CN107932081A - The adaptive automatic Drilling/Riveting system of morpheme and its application method - Google Patents
The adaptive automatic Drilling/Riveting system of morpheme and its application method Download PDFInfo
- Publication number
- CN107932081A CN107932081A CN201711140733.5A CN201711140733A CN107932081A CN 107932081 A CN107932081 A CN 107932081A CN 201711140733 A CN201711140733 A CN 201711140733A CN 107932081 A CN107932081 A CN 107932081A
- Authority
- CN
- China
- Prior art keywords
- morpheme
- nacelle
- riveting
- positioning disk
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
Abstract
The invention discloses a kind of adaptive automatic Drilling/Riveting system of morpheme and its application method, mobile platform includes matrix and the castor installed in matrix lower end, mobile platform can carry out all-around mobile on the outside of nacelle and type frame, integrate thereon equipped with digital control system, position fixing and navigation system, visual sensing system, trick and force-location mix control system and measuring system；The mobile mechanical arm is fixed on mobile platform upper end side, including mechanical arm and end effector；Type frame includes upper positioning disk, lower positioning disk, base, support arm shaft and rotating arm；Base lower end is fixed with ground, and upper end is provided with lower positioning disk, and lower positioning disk is connected by support arm shaft with upper positioning disk, and rotating arm is assemblied on support arm shaft.The present invention can limit from section structure form, can adapt to existing type frame basis, complete the drilling, riveting assembly work and quality judging of nacelle, and versatility is high, assemble flexible big.
Description
Technical field
The present invention relates to carrier rocket bay section automatic Drilling/Riveting process and assemble technical field, is specifically that a kind of morpheme is adaptive certainly
It is dynamic to bore riveting system and its application method, it can realize the automatic Drilling/Riveting processing of different size nacelle.
Background technology
Rocket is carried just towards high quality, the development direction development in short cycle, low cost, is dealt into from 1 year 1-2 before 10 years
Annual 10-20 hairs of today, carrier rocket are just marching toward high density transmitting period, to requirements such as the quality, precision, progress of product not
It is disconnected to improve；And the assembling of China's carrier rocket bay section at present remains in hand assembled level, the raising of product quality is restrict,
Can not meet the needs of space flight development.Countries in the world aerospace industry developed country all widely used automatic Drilling/Riveting skills at present
Art.The application of foreign countries' riveting mounting technology decades shows, is at least filled using efficiency of assembling after automatic drill riveter than manual rivet
With 10 times of raising, and installation cost can be saved, improve working conditions, more important is installation quality is able to ensure that, greatly reduce
The defects of human factor causes.Become one of main technique measure for improving aircraft performance using automatic drill riveter now.
Nearly ten years, automatic Drilling/Riveting has obtained a degree of application in carrier rocket nacelle product, but is asked there are following
Topic：
1) limited by product structure, automatic Drilling/Riveting is only confined in simple nacelle；2) existing automatic Drilling/Riveting equipment is solid
Fixed pattern structure, can not adapt to the hardware foundations such as existing type frame, and all hardware part is required to redesign manufacture；3) double-movement
Space needed for mechanical arm type robot is big, need to design special frock auxiliary；4) fixed brill riveting cost of equipment is high, and investment is big.
Currently without the explanation or report for finding technology similar to the present invention, money similar both at home and abroad is also not yet collected into
Material.
The content of the invention
The present invention is directed to above-mentioned deficiency existing in the prior art, there is provided a kind of adaptive automatic Drilling/Riveting system of morpheme and
Its application method, using the cooked mode of exterior mobile mechanical arm+inside morpheme Adaptable System, by using existing type frame etc.
Condition, realizes the flexible drilling riveting processing of various specifications nacelle.
The present invention is achieved by the following technical solutions.
