Title:
ROBOT VISION-BASED AUTOMATIC RIVET PLACEMENT SYSTEM AND METHOD
Document Type and Number:
WIPO Patent Application WO/2021/003858
Kind Code:
A1
Abstract:
A robot vision-based automatic rivet placement system and a method. The automatic rivet placement system comprises: an industrial robot (1) installed on a frame, a multi-functional end effector (2), a rivet blowing mechanism (4), a detection disk (5), and a rivet holding tray (10). The multi-functional end effector consists of a flange disk (12), a support frame (13), an industrial CCD camera (14), a laser displacement sensor (15), a spring (16), a mixing rod (17), and a vacuum nozzle (18). The multi-functional end effector is connected to a terminal end of the industrial robot via the flange disk. The industrial CCD camera is installed directly in front of the support frame, and used to acquire a rivet image and measure a rivet parameter. The laser displacement sensor is installed at a side surface of the support frame, and is used to measure a rivet depth. The vacuum nozzle is installed below the support frame, and is used to pick up and place a rivet. The automatic rivet placement system is applicable to rivet detection and automatic rivet placement during aircraft manufacturing processes.
Inventors:
TIAN WEI (CN)
ZHENG YI (CN)
ZHUANG ZHIWEI (CN)
LIAO WENHE (CN)
ZHANG LIN (CN)
LI BO (CN)
HU JUNSHAN (CN)
ZHENG YI (CN)
ZHUANG ZHIWEI (CN)
LIAO WENHE (CN)
ZHANG LIN (CN)
LI BO (CN)
HU JUNSHAN (CN)
Application Number:
PCT/CN2019/109866
Publication Date:
January 14, 2021
Filing Date:
October 08, 2019
Export Citation:
Assignee:
UNIV NANJING AERONAUTICS & ASTRONAUTICS (CN)
International Classes:
B21J15/14; B21J15/32
Domestic Patent References:
| WO2017194749A1 | 2017-11-16 |
Foreign References:
| CN109225915A | 2019-01-18 | |||
| CN103112062A | 2013-05-22 | |||
| CN109290506A | 2019-02-01 | |||
| CN107138669A | 2017-09-08 | |||
| CN208731985U | 2019-04-12 | |||
| US20180222696A1 | 2018-08-09 |
Other References:
LI, FEIYU ET AL.: "A Robot Rivet Feeding System for Automatic Drilling and Riveting", AERONAUTICAL MANUFACTURING TECHNOLOGY, vol. 62, no. 10, 15 May 2019 (2019-05-15), DOI: 20200311163613A
Attorney, Agent or Firm:
JIANGSU SUNDY LAW FIRM (CN)
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