Aiming at the problems of poor consistency

low efficiency

limited accessibility and poor working environment in manual operation mode during the gluing process of aircraft large components

the automatic gluing system for gantry hanging robot was designed. Through the calibration of the vision system and the correction of the theoretical gluing trajectory

the gluing system evaluates the affecting factors of the gluing technology parameters

obtains the matching relationship between the robot running speed and the motor speed

and constructed multifunctional end-effector integrating industrial cameras

laser contour scanners and other equipment. At the same time

an integrated control system and software are developed to realize the automatic coating of sealant with high efficiency and quality for large size aircraft components. The test results show that the accuracy of the gluing track is ± 0.5 mm

and the accuracy of the rubber strip is ± 0.5 mm

which can fully meet the actual process requirements.