A kind of adaptive automatic Drilling/Riveting system of morpheme, including mobile platform, mobile mechanical arm, morpheme Adaptable System, lead
Rail, type frame, the mobile platform include matrix and the castor installed in matrix lower end, and the mobile platform can be in nacelle and type
All-around mobile is carried out on the outside of frame, integrate thereon equipped with digital control system, position fixing and navigation system, visual sensing system, trick with
Force-location mix control system and measuring system, are used for realization accurate motion and the positioning of mobile mechanical arm, avoid with nacelle and
The interference and collision of type frame；The mobile mechanical arm is fixed on mobile platform upper end side, including mechanical arm and end effector；Institute
Stating type frame includes upper positioning disk, lower positioning disk, base, support arm shaft and rotating arm；The base lower end is fixed with ground, upper end
Lower positioning disk is installed, the lower positioning disk is connected by support arm shaft with upper positioning disk, and the rotating arm is assemblied in support arm shaft
On；The guide rail includes ball-screw and line slideway, and the bearing at line slideway both ends passes through ball-screw and upper positioning respectively
Disk, lower positioning disk are connected, it can be achieved that 360 ° of circumferencial direction movements；The digital control system respectively with mobile platform, mobile mechanical arm,
Morpheme Adaptable System connects；The morpheme Adaptable System is connected with guide rail, can carry out above-below direction feed motion.
Preferably, the morpheme Adaptable System includes Adaptable System and end effector.
Preferably, the measuring system is used to after boring riveting operation processing formulation is scanned and judged, by nacelle
Surface scan mode judges to bore riveting quality.
Preferably, the mobile platform and mechanical arm be when close to nacelle, by visual sensing system obtain its relative to
Default scaling board, realization are accurately positioned on nacelle covering.
Preferably, the morpheme Adaptable System is located at interiors of products region.
Preferably, the end for being mounted on being replaced in the mobile mechanical arm and morpheme Adaptable System performs
Device, so as to fulfill such as different types of job requirements such as drilling, counter boring, riveting.
Preferably, the guide rail can adjust length according to different height nacelle and be matched, and realize different size nacelle
Brill, which is riveted, matches somebody with somebody.
Preferably, positioning disk is separable structure in the type frame, is assembled easy to nacelle；The rotating arm can opposite branch
Arm axle is rotated in a circumferential direction and radial expansion movement.
Preferably, the trick is used for realization the angle of drilling situation changing rule compensation drilling with force-location mix control system
Degree and the amount of feeding, it is ensured that drilling quality, the digital control system use G code program controlled mode.
Present invention also offers a kind of application method of the adaptive automatic Drilling/Riveting system of morpheme, include the following steps：
Step 1, the assembling for completing nacelle skeleton；
Step 2, the preset calibrations plate on the nacelle skeleton after the completion of assembling；
Step 3, by digital system control mobile platform to drive mobile mechanical arm to be moved on the outside of nacelle, and realizes thick
Positioning；
Step 4, by visual sensing system positioning and demarcating plate, realize being accurately positioned for mobile mechanical arm；
Step 5, digital control system generate processing program according to job requirements, and send order-driven mobile mechanical arm and morpheme
Adaptable System, realizes single-point drilling or riveting operation；Mobile platform, mobile mechanical arm, morpheme Adaptable System receive instruction,
Automatic Drilling/Riveting operation is carried out in the range of 360 ° of nacelle, completes Product processing；
Step 6, by measuring system be scanned manufactured nacelle, and completes quality judging；
Step 7, system reset.
Compared with prior art, the invention has the advantages that：
The hardware foundation condition such as existing type frame is can adapt to, realizes that morpheme is adaptive in the range of internal small space, is led to
The cooperation with exterior mobile platform and mobile mechanical arm is crossed, realizes the automatic Drilling/Riveting processing of various specifications nacelle, and processing matter
The judgement of amount.
Brief description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is a kind of structure diagram of the adaptive automatic Drilling/Riveting system of morpheme of the embodiment of the present invention.
Fig. 2 is a kind of adaptive automatic Drilling/Riveting System Utilization Procedure flow chart of morpheme of the embodiment of the present invention.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following embodiments will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.Protection scope of the present invention.In the description of the present invention, it is to be understood that term " on ", " under ", " preceding ",
The orientation or position relationship of the instruction such as " rear ", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " be based on
Orientation shown in the drawings or position relationship, are for only for ease of description description of the invention and simplified, rather than instruction or hint institute
The device or element of finger must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this hair
Bright limitation.
