CN105252251A - Device and method for achieving automatic grabbing and accurate attaching of aircraft thermal insulation piece - Google Patents

Abstract

The invention relates to a device and method for achieving automatic grabbing and accurate attaching of an aircraft thermal insulation piece. The device comprises an outer frame module, a main shaft module, a normal leveling module, a vision alignment module, a pressure detection module and a suction cup set module. By means of the vision alignment module, the center of the thermal insulation piece and the center of the area where the thermal insulation piece is to be attached can be accurately found, the thermal insulation piece can be accurately attached to a machine body, and accuracy of all attached positions of the thermal insulation piece is ensured. By means of the normal leveling module, the axis of a motor, the center of a corresponding suction cup and the curved surface normal of the thermal insulation piece accurately coincide, and therefore tension and pressure can coincide with the normal of the thermal insulation piece all the time, and it is ensured that the force direction is perpendicular to the outer surface of the thermal insulation piece all the time when attachment and adhesion detection are conducted; the force, in the axial direction, of the motor is detected in real time through the pressure detection module, and therefore accurate and closed-loop control over loading of the motor is achieved; and by means of the suction cup set module, flexible design and adjustment of the diameter, the number and positions of suction cups are achieved according to requirements, and thermal insulation pieces of different sizes and irregular shapes are grabbed.

Description

A device and method for realizing automatic grasping and precise fitting of aircraft heat shield

technical field

The invention belongs to the field of digital assembly, and specifically relates to a device and method suitable for automatic grasping and precise fitting of heat shields of aircrafts, so as to improve assembly efficiency and assembly quality.

Background technique

Automatic placement devices have been used in the field of electronic product production and processing. At present, commonly used automatic placement devices include: mechanical system, vision system and control system. Patent CN103152994A invented a high-efficiency sticker head with multiple suction nozzles synchronously sucking and sticking. The motion-driven structure connection makes up for the defect that the existing placement machine adopts a single suction nozzle suction form, and realizes the chip placement on the PCB board, with high efficiency and good interchangeability; patent CN103717006A invented a high-precision placement The chip head device, including a chip head frame and a plurality of chip head mechanisms, solves the problems of low work efficiency, low mounting accuracy, stability and reliability of the chip head of the existing chip mounter. Existing patents on automatic patch capture are concentrated in the field of electronic product production. Their functions are single, and the accuracy guarantee mainly depends on the reciprocating motion of the mechanical device, that is, it mainly relies on the repeated positioning accuracy of the transmission mechanism, and lacks certain flexibility and adaptability. Spend. However, the aircraft heat shield has large size, various shapes, and high precision requirements. The current equipment and methods cannot meet the precision requirements of automatic grasping and bonding.

Contents of the invention

In order to solve the problems existing in the grasping and fitting of aircraft heat shields, the present invention provides a method for realizing automatic grasping and precise fitting of aircraft heat shields by analyzing the characteristics of heat shields and combining robots, and adopts an automatic control method It realizes functions such as heat shield, heat shield placement area, point alignment of the position to be mounted, normal leveling, flexible clamping of heat shield, work trajectory planning, and NC code generation. In this way, the automatic grabbing and precise fitting of the heat shield on the surface of the high-speed aircraft can be realized, and the position accuracy and stability of the patch can be improved to meet the design requirements. At the same time, the labor intensity of workers can be reduced, and the automation of grabbing and fitting the heat shield of the aircraft can be realized. , Integration.

Technical scheme of the present invention is:

The device for realizing automatic grasping and precise fitting of aircraft heat shields is characterized in that it includes an outer frame module, a spindle module, a normal leveling module, a visual alignment module, a pressure detection module, and a sucker group module; The outer frame module is used to install the rest of the modules; the spindle module includes a linear motor, which realizes the linear feed along the patch axis and provides the pulling pressure required for the patch; the normal leveling module includes four distributions on the axis of the linear motor The surrounding laser ranging sensor and the normal leveling module realize that the axis of the main shaft module is parallel to the normal direction of the heat shield to be grasped and the axis of the main shaft module is parallel to the normal direction of the surface of the area to be mounted; the visual alignment module includes a visual camera and a supporting light source , the visual alignment module realizes the alignment of the center position of heat shields of different shapes and the position recognition of the area to be mounted; the pressure detection module is installed between the spindle module and the suction cup group module, and the pressure detection module monitors and feeds back the mounting pressure through the pressure sensor; the suction cup The group module uses vacuum suction cups to grasp the insulation sheet.

