Automatic installation system of soft rubber caps based on multi-rivet aircraft structural parts

2022 9th International Forum on Electrical Engineering and Automation (IFEEA) Pub Date : 2022-11-04 DOI:10.1109/IFEEA57288.2022.10037939

Qingsong Zhang, Jianwei Mu, Bowen Xu, Chuanjun Yu, Xin-Yi Tong, Wei Wang

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Abstract

Many structural parts are connected and fixed with rivets or screws in aircraft assembly. Due to the requirements of sealing, anticorrosion or fastening, soft rubber caps coated with sealant need to be bonded. The current production mode is mostly manual operation, there are a lot of problems, such as heavy workload, high hollow rate of sealing cap, low production efficiency, not environmental-friendly and so on. In this paper, a multi-rivet automatic identification and rubber cap installation system of micro-curved structural parts based on robotic linear laser scanning is designed by cooperative-robot to carry a linear laser camera and a soft rubber cap pickup fixture. The system can realize the automatic scanning, identification, classification and positioning of rivets or screws, automatically pick up different types of rubber caps according to the classification, and link with the automatic glue injection system to complete the quantitative glue injection of rubber caps, and automatically complete the installation of rubber caps according to the positioning information.

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基于多铆接飞机结构件的软胶帽自动安装系统

在飞机装配中，许多结构部件都是用铆钉或螺钉连接和固定的。由于密封、防腐或紧固的要求，需要涂有密封胶的软橡胶帽进行粘接。目前的生产方式多为人工操作，存在着工作量大、瓶盖空心率高、生产效率低、不环保等诸多问题。本文设计了一种基于机器人线性激光扫描的微弯曲结构零件多铆钉自动识别和橡胶帽安装系统，该系统由协作机器人携带线性激光相机和软橡胶帽拾取夹具。该系统可实现铆钉或螺钉的自动扫描、识别、分类和定位，根据分类自动拾取不同型号的胶帽，并与自动注胶系统联动，完成胶帽的定量注胶，并根据定位信息自动完成胶帽的安装。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2022 9th International Forum on Electrical Engineering and Automation (IFEEA)

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