As shown in Figure 1, an embodiment of the present invention provides a kind of adaptive automatic Drilling/Riveting system of morpheme, including mobile platform
1st, mobile mechanical arm 2, morpheme Adaptable System 4, guide rail 5, type frame 6, the mobile platform 1 include matrix and installed in matrixes
The castor of lower end, the mobile platform 1 can carry out all-around mobile on the outside of nacelle and type frame, integrate be equipped with numerical control system thereon
System, position fixing and navigation system, visual sensing system, trick and force-location mix control system and measuring system, are used for realization shifting
The accurate motion of dynamic mechanical arm 2 and positioning, avoid the interference and collision with nacelle and type frame；The mobile mechanical arm 2 is fixed on shifting
1 upper end side of moving platform, including mechanical arm and end effector；The type frame 6 includes upper positioning disk, lower positioning disk, base, branch
Arm axle and rotating arm；The base lower end is fixed with ground, and upper end is provided with lower positioning disk, and the lower positioning disk passes through support arm
Axis is connected with upper positioning disk, and the rotating arm is assemblied on support arm shaft；The guide rail includes ball-screw and line slideway, directly
The bearing at line guide rail both ends is connected respectively by ball-screw with upper positioning disk, lower positioning disk, it can be achieved that 360 ° of circumferencial direction fortune
It is dynamic；The digital control system is connected with mobile platform, mobile mechanical arm, morpheme Adaptable System respectively；The morpheme is adaptively
System is connected with guide rail, can carry out above-below direction feed motion, the morpheme Adaptable System includes Adaptable System and end is held
Row device, the measuring system is used to after boring riveting operation processing formulation is scanned and judged, by nacelle surface scan side
Formula judge bore riveting quality, the mobile platform and mechanical arm when close to nacelle, by visual sensing system obtain its relative to
Default scaling board, realization are accurately positioned on nacelle covering, and the morpheme Adaptable System is located at interiors of products region, the shifting
The end effector that can be replaced is mounted on dynamic mechanical arm and morpheme Adaptable System, so as to fulfill such as drilling, counter boring,
The different types of job requirements such as riveting, the guide rail can adjust length according to different height nacelle and be matched, be realized different
The brill of specification nacelle, which is riveted, matches somebody with somebody, and positioning disk is separable structure in the type frame, is assembled easy to nacelle；The rotating arm can phase
Rotated in a circumferential direction to support arm shaft and radial expansion movement, the trick are used for realization drilling situation with force-location mix control system
The angle and the amount of feeding of changing rule compensation drilling, it is ensured that drilling quality, the digital control system use G code programme-control side
Formula.
As shown in Fig. 2, the embodiment of the present invention additionally provides a kind of application method of the adaptive automatic Drilling/Riveting system of morpheme, bag
Include following steps：
Step 1, the assembling for completing nacelle skeleton；
Step 2, the preset calibrations plate on the nacelle skeleton after the completion of assembling；
Step 3, by digital system control mobile platform to drive mobile mechanical arm to be moved on the outside of nacelle, and realizes thick
Positioning；
Step 4, by visual sensing system positioning and demarcating plate, realize being accurately positioned for mobile mechanical arm；
Step 5, digital control system generate processing program according to job requirements, and send order-driven mobile mechanical arm and morpheme
Adaptable System, realizes single-point drilling or riveting operation；Mobile platform, mobile mechanical arm, morpheme Adaptable System receive instruction,
Automatic Drilling/Riveting operation is carried out in the range of 360 ° of nacelle, completes Product processing；
Step 6, by measuring system be scanned manufactured nacelle, and completes quality judging；
Step 7, system reset.
This specific implementation utilizes the processing program of Digitization Software generation, under the driving of control system, is moved by replacing
Dynamic mechanical arm 2, the execution structure of 4 end of morpheme Adaptable System, can be respectively completed the drilling and riveting operation of nacelle, and pass through
The scanner uni that measuring system bore riveting processing quality judges.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (10)
1. a kind of adaptive automatic Drilling/Riveting system of morpheme, it is characterised in that adaptive including mobile platform, mobile mechanical arm, morpheme
System, guide rail, type frame are answered, the mobile platform includes matrix and the castor installed in matrix lower end, and the mobile platform can
All-around mobile is carried out on the outside of nacelle and type frame, is integrated thereon equipped with digital control system, position fixing and navigation system, visual sensing system
System, trick and force-location mix control system and measuring system, are used for realization accurate motion and the positioning of mobile mechanical arm, avoid
With the interference and collision of nacelle and type frame；The mobile mechanical arm is fixed on mobile platform upper end side, including mechanical arm and end
Actuator；The type frame includes upper positioning disk, lower positioning disk, base, support arm shaft and rotating arm；The base lower end and ground
Fixed, upper end is provided with lower positioning disk, and the lower positioning disk is connected by support arm shaft with upper positioning disk, the rotating arm assembling
On support arm shaft；The guide rail includes ball-screw and line slideway, and the bearing at line slideway both ends passes through ball-screw respectively
It is connected with upper positioning disk, lower positioning disk, it can be achieved that 360 ° of circumferencial direction movements；The digital control system respectively with mobile platform, move
Dynamic mechanical arm, the connection of morpheme Adaptable System；The morpheme Adaptable System is connected with guide rail, can carry out above-below direction feeding fortune
It is dynamic.
