Satellite cable network welding method based on robot

Abstract

The present invention relates to a robot-based satellite cable network welding method in the field of satellite cable network welding technology, wherein the welding includes welding between the satellite cable network and the device-end thermistor leads, the device-end heating loop leads, the connector wires and the cable network wires, and includes a robot control system and a satellite cable network welding process method, wherein the robot control system remotely controls a computer, a control computer, a sensor and a communication system and a joint action system, wherein the remotely controlled computer sends a cable network welding instruction, the control computer receives the instruction and sends it to the sensor system, the sensor system receives and feeds back the execution of the joint action, and completes the satellite cable network welding. Compared with traditional manual welding, the welding robot of the present invention has a higher welding efficiency, can adapt to the welding of a variety of products, ensures welding quality, saves costs for enterprises, solves the problem of automatic welding of cable networks in the existing satellite assembly process, and realizes satellite mass production.

Description

Technical Field

[0001] The invention relates to the technical field of satellite cable network welding, and in particular to a robot-based satellite cable network welding method. Background Art

[0002] Since the beginning of the last century, robots have relied on the development of related technologies in many fields such as computers and electronics to become a rapidly developing field. Satellite cable networks have evolved from manual welding to robot automatic welding to the exploration and research of remote-controlled welding in future space stations. Robots assist satellite assemblers in welding cable networks, which has reduced the workload of operators to a certain extent and improved satellite production efficiency. Combining robots with satellites can replace assembly operators to complete satellite cable network cutting, welding, testing and other operations, greatly reducing the work tasks of assembly operators. It has now become an important development direction of aerospace technology, and welding robots have gradually become key equipment for satellite assembly.

[0003] In the existing technology, during the satellite assembly process, the welding of satellite cable networks has not yet been fully automated, the welding efficiency is low, it is difficult to improve the consistency and reliability of cable network welding, and it is difficult to achieve satellite mass production. For this reason, we propose a robot-based satellite cable network welding method. Summary of the invention

[0004] In response to the above problems, the present invention provides a robot-based satellite cable network welding method, which has the advantages of realizing automatic welding of satellite cable networks, improving the consistency and reliability of cable network welding, and improving production efficiency, thus laying the foundation for the industrialization and mass production of satellites.

[0005] The technical solution of the present invention is:

[0006] A robot-based satellite cable network welding method includes welding between the satellite cable network and equipment-end thermistor leads, equipment-end heating loop leads, connector leads, and cable network conductors.

[0007] In a further technical solution, the welding method provides a method including a robot control system and a satellite cable network welding process. The robot control system includes a remote control computer, a control computer, a sensor and communication system, and a joint action system. The remote control computer sends a cable network welding instruction, the control computer receives the instruction and sends it to the sensor system and the joint action execution system, the sensor receives and feeds back the joint action execution status to the control computer, and completes the satellite cable network welding.

[0008] In a further technical solution, the satellite cable network welding process includes cable conductor specifications and models, conductor structure composition, welding method, overlap length, etc. The cable network welding process includes cutting the conductor to a suitable length for cable network binding and fixing, conductor head stripping, conductor tinning, installing a first layer of protective sleeve on the conductor weld point, installing a second layer of protective sleeve on the conductor weld point, lead welding, excess material inspection, blowing and shrinking heat shrink sleeve, resistance measurement and cable network binding.

[0009] In a further technical solution, the welding parameter settings include wire stripping: hot stripping, stripping length 4 to 5 mm; wire tinning: end treatment, the tinning amount should be moderate, 0.5 to 1 mm away from the root of the wire insulation layer; wire welding: the wire end position does not move, the soldering iron tip is welded, the soldering iron temperature is (290±10)℃, the welding time is 2 to 3s, and then wiped with anhydrous ethanol; heat shrink tubing shrinking: the first layer of heat shrink tubing is shrunk before the second layer of heat shrink tubing is shrunk; the wire heads, shielding wires and other excess materials generated by welding are placed in an excess material collection box.