A further preferred solution, the device for realizing the automatic grasping and precise fitting of aircraft heat shields, is characterized in that: four laser distance measuring sensors are installed inwardly with a taper, so that there is an angle between the laser and the axis of the linear motor.

In a further preferred solution, the device for realizing automatic grasping and precise fitting of aircraft heat shields is characterized in that: the outer frame module includes a flange and a surrounding frame, one end of the flange is fixedly connected to an external robot, and the other One end is fixedly connected to the upper end of the enclosure; the visual alignment module is fixedly installed on one side of the enclosure, and the normal leveling module is installed on the lower end of the enclosure; the motor mounting plate is fixed inside the enclosure, and the linear motor is installed on the motor mounting plate, and the linear The axis of the motor and the axis of the flange are collinear.

A further preferred solution, the device for realizing automatic grasping and precise fitting of aircraft heat shields, is characterized in that: the pressure detection module includes a pressure sensor, and the two ends of the pressure sensor are respectively connected to the main shaft of the linear motor and the suction cup through the installation sleeve. Group module connections.

A further preferred solution, the device for realizing automatic grasping and precise fitting of aircraft heat insulation sheets, is characterized in that: the suction cup group module includes a mounting bracket, a suction cup mounting plate and a vacuum suction cup; the mounting bracket and the lower side of the pressure detection module The installation sleeve is connected, the suction cup mounting plate is fixed on the mounting bracket, and several vacuum suction cups are fixed on the suction cup mounting plate, and the axis of the suction cup at the middle position coincides with the axial direction of the linear motor spindle.

Utilizing the above-mentioned device, the method for automatically grasping and accurately fitting the heat shield of the aircraft is realized, and the method is characterized in that it includes the following steps:

Step 1: Calibrate the sensor system composed of four laser ranging sensors: the measurement centers of the four laser ranging sensors form a rectangular plane, measure the length and width of the rectangular plane; calibrate the vision alignment module and the spindle module: measure The relative distance between the center of the visual camera and the axis of the linear motor spindle;

Step 2: Control the spindle module to run to the zero position, and the robot drives the outer frame module to move to the position where the heat shield is placed; the vision alignment module works, measures the overall outline of the heat shield, and obtains the center point of the heat shield, and Calculate the deviation value between the center point of the heat shield and the center of the visual camera; according to the deviation value between the center point of the heat shield and the center of the vision camera, control the robot to drive the outer frame module to move, so that the center point of the heat shield coincides with the center of the vision camera; according to The relative distance between the center of the visual camera and the axis of the linear motor spindle calibrated in step 1 is controlled by the robot to drive the outer frame module to move so that the center point of the heat shield coincides with the axis of the linear motor spindle;

Step 3: The normal leveling module works, and the four laser ranging sensors measure the distance between the measurement center of the laser ranging sensor and the heat shield; according to the distance between the measurement center and the heat shield of the four laser ranging sensors, and the distance calibrated in step 1 The length and width of the rectangular plane are calculated to obtain the normal angle compensation, and the robot is controlled to adjust the pose according to the normal angle compensation, so that the axis of the linear motor spindle is parallel to the normal direction of the surface of the heat shield;

Step 4: The linear motor drives the suction cup group module to feed along the axis, and detects the pressure value in real time through the pressure sensor. When the detected contact pressure between the suction cup and the heat shield meets the design requirements, the linear motor stops feeding, and the suction cup vacuum system starts. After the vacuum degree meets the requirements, the linear motor drives the suction cup module to return to the zero position;

Step 5: The robot drives the outer frame module to move to the area of the aircraft to be mounted; the visual alignment module works, measures the overall outline of the area to be mounted, obtains the center point of the area to be mounted, and calculates the center point of the area to be mounted The deviation value from the center of the visual camera; according to the deviation value between the center point of the area to be mounted and the center of the visual camera, the robot is controlled to drive the outer frame module to move so that the center point of the area to be mounted coincides with the center of the visual camera; according to the visual The relative distance between the camera center and the axis of the linear motor spindle is used to control the robot to drive the outer frame module to move so that the center point of the area to be patched coincides with the axis of the linear motor spindle;

Step 6: The normal leveling module works, and the four laser ranging sensors measure the distance between the measurement center of the laser ranging sensor and the area to be mounted; according to the distance between the measurement center and the area to be mounted by the four laser ranging sensors, and step 1 Calculate the normal angle compensation amount of the calibrated rectangular plane length and width, and control the robot to adjust the pose according to the normal angle compensation amount, so that the axis of the linear motor spindle is parallel to the normal direction of the surface of the area to be mounted;

Step 7: The linear motor drives the sucker group module to feed along the axis, and detects the pressure value in real time through the pressure sensor. When the contact pressure between the detected heat shield and the area to be mounted on the aircraft meets the design requirements, the linear motor stops feeding. After the heat plate is fixed to the aircraft, the suction cup vacuum system is turned off, the suction cup is separated from the heat shield, and the linear motor drives the suction cup group module to return to the zero position.