2. a kind of adaptive automatic Drilling/Riveting system of morpheme as claimed in claim 1, it is characterised in that the morpheme is adaptively
System includes Adaptable System and end effector.
3. a kind of adaptive automatic Drilling/Riveting system of morpheme as claimed in claim 1, it is characterised in that the measuring system is used for
Processing formulation is scanned and judged after boring riveting operation, by judging nacelle surface scan mode to bore riveting quality.
4. a kind of adaptive automatic Drilling/Riveting system of morpheme as claimed in claim 1, it is characterised in that the mobile platform and machine
Tool arm obtains it relative to default scaling board on nacelle covering when close to nacelle, by visual sensing system, realizes accurate
Positioning.
5. a kind of adaptive automatic Drilling/Riveting system of morpheme as claimed in claim 1, it is characterised in that the morpheme is adaptively
System is located at interiors of products region.
A kind of 6. adaptive automatic Drilling/Riveting system of morpheme as claimed in claim 1, it is characterised in that the mobile mechanical arm and
The end effector that can be replaced is mounted in morpheme Adaptable System.
7. a kind of adaptive automatic Drilling/Riveting system of morpheme as claimed in claim 1, it is characterised in that the guide rail can be according to not
Matched with height nacelle adjustment length, realize that the brill of different size nacelle is riveted and match somebody with somebody.
A kind of 8. adaptive automatic Drilling/Riveting system of morpheme as claimed in claim 1, it is characterised in that positioning disk in the type frame
For separable structure, assembled easy to nacelle；The rotating arm can be rotated in a circumferential direction with respect to support arm shaft and radial expansion movement.
9. a kind of adaptive automatic Drilling/Riveting system of morpheme as claimed in claim 1, it is characterised in that the trick is mixed with power position
Close angle and the amount of feeding that control system is used for realization the compensation drilling of drilling situation changing rule, it is ensured that drilling quality, the number
Control system uses G code program controlled mode.
10. such as a kind of application method of the adaptive automatic Drilling/Riveting system of morpheme of claim 1-9 any one of them, its feature exists
In including the following steps：
Step 1, the assembling for completing nacelle skeleton；
Step 2, the preset calibrations plate on the nacelle skeleton after the completion of assembling；
Step 3, by digital system control mobile platform to drive mobile mechanical arm to be moved on the outside of nacelle, and realizes thick fixed
Position；
Step 4, by visual sensing system positioning and demarcating plate, realize being accurately positioned for mobile mechanical arm；
Step 5, digital control system generate processing program according to job requirements, and it is adaptive with morpheme to send order-driven mobile mechanical arm
System is answered, realizes single-point drilling or riveting operation；Mobile platform, mobile mechanical arm, morpheme Adaptable System receive instruction, in cabin
Automatic Drilling/Riveting operation is carried out in the range of 360 ° of body, completes Product processing；
Step 6, by measuring system be scanned manufactured nacelle, and completes quality judging；
Step 7, system reset.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711140733.5A CN107932081B (en) | 2017-11-16 | 2017-11-16 | The adaptive automatic Drilling/Riveting system of morpheme and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711140733.5A CN107932081B (en) | 2017-11-16 | 2017-11-16 | The adaptive automatic Drilling/Riveting system of morpheme and its application method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107932081A true CN107932081A (en) | 2018-04-20 |
| CN107932081B CN107932081B (en) | 2019-09-17 |
Family
ID=61931518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711140733.5A Active CN107932081B (en) | 2017-11-16 | 2017-11-16 | The adaptive automatic Drilling/Riveting system of morpheme and its application method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107932081B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109604932A (en) * | 2019-01-08 | 2019-04-12 | 上海航天精密机械研究所 | The flexible adjustable type frame of centreless shaft type and assembly technique |
