CN107932081B - 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
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- CN107932081B CN107932081B CN201711140733.5A CN201711140733A CN107932081B CN 107932081 B CN107932081 B CN 107932081B CN 201711140733 A CN201711140733 A CN 201711140733A CN 107932081 B CN107932081 B CN 107932081B
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- morpheme
- cabin
- riveting
- positioning disk
- mechanical arm
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- 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 methods, mobile platform includes matrix and the castor for being mounted on matrix lower end, mobile platform can carry out all-around mobile on the outside of cabin and type frame, integrate be equipped with digital control system, position fixing and navigation system, visual sensing system, trick and force-location mix control system and measuring system thereon；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, pedestal, support arm shaft and rotating arm；Pedestal lower end is fixed with ground, and upper end is equipped with lower positioning disk, and lower positioning disk is connect by support arm shaft with upper positioning disk, and rotating arm is assemblied on support arm shaft.The present invention can not be limited by section structure form, can adapt to existing type frame basis, complete the drilling, riveting assembly work and quality judging of cabin, and versatility is high, be assembled flexible big.
Description
Technical field
The present invention relates to carrier rocket bay section automatic Drilling/Riveting process and assemble technical field, specifically a kind of morpheme is adaptive certainly
It is dynamic to bore riveting system and its application method, it can be realized the automatic Drilling/Riveting processing of different size cabin.
Background technique
It carries rocket just to develop towards the development direction of high quality, short cycle, low cost, be dealt into from 1 year 1-2 before 10 years
Annual 10-20 hair of today, carrier rocket are just marching toward high density transmitting period, not to requirements such as the quality, precision, progress of product
It is disconnected to improve；And the assembly of China's carrier rocket bay section at present remains in hand assembled level, restricts the raising of product quality,
It is unable to satisfy the demand of space flight development.Automatic Drilling/Riveting skill has all been widely used in aerospace industry developed country in countries in the world at present
Art.The application of foreign countries' riveting mounting technology decades shows at least to fill than manual rivet using assembly efficiency after automatic drill riveter
With 10 times of raising, and installation cost can be saved, improve working conditions, more important is that can ensure installation quality, greatly reduce
Defect caused by human factor.One of the main technique measure for improving aircraft performance is had become using automatic drill riveter now.
Nearly ten years, automatic Drilling/Riveting has obtained a degree of application in carrier rocket cabin product, but asks there are following
Topic:
1) it is limited by product structure, automatic Drilling/Riveting is only confined in simple cabin；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 tooling 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, it is also not yet collected into money similar both at home and abroad
Material.
Summary of the invention
The present invention aiming at the above shortcomings existing in the prior art, provide a kind of adaptive automatic Drilling/Riveting system of morpheme and
Its application method, using external mobile mechanical arm+inside morpheme Adaptable System cooked mode, by utilizing existing type frame etc.
Condition realizes the flexible drilling riveting processing of various specifications cabin.
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 for being mounted on matrix lower end, and the mobile platform can be in cabin 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, accurate motion and positioning for realizing mobile mechanical arm, avoid with cabin 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, pedestal, support arm shaft and rotating arm；The pedestal lower end is fixed with ground, upper end
Lower positioning disk is installed, the lower positioning disk is connect 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 linear guide, and the support at linear guide 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,
The connection of morpheme Adaptable System；The morpheme Adaptable System is connected with guide rail, can carry out up and down direction feed motion.
Preferably, the morpheme Adaptable System includes Adaptable System and end effector.
Preferably, the measuring system is for being scanned and determining to processing formulation after boring riveting operation, by cabin
Surface scan mode judges to bore riveting quality.
Preferably, the mobile platform and mechanical arm be when close to cabin, by visual sensing system obtain its relative to
Preset scaling board on cabin covering is realized and is accurately positioned.
Preferably, the morpheme Adaptable System is located at interiors of products region.
Preferably, the end execution that can be replaced is mounted in the mobile mechanical arm and morpheme Adaptable System
Device, to realize such as drilling, counter boring, the different types of job requirements of riveting.
Preferably, the guide rail can adjust length according to different height cabin and be matched, and realize different size cabin
Brill, which is riveted, matches.
Preferably, positioning disk is separable structure in the type frame, is assembled convenient for cabin；The rotating arm can opposite branch
Arm axle is rotated in a circumferential direction and radial expansion movement.
Preferably, the angle that the trick and force-location mix control system drill for realizing the compensation of drilling situation changing rule
Degree and the amount of feeding, it is ensured that drilling quality, the digital control system use G code program controlled mode.
The present invention also provides a kind of application methods of the adaptive automatic Drilling/Riveting system of morpheme, include the following steps:
Step 1, the assembly for completing cabin skeleton；
Step 2, the preset calibrations plate on cabin skeleton after the assembly is completed；
Step 3 drives mobile mechanical arm to move on the outside of cabin, and realizes thick by digital system control mobile platform
Positioning；
Step 4 passes through visual sensing system positioning and demarcating plate, realizes the accurate positioning of mobile mechanical arm；
Step 5, digital control system generate processing program according to job requirements, and issue 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 within the scope of 360 ° of cabin, completes product processing；
Step 6 is scanned manufactured cabin by measuring system, and completes quality judging；
Step 7, system reset.
Compared with prior art, the invention has the following advantages:
It can adapt to the hardware foundations condition such as existing type frame, realize that morpheme is adaptive within the scope of internal small space, leads to
The cooperation with external mobile platform and mobile mechanical arm is crossed, realizes the automatic Drilling/Riveting processing of various specifications cabin, and processing matter
The judgement of amount.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is a kind of structural schematic 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.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
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 scope.Protection scope of the present invention.In the description of the present invention, it is to be understood that, term " on ", "lower", " preceding ",
The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" be based on
Orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion institute
The device or element of finger must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this hair
Bright limitation.
As shown in Figure 1, the embodiment of the invention provides a kind of adaptive automatic Drilling/Riveting system of morpheme, including mobile platform
1, mobile mechanical arm 2, morpheme Adaptable System 4, guide rail 5, type frame 6, the mobile platform 1 is including matrix and is mounted on matrix
The castor of lower end, the mobile platform 1 can carry out all-around mobile on the outside of cabin 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, for realizing shifting
The accurate motion of dynamic mechanical arm 2 and positioning, avoid the interference and collision with cabin 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, pedestal, branch
Arm axle and rotating arm；The pedestal lower end is fixed with ground, and upper end is equipped with lower positioning disk, and the lower positioning disk passes through support arm
Axis is connect with upper positioning disk, and the rotating arm is assemblied on support arm shaft；The guide rail includes ball-screw and linear guide, directly
The support at line guide rail both ends passes through ball-screw respectively and is connected 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 connect with mobile platform, mobile mechanical arm, morpheme Adaptable System respectively；The morpheme is adaptively
System is connected with guide rail, can carry out up and down direction feed motion, the morpheme Adaptable System includes that Adaptable System and end are held
Row device, the measuring system is for being scanned and determining to processing formulation after boring riveting operation, by cabin surface scan side
Formula judgement bore riveting quality, the mobile platform and mechanical arm when close to cabin, by visual sensing system obtain its relative to
Preset scaling board on cabin covering realizes and is accurately positioned, the morpheme Adaptable System is located at interiors of products region, the shifting
Be mounted on the end effector that can be replaced in dynamic mechanical arm and morpheme Adaptable System, thus realize as drilling, counter boring,
The different types of job requirements such as riveting, the guide rail can adjust length according to different height cabin and be matched, be realized different
The brill of specification cabin, which is riveted, matches, and positioning disk is separable structure in the type frame, assembles convenient for cabin；The rotating arm can phase
It is rotated in a circumferential direction to support arm shaft and radial expansion moves, the trick and force-location mix control system are for realizing drilling situation
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 process control side
Formula.
As shown in Fig. 2, the embodiment of the invention also provides a kind of application method of the adaptive automatic Drilling/Riveting system of morpheme, packet
Include following steps:
Step 1, the assembly for completing cabin skeleton；
Step 2, the preset calibrations plate on cabin skeleton after the assembly is completed；
Step 3 drives mobile mechanical arm to move on the outside of cabin, and realizes thick by digital system control mobile platform
Positioning；
Step 4 passes through visual sensing system positioning and demarcating plate, realizes the accurate positioning of mobile mechanical arm；
Step 5, digital control system generate processing program according to job requirements, and issue 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 within the scope of 360 ° of cabin, completes product processing；
Step 6 is scanned manufactured cabin by measuring system, and completes quality judging；
Step 7, system reset.