Beneficial effect

The present invention has the following advantages:

1. Through the visual alignment module, the center of the heat shield and the center of the area to be mounted can be accurately found, realizing the precise fit of the heat shield and the fuselage, ensuring the position accuracy of all heat shields, and reducing the bonding cumulative error.

2. Through the normal leveling module, the precise coincidence of the motor axis, the center of the suction cup and the normal direction of the heat shield surface is realized, so that the pulling pressure is always coincident with the normal direction of the heat shield, ensuring that the force direction is always consistent with the patch and adhesion detection The outer surface of the heat insulating sheet is vertical.

3. The pressure detection module can detect the force in the axial direction of the motor in real time, and feed back to the control system in real time, so as to realize the precise closed-loop control of the motor loading, realize the real-time monitoring of the force during the placement, and make it meet the design requirements.

4. The sucker group module can be flexibly designed and adjusted for the diameter, quantity and position of the sucker according to the needs, which realizes the grabbing of heat shields of different sizes and irregular shapes, and is easy to use.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and comprehensible from the description of the embodiments in conjunction with the following drawings, wherein:

Figure 1 The overall structure diagram of the patch end effector;

Figure 2 Schematic diagram of the outer frame module of the patch end effector;

Figure 3 Schematic diagram of the spindle module of the patch end effector;

Figure 4 Schematic diagram of the normal leveling module of the patch end effector;

Figure 5 Schematic diagram of the visual alignment module of the patch end effector;

Figure 6 Schematic diagram of the pressure detection module of the patch end effector;

Fig. 7 Schematic diagram of the suction cup group module of the patch end effector.

In the picture:

Outer frame module 1; mounting flange 1001, surrounding frame 1002, spindle motor mounting plate 1003;

spindle module 2;

Normal leveling module 3; first laser ranging sensor 3001, second laser ranging sensor 3002, third laser ranging sensor 3003, fourth laser ranging sensor 3004;

Visual alignment module 4; visual camera 4001, visual camera mounting bracket 4002, visual camera transition plate 4003, light source transition plate 4004, light source mounting bracket 4005, light source 4006;

Pressure detection module 5; first connecting sleeve 5001, pull pressure sensor 5002, second connecting sleeve 5003;

Suction cup module module 6: mounting bracket 6001, suction cup mounting plate 6002, vacuum suction cup 6003.

detailed description

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as limiting the invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

As shown in Figure 1, the device for realizing automatic grasping and precise fitting of aircraft heat shields in this embodiment includes an outer frame module 1, a spindle module 2, a normal leveling module 3, a visual alignment module 4, and a pressure detection module 5 , sucker group module 6.

As shown in FIG. 2 , the outer frame module 1 includes a flange 1001 and a surrounding frame 1002 , one end of the flange 1001 is fixedly connected to an external robot, and the other end is fixedly connected to the upper end of the surrounding frame 1002 by bolts. As shown in Figure 1, the visual alignment module 4 is fixedly installed on one side of the frame 1002, and the normal leveling module 3 is installed on the lower end of the frame 1002; the motor mounting plate 1003 is fixed inside the frame 1002, and the spindle module 2 is installed on the motor on the mounting plate 1003 , and the axis of the spindle module 2 is in line with the axis of the flange 1001 .

As shown in Figure 3, the main shaft module 2 is a linear motor, which is installed on the motor mounting plate 1003 of the outer frame module 1 through bolts. The movement and the pressure required for the patch; in order to detect the pressure value of the patch in real time, the pressure detection module 5 is installed on the electric spindle.