| CN110877087A (en) * | 2018-09-05 | 2020-03-13 | 中航贵州飞机有限责任公司 | Flexible automatic top riveting system and top riveting method |
| CN111112539A (en) * | 2019-12-20 | 2020-05-08 | 珠海格力智能装备有限公司 | Control method and device of riveting equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1884313A2 (en) * | 2006-08-04 | 2008-02-06 | Bruno Bisiach | Apparatus and method for working a work piece, such as a shell structure for an aircraft |
| CN103386455A (en) * | 2012-05-10 | 2013-11-13 | 上海拓璞数控科技有限公司 | Integrated riveting device and integrated riveting method of large-scale cylinder section component |
| CN203578665U (en) * | 2013-10-23 | 2014-05-07 | 上海航天精密机械研究所 | Novel aircraft cabin riveting and assembly jig |
-
2017
- 2017-11-16 CN CN201711140733.5A patent/CN107932081B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1884313A2 (en) * | 2006-08-04 | 2008-02-06 | Bruno Bisiach | Apparatus and method for working a work piece, such as a shell structure for an aircraft |
| CN103386455A (en) * | 2012-05-10 | 2013-11-13 | 上海拓璞数控科技有限公司 | Integrated riveting device and integrated riveting method of large-scale cylinder section component |
| CN203578665U (en) * | 2013-10-23 | 2014-05-07 | 上海航天精密机械研究所 | Novel aircraft cabin riveting and assembly jig |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877087A (en) * | 2018-09-05 | 2020-03-13 | 中航贵州飞机有限责任公司 | Flexible automatic top riveting system and top riveting method |
| CN109604932A (en) * | 2019-01-08 | 2019-04-12 | 上海航天精密机械研究所 | The flexible adjustable type frame of centreless shaft type and assembly technique |
| CN111112539A (en) * | 2019-12-20 | 2020-05-08 | 珠海格力智能装备有限公司 | Control method and device of riveting equipment |
| CN111112539B (en) * | 2019-12-20 | 2021-07-27 | 珠海格力智能装备有限公司 | Control method and device of riveting equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107932081B (en) | 2019-09-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107932081B (en) | The adaptive automatic Drilling/Riveting system of morpheme and its application method | |
| CN101804470B (en) | Automatic wing-body docking hole-making system and method | |
| CN107352043A (en) | A kind of six axle posture adjustment platforms for aircraft engine whole machine installation | |
| CN109270300B (en) | Antenna house test revolving stage | |
| CN204188800U (en) | With the servo platform of motion compensation | |
| CN106405297A (en) | Radome testing system | |
| CN201488848U (en) | Rotary bearing torque tester | |
| CN109093379A (en) | Low-pressure turbo unit body Intelligent assembly platform | |
| CN102156047B (en) | Loading simulation device for test bed of wind turbine | |
| CN106737844A (en) | A kind of axle robot of flapping articulation four | |
| CN201744691U (en) | Automatic punching system for wing body butt joint | |
| CN110988573A (en) | Wireless charging test bench frame for electric automobile | |
| CN110609154B (en) | Rotary table for testing antenna housing | |
| CN104728566A (en) | Rotation lifting leveling mechanism | |
| CN110082571A (en) | A kind of novel positioning turntable of OTA test | |
| CN109204871A (en) | One kind being used for aircraft wing integral panel posture adjustment positioning system and its application method | |
| CN106338719A (en) | Double-supporting one-hanging object supporting rotary table for RCS measurement | |
| CN109506877A (en) | It is a kind of sub- across 90 ° of the super wind-tunnel big angle of attack, 360 ° of rolling devices of coupling | |
| CN105651174B (en) | A kind of vision measurement system for the horizontal automatic drill riveter of aircraft target ship | |
| CN205038521U (en) | Platform device is tracked to automatic swaing of qxcomm technology | |
| CN106406122A (en) | Angle feedback system of flying attitude simulation apparatus of large-scale aircraft | |
| CN108500607B (en) | A kind of centering adjusting device and method for large cylinder | |
| CN204868078U (en) | Aircraft engine assists installing the system | |
| CN115824043A (en) | High-precision detection system and method for box bottom structure | |
| CN212111198U (en) | X-ray machine with adjustable ray range |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |