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

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.