The normal leveling module includes four laser distance measuring sensors 3001, 3002, 3003 and 3004 distributed around the axis of the linear motor. The four laser distance measuring sensors 3001, 3002, 3003 and 3004 are installed on the frame 1002 by screws. Under the premise of ensuring that the suction cup does not block the laser, the four laser ranging sensors are installed with a taper inward, so that there is an angle of 30° between the laser and the axis of the linear motor, so as to ensure the normal accuracy and meet the leveling requirements of small-sized heat shields. During the working process, use the data measured by the four sensors to judge whether the axis of the main shaft module is parallel to the normal direction of the heat shield to be grasped and whether the axis of the main shaft module is parallel to the normal direction of the surface of the area to be mounted, and through the equipment data system to analyze the four data Comparing and processing the stroke that needs to be moved by each degree of freedom of the equipment, and controlling the equipment to adjust the pose to realize that the axis of the main shaft module is parallel to the normal direction of the heat shield to be grasped and the axis of the main shaft module is parallel to the normal direction of the surface of the area to be mounted.

As shown in Figure 5, the visual alignment module includes a visual camera 4001 and a supporting light source 4006. One end of the light source connecting plate 4004 is connected to the supporting light source 4006, and the other end is connected to the surrounding frame 1002 in the outer frame module 1 through a long hole. The installation process The light source can be fine-tuned up and down through the long hole so as to be coaxial with the visual camera lens; one end of the L-shaped camera connecting plate 4002 is connected to the visual camera 4001, and one end adopts a long hole and the surrounding frame 1002 in the outer frame module 1 passes through the long hole Connection, during the installation process, the camera and the L-shaped connecting plate can be fine-tuned along the direction of the camera lens through the long hole, so as to ensure the best position of the heat shield and the body in the camera lens. The visual alignment module realizes the alignment of the center position of heat shields of different shapes and the position recognition of the area to be mounted.

As shown in Figure 6, the pressure detection module 5 uses a pressure sensor 5002 with threads at both ends, and sleeves 5001 and 5003 are installed at both ends to connect with the linear motor spindle and the sucker group module, and the pressure sensor is used for real-time monitoring and feedback. Take the pressure of placement and placement process, so as to realize the precise closed-loop control of force and ensure the quality of placement.

As shown in Figure 7, the sucker group module 6 is connected to the linear motor spindle through the mounting bracket 6001, which ensures that the middle sucker axis coincides with the motor spindle axis; the sucker mounting plate 6002 is installed on the mounting bracket 6001 through bolts, and can be Replace different suction cup mounting plates to meet the grasping requirements of different sizes and shapes of heat insulation sheets; the suction cup 6003 is installed on the suction cup mounting plate 6002 for direct grasping of the suction cups, and different specifications of suction cups can be replaced according to the suction cup mounting plate 6002 to meet actual use requirements.

Using the above-mentioned device to realize the automatic grasping and precise fitting method of the aircraft heat shield, including the following steps:

Step 1: Since the calculation of the angle deviation during normal leveling involves the structural size of the sensor system, the sensor system composed of four laser ranging sensors is calibrated: the measurement centers of the four laser ranging sensors form a rectangular plane, which is tracked by laser The instrument accurately measures the length and width of a rectangular plane. Since the center of the vision camera coincides with the center of the heat shield during visual alignment, the robot needs to be moved so that the axis of the motor spindle coincides with the center of the heat shield. In order to ensure the accuracy of alignment, it is necessary to calibrate the vision alignment module and the spindle module: Measure the relative distance between the center of the vision camera and the axis of the linear motor spindle.

Step 2: Control the spindle module to run to the zero position, and the robot drives the outer frame module to move to the position where the heat shield is placed; the vision alignment module works, and uses the camera and recording functions of the vision system to measure the overall outline of the heat shield , get the center point of the heat shield, and calculate the deviation value between the center point of the heat shield and the center of the visual camera; according to the deviation value between the center point of the heat shield and the center of the vision camera, the control robot drives the outer frame module to move, so that the heat shield The center point coincides with the center of the visual camera; since the position of the camera and the motor spindle are fixed, according to the relative distance between the center of the visual camera and the axis of the linear motor spindle calibrated in step 1, the robot is controlled to drive the outer frame module to move, so that the center point of the heat shield is in line with the axis of the linear motor spindle. The axes of the linear motor spindles coincide.

Step 3: After the position of the heat shield is corrected, the normal leveling module works, and the four laser ranging sensors measure the distance between the measurement center of the laser ranging sensor and the heat shield; according to the distance between the measurement center of the four laser ranging sensors and the heat insulation slice distance, and the length and width of the rectangular plane calibrated in step 1, calculate the normal angle compensation, and control the robot to adjust the pose according to the normal angle compensation. The heat sheet surface normals are parallel.