[0010] In a further technical solution, the welding method comprises the following steps:

[0011] S1. Stripping, including hot stripping, stripping length 4 to 5 mm; stripping process: the robot controls the jaws to press down vertically, and the jaws must not rotate relative to the wire during heating (it is allowed that the jaws should be loosened after heating in one direction, and then heated in the other direction after turning 90 degrees). When stripping, the robot rotates in the original twisting direction and then tightens in the twisting direction of the core wire. The robot's visual system detects that the core wire surface is free of scratches, extrusion, loose twisting, broken strands and deformation.

[0012] S2. Wire tinning: The robot will tin the screwed wire ends. The amount of tin should be moderate and smooth, and the distance from the root of the wire insulation layer should be 0.5 to 1 mm. The solder should penetrate into the core wire. The surface of the core wire should be evenly moistened and bright, with a slight outline of the core wire. The tinning temperature is (290±10)℃, and the tinning time is 2 to 3s.

[0013] S3. Wire welding: Keep the wire end in place, and use an electric soldering iron to weld the wires at a temperature of (290±10)℃ for 2 to 3 seconds. The wires are welded together in parallel and tightly, with a welding length of about 5mm and a welding time of 2 to 3 seconds. There should be no tin within 0.5 to 1mm between the wire and the insulation layer. After the solder joint cools down naturally, the robot cleans excess solder and residue with a cloth dipped in anhydrous ethanol.

[0014] S4, heat shrink tubing set and blowing: robot cutting φ1.2 / 0.6, length 20mm, φ2.0 / 0.8, length 20mm heat shrink tubing, heating with double-layer tubing protection for lead wires and wire welding points; blowing the heat shrink tubing, the hot air gun is about 50mm away from the tubing.

[0015] S5. Inspection of excess materials: The robot vision system detects excess materials such as tin slag and wire ends.

[0016] S6. Resistance measurement: Use a dedicated test device to connect one end of the robot to the cable network connector node, and the other end to the cable network connector node to measure the resistance between the wires. The on-resistance is required to be ≤325mΩ. Use a dedicated test device to connect one end of the robot to the cable network connector node, and the other end to the cable network connector node to measure the insulation resistance between the wires. The test voltage is DC 250V, and the insulation resistance is ≥600MΩ.

[0017] S7. Cable binding: The width of the binding buckle is 3-20mm, the spacing is 150-300mm, the remaining length of the wire end is 10-15mm, and the knot should be tightened and pulled to the middle of the binding buckle. The lead-out wires should be consistent, the welding point should not be suspended, and fixed to the structural plate with GD414 silicone rubber; the lead-out wires are fixed into bundles with GD414 silicone rubber at intervals of 100-150mm and fixed together with the cable net.

[0018] In a further technical solution, the robot control system execution sequence includes the following steps:

[0019] S1. First, the cable network welding instruction is sent through the remote control computer, and the control computer receives the instruction and sends it to the sensor system and the joint action execution system;

[0020] S2. The sensor receives and feeds back the execution status of the joint action to the control computer to complete the welding of the satellite cable network.

[0021] In a further technical solution, the satellite cable network welding process sequence includes the following steps:

[0022] S1. Cut the wire length to a suitable length for cable net binding and fixing;

[0023] S2, wire stripping;

[0024] S3, wire tinning;

[0025] S4, the first layer protection sleeve of the wire welding point and the second layer protection sleeve of the wire welding point;

[0026] S5, lead welding;

[0027] S6. Check for excess;

[0028] S7, blowing and shrinking heat shrink tubing;

[0029] S8, wire resistance measurement;

[0030] S9. Cable network binding.

[0031] In a further technical solution, the sensor communicates with the control computer including the following steps:

[0032] S1. The sensor system detects the action execution end, and the action execution end feeds back the execution signal to the sensor system. The control computer compares the sensor feedback signal and sends the action execution instruction if the signal is normal.

[0033] S2. Signal comparison finds an abnormality and the control computer sends a stop command.

