Walking and positioning device for walking and positioning on workpiece

Abstract

The invention discloses a walking and positioning device for walking and positioning on a workpiece. The device comprises a walking mechanism, a positioning mechanism, an actuator and a central processing unit, wherein the walking mechanism comprises a first walking unit, a second walking unit and a driving unit; the positioning mechanism comprises a positioning unit for positioning in a first direction and a positioning unit for positioning in a second direction, wherein the first direction is vertical to the second direction; the positioning unit for positioning in the first direction comprises a guide plate, a driving assembly which is arranged on the guide plate in the first direction, and a guide rail in the first direction; the positioning unit for positioning in the second direction comprises a driving assembly which is arranged in the second direction of the second walking unit, and a guide rail in the second direction; the actuator is arranged on the positioning unit for positioning in the first direction; and the central processing unit is used for controlling the mechanisms. The walking and positioning device can meet higher requirements on motion accuracy and positioning accuracy so as to guarantee automatic assembly quality, also can reduce the requirements on the conventional tools as much as possible, and avoids changing the conventional tools.

Description

technical field [0001] The invention relates to an automatic assembly system, in particular to a walking positioning device for walking and positioning on a workpiece. Background technique [0002] The main connection method used in aircraft structure is mechanical connection. There are about 1.5 million to 2 million rivets and bolts on a large aircraft. In order to meet the high life requirements of modern aircraft, the safety and reliability of mechanical connections must be ensured first. The traditional aircraft assembly process is as follows: first, locate the connection position by marking or drilling templates; secondly, ensure the normal direction by visual observation or drilling templates; finally, skilled workers use hand-held pneumatic drills and other hole-making tools to check the corresponding structure of aircraft products. Holes are made for the installation of rivets or bolts. There are several problems in this method: first, it is difficult to guarantee t...

AI Technical Summary

Problems solved by technology

There are several problems in this method: first, it is difficult to guarantee the quality of the hole, especially the accuracy index represented by the verticality of the hole; second, it is difficult to control the process parameters such as the feed rate, resulting in a large burr height, which must be There is a follow-up deburring process, which increases a lot of costs; third, the efficiency is low, which is also one of the important reasons for the long assembly cycle

However, this automated assembly system based on flexible rails also has the disadvantages of large structure and poor mobility. In particular, this system needs to install additional rails and has more requirements for tooling

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