Step 4: The linear motor drives the suction cup group module to feed along the axis, and detects the pressure value in real time through the pressure sensor. When the detected contact pressure between the suction cup and the heat shield meets the design requirements, the linear motor stops feeding, and the suction cup vacuum system starts. After the vacuum degree meets the requirements, the linear motor drives the suction cup module to return to the zero position.

Step 5: The robot drives the outer frame module to move to the area to be mounted on the aircraft; the visual alignment module works, uses the camera and recording functions of the vision system to measure the overall outline of the area to be mounted, and obtains the center point of the area to be mounted. And calculate the deviation value between the center point of the area to be mounted and the center of the visual camera; according to the deviation value between the center point of the area to be mounted and the center of the visual camera, control the robot to drive the outer frame module to move, so that the center point of the area to be mounted and the visual camera The center coincides; since the position of the camera and the position of the motor spindle are fixed, according to the relative distance between the center of the visual camera and the axis of the linear motor spindle calibrated in step 1, the robot is controlled to drive the outer frame module to move so that the center point of the area to be mounted is aligned with the axis of the linear motor spindle coincide.

Step 6: After the fuselage is aligned for placement, the normal leveling module works, and the four laser ranging sensors measure the distance between the measurement center of the laser ranging sensor and the area to be placed; according to the distance between the measurement center of the four laser ranging sensors and the The distance of the area to be patched, and the length and width of the rectangular plane calibrated in step 1 are calculated to obtain the normal angle compensation, and the robot is controlled to adjust the pose according to the normal angle compensation. After multiple measurements and posture adjustments, the linear motor spindle The axis is parallel to the surface normal of the area to be mounted.

Step 7: The linear motor drives the sucker group module to feed along the axis, and detects the pressure value in real time through the pressure sensor. When the contact pressure between the detected heat shield and the area to be mounted on the aircraft meets the design requirements, the linear motor stops feeding and maintains the pressure After a certain period of time, after the heat shield is fixed to the aircraft, the suction cup vacuum system is turned off, the suction cup is separated from the heat shield, and the linear motor drives the suction cup group module to return to the zero position, and the automatic placement is completed.

The automatic assembly technology of aircraft heat shield is an important part of the advanced manufacturing technology of aircraft, and it is an important guarantee for the realization of digitization, automation and flexibility of aircraft assembly. Through the pre-designed structural design, highly flexible industrial robot and advanced automatic control technology, the invention makes the grabbing and fitting of the aircraft heat shield sheet turn from manual to automatic, guarantees the fitting precision and improves the stability of the fitting quality , reducing the labor intensity of workers.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as limitations to the present invention. Variations, modifications, substitutions, and modifications to the above-described embodiments are possible within the scope of the present invention.

Claims (6)

1. A device for automatic grasping and precise fitting of aircraft heat shields, characterized in that it includes an outer frame module, a spindle module, a normal leveling module, a visual alignment module, a pressure detection module, and a suction cup group module; The outer frame module is used to install the rest of the modules; the spindle module includes a linear motor, which realizes the linear feed along the patch axis and provides the pulling pressure required for the patch; the normal leveling module includes four distributions on the axis of the linear motor The surrounding laser ranging sensor and the normal leveling module realize that the axis of the main shaft module is parallel to the normal direction of the heat shield to be grasped and the axis of the main shaft module is parallel to the normal direction of the surface of the area to be mounted; the visual alignment module includes a visual camera and a supporting light source , the visual alignment module realizes the alignment of the center position of heat shields of different shapes and the position recognition of the area to be mounted; the pressure detection module is installed between the spindle module and the suction cup group module, and the pressure detection module monitors and feeds back the mounting pressure through the pressure sensor; the suction cup The group module uses vacuum suction cups to grasp the insulation sheet. 2. According to claim 1, a device for realizing automatic grasping and precise bonding of aircraft heat shields, characterized in that: four laser distance measuring sensors are installed inwardly with an inclined taper, so that there is an angle between the laser and the axis of the linear motor . 3. According to claim 2, a device for realizing automatic grasping and precise fitting of aircraft heat shields, characterized in that: the outer frame module includes a flange and a surrounding frame, and one end of the flange is fixedly connected to an external robot, The other end is fixedly connected to the upper end of the enclosure; the visual alignment module is fixedly installed on one side of the enclosure, and the normal leveling module is installed on the lower end of the enclosure; the motor mounting plate is fixed inside the enclosure, and the linear motor is installed on the motor mounting plate, and The axis of the linear motor is in line with the axis of the flange. 4. According to claim 2 or 3, a device for automatically grasping and precisely fitting aircraft heat shields, characterized in that: the pressure detection module includes a pressure sensor, and the two ends of the pressure sensor are respectively connected to the linear motor through the installation sleeve. Spindle and suction cup module connection. 5. According to claim 4, a device for realizing automatic grabbing and precise fitting of aircraft heat shields, characterized in that: the suction cup module includes a mounting bracket, a suction cup mounting plate and a vacuum suction cup; the mounting bracket is connected to the pressure detection module. The side mounting sleeve is connected, the suction cup mounting plate is fixed on the mounting bracket, and several vacuum suction cups are fixed on the suction cup mounting plate, and the axis of the suction cup at the middle position coincides with the axial direction of the linear motor spindle. 6. A method for realizing automatic grasping and precise fitting of aircraft heat shields, characterized in that: comprising the following steps: Step 1: Calibrate the sensor system composed of four laser ranging sensors: the measurement centers of the four laser ranging sensors form a rectangular plane, measure the length and width of the rectangular plane; calibrate the vision alignment module and the spindle module: measure The relative distance between the center of the visual camera and the axis of the linear motor spindle; Step 2: Control the spindle module to run to the zero position, and the robot drives the outer frame module to move to the position where the heat shield is placed; the vision alignment module works, measures the overall outline of the heat shield, and obtains the center point of the heat shield, and Calculate the deviation value between the center point of the heat shield and the center of the visual camera; according to the deviation value between the center point of the heat shield and the center of the vision camera, control the robot to drive the outer frame module to move, so that the center point of the heat shield coincides with the center of the vision camera; according to The relative distance between the center of the visual camera and the axis of the linear motor spindle calibrated in step 1 is controlled by the robot to drive the outer frame module to move so that the center point of the heat shield coincides with the axis of the linear motor spindle; Step 3: The normal leveling module works, and the four laser ranging sensors measure the distance between the measurement center of the laser ranging sensor and the heat shield; according to the distance between the measurement center and the heat shield of the four laser ranging sensors, and the distance calibrated in step 1 The length and width of the rectangular plane are calculated to obtain the normal angle compensation, and the robot is controlled to adjust the pose according to the normal angle compensation, so that the axis of the linear motor spindle is parallel to the normal direction of the surface of the heat shield; Step 4: The linear motor drives the suction cup group module to feed along the axis, and detects the pressure value in real time through the pressure sensor. When the detected contact pressure between the suction cup and the heat shield meets the design requirements, the linear motor stops feeding, and the suction cup vacuum system starts. After the vacuum degree meets the requirements, the linear motor drives the suction cup module to return to the zero position; Step 5: The robot drives the outer frame module to move to the area of the aircraft to be mounted; the visual alignment module works, measures the overall outline of the area to be mounted, obtains the center point of the area to be mounted, and calculates the center point of the area to be mounted The deviation value from the center of the visual camera; according to the deviation value between the center point of the area to be mounted and the center of the visual camera, the robot is controlled to drive the outer frame module to move so that the center point of the area to be mounted coincides with the center of the visual camera; according to the visual The relative distance between the camera center and the axis of the linear motor spindle is used to control the robot to drive the outer frame module to move so that the center point of the area to be patched coincides with the axis of the linear motor spindle; Step 6: The normal leveling module works, and the four laser ranging sensors measure the distance between the measurement center of the laser ranging sensor and the area to be mounted; according to the distance between the measurement center and the area to be mounted by the four laser ranging sensors, and step 1 Calculate the normal angle compensation amount of the calibrated rectangular plane length and width, and control the robot to adjust the pose according to the normal angle compensation amount, so that the axis of the linear motor spindle is parallel to the normal direction of the surface of the area to be mounted; Step 7: The linear motor drives the sucker group module to feed along the axis, and detects the pressure value in real time through the pressure sensor. When the contact pressure between the detected heat shield and the area to be mounted on the aircraft meets the design requirements, the linear motor stops feeding. After the heat plate is fixed to the aircraft, the suction cup vacuum system is turned off, the suction cup is separated from the heat shield, and the linear motor drives the suction cup group module to return to the zero position.