The processing program that this specific implementation utilizes Digitization Software to generate is moved under the driving of control system by replacement
The execution structure for moving mechanical arm 2,4 end of morpheme Adaptable System, can be respectively completed the drilling and riveting operation of cabin, and pass through
Measuring system bore the scanning and judgement of riveting processing quality.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to 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 substantive content of the invention.
Claims (10)
1. a kind of adaptive automatic Drilling/Riveting system of morpheme, which is characterized 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 for being mounted on matrix lower end, and the mobile platform can
All-around mobile is carried out on the outside of cabin and type frame, integrates be equipped with digital control system, position fixing and navigation system, visual sensing system thereon
System, trick and force-location mix control system and measuring system, accurate motion and positioning for realizing mobile mechanical arm avoid
With the interference and collision of cabin 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, pedestal, support arm shaft and rotating arm；The pedestal lower end and ground
Fixed, upper end is equipped with lower positioning disk, and the lower positioning disk is connect by support arm shaft with upper positioning disk, the rotating arm assembly
On support arm shaft；The guide rail includes ball-screw and linear guide, and the support at linear guide 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 up and down direction feeding fortune
It is dynamic.
2. a kind of adaptive automatic Drilling/Riveting system of morpheme as described in claim 1, which is characterized 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 described in claim 1, which is characterized in that the measuring system is used for
Processing formulation is scanned and is determined after boring riveting operation, bores riveting quality by judging cabin surface scan mode.
4. a kind of adaptive automatic Drilling/Riveting system of morpheme as described in claim 1, which is characterized in that the mobile platform and machine
Tool arm obtains it relative to preset scaling board on cabin covering when close to cabin, through visual sensing system, realizes accurate
Positioning.
5. a kind of adaptive automatic Drilling/Riveting system of morpheme as described in claim 1, which is characterized in that the morpheme is adaptively
System is located at interiors of products region.
6. a kind of adaptive automatic Drilling/Riveting system of morpheme as described in claim 1, which is characterized 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 described in claim 1, which is characterized in that the guide rail can be according to not
It is matched with height cabin adjustment length, realizes that the brill of different size cabin is riveted and match.
8. a kind of adaptive automatic Drilling/Riveting system of morpheme as described in claim 1, which is characterized in that positioning disk in the type frame
For separable structure, assembled convenient for cabin；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 described in claim 1, which is characterized in that the trick and power position are mixed
Control system is closed for realizing the angle and the amount of feeding of drilling situation changing rule compensation drilling, it is ensured that drilling quality, the number
Control system uses G code program controlled mode.
10. such as a kind of described in any item application methods of the adaptive automatic Drilling/Riveting system of morpheme of claim 1-9, feature exists
In including the following steps:
Step 1, the assembly for completing cabin skeleton；
Step 2, the preset calibrations plate on cabin skeleton after the assembly is completed；
Step 3 drives mobile mechanical arm to move on the outside of cabin, and realizes and slightly determine by digital system control mobile platform
Position；
Step 4 passes through visual sensing system positioning and demarcating plate, realizes the accurate positioning of mobile mechanical arm；
Step 5, digital control system generate processing program according to job requirements, and it is adaptive with morpheme to issue 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 within the scope of 360 ° of body, completes product processing；
Step 6 is scanned manufactured cabin by measuring system, and completes quality judging；
Step 7, system reset.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711140733.5A CN107932081B (en) | 2017-11-16 | 2017-11-16 | The adaptive automatic Drilling/Riveting system of morpheme and its application method |
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| 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 |
| 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 |
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| ITTO20060581A1 (en) * | 2006-08-04 | 2008-02-05 | Bruno Bisiach | DEVICE AND METHOD OF WORKING A PIECE TO BE WORKED, AS FOR EXAMPLE A STRUCTURE SHELLED OF A AIRCRAFT |
| CN103386455B (en) * | 2012-05-10 | 2015-06-10 | 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 |
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