in the work area by using optical sensors and colored markings on the ground along the driving route.

[0019] 3. By employing a scanner, this invention avoids safety issues such as personnel injury or product damage during the operation of the AGV mobile platform. Attached Figure Description

[0020] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0021] Figure 1 This is a schematic diagram illustrating the overall structure of the drilling and riveting system of this invention;

[0022] Figure 2 This is a schematic diagram illustrating the overall structure of the rotating platform, which is the main feature of this invention.

[0023] Figure 3 This is a schematic diagram illustrating the overall structure of the movable drill template, which is the main feature of this invention.

[0024] Figure 4 This is a schematic diagram illustrating the overall structure of the mobile robot platform, which is the main feature of this invention.

[0025] Figure 5 This is a schematic diagram illustrating the bottom structure of the AGV mobile platform, which is the main feature of this invention.

[0026] Figure 6This is a schematic diagram illustrating the overall structure of the actuator, which is the main feature of this invention.

[0027] As shown in the figure:

[0028] Rotary platform 1, coupling 211, optical sensor 317

[0029] Frame 101, AGV mobile platform 3, support legs 318

[0030] Frame support 102, scanner 301, junction box 319

[0031] Platform patterned plate 103, cooler 302, actuator 4

[0032] Lifting platform 104, robotic arm 303, spindle 401

[0033] Internal access ladder 105, hydraulic system 304, rivet transmission device 402

[0034] Rotary frame 106, Lubrication system 305, Rivet adhesive 403

[0035] Turntable 107, Teach pendant 306, Rivet mold 404

[0036] Circular guide rail 108, test plate holder 307, camera 405

[0037] Mobile Drill Template 2, Control Panel 308, Vision System 406

[0038] Mobile frame 201, robot electrical cabinet 309, nozzle 407

[0039] Drill template 202, Vacuum system 310, Thickness measurement module 408

[0040] Guide rail 203, First electrical cabinet 311, Pneumatic control 409

[0041] Linear cylinder 204, rivet bracket 313, electrical connection 410

[0042] 205 template guide rail, 314 automatic tool changer, 411 pressure foot

[0043] Clamping cylinder 207, scrap bin 315, tooling platform 5

[0044] Drive motor 209 First caster 316 Detailed Implementation

[0045] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0046] like Figure 1 and Figure 2 As shown, a drilling and riveting system and working method according to the present invention includes a rotary positioning system and a mobile robot platform. The rotary positioning system positions and mounts the product to be processed, and drives the product to be processed to rotate around the axis of the positioning center. The mobile robot platform is disposed on one side of the rotary positioning system. The mobile robot platform includes an AGV mobile platform 3 and an actuator 4. The actuator 4 is mounted on the end of a robotic arm 303 on the AGV mobile platform 3. The AGV mobile platform 3 moves along a designated path between an initial position and a working area.

[0047] Specifically, the rotary positioning system includes a tooling platform 5, a rotary platform 1, and a movable drilling template 2. The rotary platform 1 is rotatably mounted on the tooling platform 5. A set of movable drilling templates 2 is movable on the tooling platforms 5 on both sides of the rotary platform 1. The two sets of movable drilling templates 2 are arranged opposite to each other, and the two sets of movable drilling templates 2 are close to or far away from each other.

[0048] The rotating platform 1 includes a frame 101, a frame support 102, and a rotating frame 106. The frame 101 is fastened to the frame support 102 by positioning and fixing devices, and the frame support 102 is fastened to the rotating frame 106 by fasteners. The bottom of the tooling platform 5 is provided with an annular guide rail 108, and the bottom of the rotating frame 106 is provided with casters. The casters are mounted on the annular guide rail 108 and allow the rotating frame 106 to rotate around the central axis of the annular guide rail 108.

[0049] More specifically, in the rotating platform 1, there is some filler material between the fuselage frame 101 and the fuselage skin, and temporary fasteners are driven into pre-drilled pre-assembly holes for initial connection. The fuselage frame 101 and the fuselage skin together constitute the mid-forward component of the aircraft, which is fixed by a conformal frame. The mid-forward component of the aircraft and the conformal frame constitute the main frame. It is connected to the frame support 102 by positioning and fixing devices, and the frame support 102 is fixed to the top of the rotating frame 106 by screws and other fixing materials.

[0050] Furthermore, a platform patterned plate 103 is provided on the top of the rotating frame 106. When the platform patterned plate 103 is in its normal state, it closes the top of the rotating frame 106. When the platform patterned plate 103 is in its folded state, the top of the rotating frame 106 is connected to the interior of the fuselage frame 101. An internal entry ladder 105 and an internal lifting platform 104 are provided inside the rotating frame 106. The internal entry ladder 105 is used for operators to enter the rotating platform 1. The internal lifting platform 104 is used to lift operators onto the top outer surface of the rotating frame 106 when the platform patterned plate 103 is in its folded state.

[0051] Furthermore, an internal lifting platform 104 is provided inside the rotating frame 106, and an internal entry ladder 105 is provided for manual entry into the rotating positioning system to make holes. The bottom of the rotating frame 106 is equipped with a leveling base plate and a turntable 107, and the rotating frame 106 can rotate in a fixed position via casters on the bottom steel annular guide rail 108 under the drive of the motor configured on the turntable 107.

[0052] like Figure 1 and Figure 3 As shown, the movable drill template 2 includes a drill template, a movable frame 201, and a linear cylinder 204. The drill template is located on the side of the movable frame 201 close to the rotating platform 1. The linear cylinder 204 drives the movable frame 201 to contract or expand.

[0053] More specifically, the movable frame 201 includes a guide rail 203 and a movable frame body. A set of movable frame bodies is provided on each side of the guide rail 203, and a drill template 202 is provided on the inner side of each set of movable frame bodies. Linear cylinders 204 are correspondingly arranged with the movable frame bodies, and each linear cylinder 204 drives its corresponding movable frame body to reciprocate along the length of the guide rail 203. A clamping cylinder 207 is also provided on the movable frame 201. A frame guide rail 205 is provided on the tooling platform 5. A set of frame guide rails 205 is provided on each side of the rotating platform 1 on the tooling platform 5. The two sets of frame guide rails 205 are arranged opposite each other, and the length direction of each set of frame guide rails 205 is parallel to the direction in which the two sets of movable drill templates 2 approach or move away from each other.

[0054] Further explanation: In the movable drill template 2, the drill template 202 is fixed on the movable frame 201, and the movable frame 201 is driven by the linear cylinder 204 to continuously approach the main frame along the guide rail 203. The main frame includes a main frame positioning. With the help of the main frame positioning, the movable frame 201 reaches the designated position and is connected to the main frame by the clamping cylinder 207.

[0055] Each set of template guide rails 205 includes two parallel template guide rails 205. The bottom of the movable template 201 is installed inside the template guide rails 205. Under the action of the driving component, the template guide rails 205 drive the movable template 201 to move closer to or away from the rotating platform 1. Taking one set of template guide rails 205 as an example, the movable template 201 with a drill template is fixed on the sliders in the two template guide rails 205 respectively. One of the template guide rails 205 is equipped with a driving component, which is a drive motor 209. The drive motor 209 provides power to drive the gears on the template guide rail 205 to rotate. The power is transmitted to the adjacent template guide rail 205 without a drive motor 209 by a coupling 211, thereby driving the movable template 201 to the position where the movable template 201 and the main template are about to perform the fitting operation.

[0056] It should be noted that the drive system on the frame guide rail 205 of this application can be a sprocket drive system, belt drive system, gear and rack drive system, etc., as in the prior art.

[0057] like Figure 1 , Figure 4 , Figure 5 as well as Figure 6 As shown, specifically, the AGV mobile platform 3 includes a scanner 301, a cooler 302, a robotic arm 303, a hydraulic system 304, a lubrication system 305, a teach pendant 306, a test plate rack 307, a control panel 308, a robot electrical cabinet 309, a vacuum system 310, a first electrical cabinet 311, a rivet rack 313, an automatic tool changer 314, a scrap bin 315, first casters 316, an optical sensor 317, support legs 318, and a junction box 319. The actuator 4 and the robotic arm 303 are both wired to the robot electrical cabinet 309, and the teach pendant 306 and the control panel 308 are also wired to the robot electrical cabinet 309. Depending on the specific operational requirements, operation is performed using either the control panel 308 or the teach pendant 306.

[0058] Two scanners 301 are installed at the bottom of the AGV mobile platform 3 and are connected to the first electrical cabinet 311 on the AGV mobile platform 3 via wires. The scanner 301 is an optical safety sensor that uses the diffuse reflection of pulsed laser to determine the position of objects entering the predefined monitoring area. It detects approaching objects during drilling and riveting work and controls the overall actuator 4 to stop safely when it affects the normal operation area.

[0059] The AGV mobile platform 3 is equipped with liftable first casters 316 at its bottom, and also with optical sensors 317. A colored guide wire is laid on the ground between the initial position of the AGV mobile platform 3 and the working area. The optical sensors 317 identify the colored guide wire and cause the AGV mobile platform 3 to move along its trajectory. Specifically, each of the four corners of the bottom of the AGV mobile platform 3 is equipped with a liftable first caster 316, and all four first casters 316 are wired to the first electrical cabinet 311 via their respective junction boxes 319. Two of the first casters 316 are equipped with optical sensors 317, allowing them to automatically travel along the pre-set colored guide wire on the ground to the designated working area. Support legs 318 provide platform support and fixation after the first casters 316 are lowered.

[0060] The AGV mobile platform 3 is equipped with an automatic tool changer 314, a rivet rack 313, and a test plate rack 307. A robotic arm 303 allows the actuator 4 to move to the automatic tool changer 314 for tool changing, to the rivet rack 313 to retrieve rivets, and to the test plate rack 307 for work testing. Specifically, the AGV mobile platform 3 is equipped with an automatic tool changer 314 providing different types of tools and a rivet rack 313 suitable for storing rivets for different types of holes. The spindle 401 of the actuator 4 can automatically change tools and select rivets for pre-work testing on the test plate rack 307 according to the requirements of the working hole and the required rivets.

[0061] The cooler 302, hydraulic system 304, lubrication system 305, and vacuum system 310 on the AGV mobile platform 3 are all wired to the first electrical cabinet 311. The cooler 302 and the spindle 401 on the actuator 4 are connected via a water-cooled liquid mixing circuit to maintain a constant temperature within the motor of the spindle 401. The hydraulic system 304 consists of a closed circuit of compressed oil between the pump and the spindle 401, controlling the clamping and loosening of the tool holder on the spindle 401. The lubrication system 305 delivers lubricating oil to the cutting end via pipes and the spindle 401, controlling the temperature of the drilling tool and extending its service life. The vacuum system 310 is fixed to the AGV mobile platform 3, and a chip extraction system is placed within the column support of the vacuum system 310 to remove dust and fumes generated during machining.

[0062] Actuator 4 integrates an automatic positioning device, a drilling device, a gluing device, and a riveting device. Actuator 4 includes a spindle 401, a rivet transmission device 402, a rivet gluing device 403, a rivet die 404, a camera 405, a vision system 406, a nozzle 407, a thickness measurement module 408, a pneumatic control system 409, an electrical connection 410, and a pressure foot 411. The automatic positioning device includes the camera 405 and the vision system 406; the drilling device includes the spindle 401 and the thickness measurement module 408; the gluing device includes the rivet transmission device 402, the pneumatic control system 409, and the rivet gluing device 403. The pneumatic control system 409 inputs the required rivets into the delivery pipe via pneumatic pulses, and the rivet transmission device 402 delivers them to the rivet gluing device 403 position; finally, the rivet module 404 of the riveting device completes the rivet drilling operation. All of the above devices are wired to electrical connection 410 and controlled by teach pendant 306 or control panel 308.

[0063] According to the present invention, a method for operating a drilling and riveting system includes the following steps:

[0064] Positioning and installation: Position and install the product to be processed on the rotating platform 1 of the rotary positioning system.

[0065] Specifically, the fuselage frame 101 is positioned by a frame locator and fixed to the platform pattern plate 103 by a frame support 102. The operator enters the rotating platform 1 using the internal ladder 105, reaches the surface of the rotating platform 1 via the internal lifting platform 104 and folds the platform pattern plate 103, manually drills the fastener holes between the frames, and installs the fasteners between the fuselage frames 101.

[0066] Furthermore, the skin is positioned and fixed to the frame 101 using the ear positioner. The movable drill template 2 is driven by the controller to start the drive motor 209, and the power is transmitted to the template guide rail 205 on the other side without a motor installed through the coupling 211. The gear drives the slider on the guide rail to move, so that the movable template 201 and the fixed drill template reach the position before the movable template 201 is connected to the main template. Then, the controller receives the signal from the sensor that it has reached the designated position and starts the linear cylinder 204 on the movable template 201, so that the movable frame continuously retracts along the guide rail 203. After the movable template 201 and the main template positioning device determine that the designated position has been reached, the clamping cylinder ensures the correct connection between the movable template 201 and the main template. The operator drills pre-assembly holes according to the template hole positions on the drill template 202. After drilling the holes around the perimeter, the skin around the perimeter is removed, the pre-assembly holes are deburred, the electrical overlap holes are ground, and then the skin is reset and temporary fasteners are installed in the pre-assembly holes for fixation. Finally, the mobile frame 201 is separated from the main frame by the controller and returned to its initial position, waiting for the robot to automatically drill holes.

[0067] Platform Movement: The AGV mobile platform 3 moves from its initial position along a designated path to the work area. Specifically, colored route markers are affixed to the planned route to the work area of ​​the AGV mobile platform 3. The platform's movement is controlled manually via the control panel 308 or teach pendant 306 on the AGV mobile platform 3. Optical sensors 317 mounted on the first caster 316 at the bottom of the AGV mobile platform 3 collect information from the ground markers to ensure the equipment automatically enters and exits the work station along the prescribed route. During platform movement, the two scanners 301 on the left and right use diffuse reflection of pulsed lasers to determine the position of objects entering the predefined monitoring area. When an object enters an area that would obstruct normal operation, a signal is transmitted to the first electrical cabinet 311 of the AGV mobile platform 3 to achieve a safe stop. After the AGV mobile platform 3 reaches the designated work area, a lifting system integrated into a single caster and driven by a motor lowers the equipment to a lower position, ensuring that the support feet 318 are in contact with the ground and that no load is transmitted to the first caster 316.

[0068] Drilling and riveting: The robotic arm 303 drives the actuator 4 to perform positioning, drilling, gluing and riveting operations on the surface of the product to be processed that is close to the working area.

[0069] Specifically, the operator uses the teach pendant 306 or control panel 308 to check the drilling performance and positioning calibration of the spindle 401 via the test tool holder. After passing the inspection, the automatic drilling operation on the first side begins. The camera 405 on the actuator 4 identifies the pre-drilled holes on the skin and frame, transmits this information to the robot electrical cabinet 309 via the vision system 406, and adjusts the position of the actuator 4 for positioning. The controller selects a suitable tool according to the pre-set drilling plan, and the automatic tool changer 314 identifies the label on the tool holder in the tool magazine and sends the tool to the top of the automatic tool changer 314. The spindle 401 of the actuator 4 receives the provided tool, and the hydraulic system 304 controls the internal clamping tool in the spindle 401 to fix the tool.

[0070] Furthermore, the robotic arm 303 drives the drilling tool on the actuator 4 to approach the skin and begin drilling. Simultaneously, the lubrication system 305 delivers lubricant to the cutting end through a pipe connected to the spindle 401. The cooler 302 cools the spindle 401 through a water-coolant mixing circuit with the spindle 401, and the vacuum system 310 is activated to remove dust and fumes generated during machining. After drilling is completed, the built-in program in the controller immediately drives the thickness measurement module 408 to penetrate the drilled hole to measure the hole depth and transmit it back to the controller. Based on the measurement data, the controller automatically selects a suitable rivet. The rivet holder 313, according to the controller's instructions, sends a suitable rivet to the rivet transmission device 402 via pneumatic pulses from the pneumatic control 409. The rivet transmission device 402 then transports the rivet to the rivet glue application module 403, where glue is applied to the rivet joint. Finally, the riveting module completes the riveting work.

[0071] Rotation and face changing: The rotary platform 1 drives the product to be processed to rotate around the axis of the positioning center, rotating one of the unprocessed surfaces of the product to a position close to the working area of ​​the actuator 4. Specifically, the controller of the rotary platform 1 transmits signals to control the motor of the turntable to rotate the front component of the machine body, and the actuator 4, driven by the robotic arm 303, completes the subsequent three-sided drilling and riveting work.

[0072] Repeat the drilling and riveting process and rotate the surface until all surfaces of the product to be processed have been completed, then reset the equipment. After the automatic drilling and riveting operation is completed, the robotic arm 303 returns to its parking position, and the AGV mobile platform 3 moves to its docking position. Manual re-riveting is then performed on inaccessible areas. After inspection, the product is lifted off the workstation.

[0073] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0074] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0075] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A drilling and riveting system, characterized in that, Including rotary positioning systems and mobile robot platforms; The rotary positioning system positions and installs the product to be processed, and the rotary positioning system drives the product to be processed to rotate around the axis of the positioning center; The mobile robot platform is set on one side of the rotary positioning system. The mobile robot platform includes an AGV mobile platform (3) and an actuator (4). The actuator (4) is installed at the end of the robotic arm (303) on the AGV mobile platform (3). The AGV mobile platform (3) moves between the initial position and the working area along a specified path. The AGV mobile platform (3) is equipped with an automatic tool changer (314), a rivet rack (313), and a test plate rack (307). The robotic arm (303) allows the actuator (4) to move to the automatic tool changer (314) to change tools, the robotic arm (303) allows the actuator (4) to move to the rivet rack (313) to obtain rivets, and the robotic arm (303) allows the actuator (4) to move to the test plate rack (307) to perform work tests; The rotary positioning system includes a tooling platform (5) and a rotary platform (1). The rotary platform (1) is rotatably mounted on the tooling platform (5), and the mobile robot platform is located on one side of the tooling platform (5). The rotating platform (1) includes a fuselage frame (101), a frame support (102), and a rotating frame (106). The fuselage frame (101) is fastened to the frame support (102) by positioning and fixing devices, and the frame support (102) is fastened to the rotating frame (106) by fasteners. The bottom of the tooling platform (5) is provided with an annular guide rail (108), and the bottom of the rotating frame (106) is provided with casters. The casters are mounted on the annular guide rail (108) and allow the rotating frame (106) to rotate around the central axis of the annular guide rail (108). There is some filling material between the fuselage frame and the fuselage skin in the rotating platform, and temporary fasteners are driven into the pre-drilled pre-equipment holes for initial connection. The fuselage frame and the fuselage skin together constitute the middle and front components of the aircraft, which are fixed by the conformal frame. The middle and front components of the aircraft and the conformal frame constitute the main frame, which is connected to the frame support by positioning and fixing instruments, and the frame support is fixed to the top of the rotating frame with screws.

2. The drilling and riveting system as described in claim 1, characterized in that, The bottom of the AGV mobile platform (3) is provided with a first caster (316) that can be raised and lowered, and the bottom of the AGV mobile platform (3) is also provided with an optical sensor (317). A colored wire is set on the ground between the initial position of the AGV mobile platform (3) and the working area. The optical sensor (317) identifies the colored wire and makes the AGV mobile platform (3) move along the trajectory of the colored wire.

3. The drilling and riveting system as described in claim 1, characterized in that, The bottom of the AGV mobile platform (3) is equipped with a scanner (301). When the scanner (301) detects an approaching object in the monitoring area, the actuator (4) stops safely.

4. The drilling and riveting system as described in claim 1, characterized in that, The actuator (4) integrates an automatic positioning device, a drilling device, an adhesive application device, and a riveting device.

5. The drilling and riveting system as described in claim 1, characterized in that, The top of the rotating frame (106) is provided with a platform pattern plate (103). When the platform pattern plate (103) is in its normal state, the platform pattern plate (103) closes the top of the rotating frame (106); When the platform pattern plate (103) is in a folded state, the top of the rotating frame (106) is connected to the interior of the fuselage frame (101).

6. The drilling and riveting system as described in claim 5, characterized in that, The rotating frame (106) is equipped with an internal access ladder (105) and an internal lifting platform (104). The internal access ladder (105) is used for operators to enter the rotating platform (1). The internal lifting platform (104) is used to carry the operator into the top outer surface of the rotating frame (106) when the platform pattern plate (103) is in a folded state.

7. A method for operating a drilling and riveting system, characterized in that, The drilling and riveting system according to any one of claims 1-6, the working method includes the following steps: Positioning and installation: Position the product to be processed on the rotating platform (1) of the rotary positioning system; Platform movement: The AGV mobile platform (3) moves from its initial position along a specified path to the work area; Drilling and riveting: The robotic arm (303) drives the actuator (4) to perform positioning, drilling, gluing and riveting operations on the surface of the product to be processed that is close to the working area in sequence; Rotation and face changing: The rotating platform (1) drives the product to be processed to rotate around the axis of the positioning center, and rotates one of the unprocessed surfaces of the product to be processed to the working area close to the actuator (4); Repeat drilling and riveting and rotating face changing until all surfaces of the product to be processed have been completed, then reset the equipment.

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