[0034] The beneficial effects of the present invention are:

[0035] 1. The present invention realizes the automatic welding of satellite cable network, improves the consistency and reliability of cable network welding, improves production efficiency, and lays a foundation for the industrialization and mass production of satellites;

[0036] 2. Compared with traditional manual welding, the welding robot of the present invention has higher welding efficiency and can adapt to the welding of various products. While ensuring the welding quality, it saves costs for the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the composition of the robot-based satellite cable network welding method provided by the present invention;

[0038] Figure 2 It is a schematic diagram of a robot control system of a robot-based satellite cable network welding method provided by the present invention;

[0039] Figure 3 The present invention provides a schematic diagram of the cable net welding process flow of the robot-based satellite cable net welding method. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] The embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0043] Embodiment 1:

[0044] like Figure 1 to Figure 3 As shown, a robot-based satellite cable network welding method includes welding between the satellite cable network and the device-end thermistor leads, the device-end heating loop leads, the connector leads, and the cable network conductors.

[0045] In another embodiment, a welding method provides a method including a robot control system and a satellite cable network welding process. The robot control system includes a remote control computer, a control computer, a sensor and communication system, and a joint motion system. The remote control computer sends a cable network welding instruction, the control computer receives the instruction and sends it to the sensor system and the joint motion execution system, the sensor receives and feeds back the joint motion execution status to the control computer, and completes the satellite cable network welding.

[0046] In another embodiment, the satellite cable network welding process includes cable conductor specifications and models, conductor structure composition, welding method, overlap length, etc. The cable network welding process includes cutting the conductor to a suitable length for cable network binding and fixing, conductor head stripping, conductor tinning, installing a first layer of protective casing on the conductor weld points, installing a second layer of protective casing on the conductor weld points, lead welding, excess material inspection, blowing and shrinking heat shrink casing, resistance measurement and cable network binding.

[0047] In another embodiment, the welding parameter settings include wire stripping: hot stripping, the stripping length is 4 to 5 mm; wire tinning: end treatment, the tinning amount should be moderate, 0.5 to 1 mm away from the root of the wire insulation layer; wire welding: the wire end position does not move, the soldering iron tip is welded, the electric soldering iron temperature is (290±10)°C, the welding time is 2 to 3s, and then wiped with anhydrous ethanol; heat shrink tubing shrinking: the first layer of heat shrink tubing is shrunk before the second layer of heat shrink tubing is shrunk; the wire heads, shielding wires and other excess materials generated by welding are placed in an excess material collection box.

[0048] In another embodiment, the welding method comprises the following steps:

[0049] S1. Stripping, including hot stripping, stripping length 4 to 5 mm; stripping process: the robot controls the jaws to press down vertically, and the jaws must not rotate relative to the wire during heating (it is allowed that the jaws should be loosened after heating in one direction, and then heated in the other direction after turning 90 degrees). When stripping, the robot rotates in the original twisting direction and then tightens in the twisting direction of the core wire. The robot's visual system detects that the core wire surface is free of scratches, extrusion, loose twisting, broken strands and deformation.

[0050] S2. Wire tinning: The robot will tin the screwed wire ends. The amount of tin should be moderate and smooth, and the distance from the root of the wire insulation layer should be 0.5 to 1 mm. The solder should penetrate into the core wire. The surface of the core wire should be evenly moistened and bright, with a slight outline of the core wire. The tinning temperature is (290±10)℃, and the tinning time is 2 to 3s.

[0051] S3. Wire welding: Keep the wire end in place, and use an electric soldering iron to weld the wires at a temperature of (290±10)℃ for 2 to 3 seconds. The wires are welded together in parallel and tightly, with a welding length of about 5mm and a welding time of 2 to 3 seconds. There should be no tin within 0.5 to 1mm between the wire and the insulation layer. After the solder joint cools down naturally, the robot cleans excess solder and residue with a cloth dipped in anhydrous ethanol.

[0052] S4, heat shrink tubing set and blowing: robot cutting φ1.2 / 0.6, length 20mm, φ2.0 / 0.8, length 20mm heat shrink tubing, heating with double-layer tubing protection for lead wires and wire welding points; blowing the heat shrink tubing, the hot air gun is about 50mm away from the tubing.

[0053] S5. Inspection of excess materials: The robot vision system detects excess materials such as tin slag and wire ends.

[0054] S6. Resistance measurement: Use a dedicated test device to connect one end of the robot to the cable network connector node, and the other end to the cable network connector node to measure the resistance between the wires. The on-resistance is required to be ≤325mΩ. Use a dedicated test device to connect one end of the robot to the cable network connector node, and the other end to the cable network connector node to measure the insulation resistance between the wires. The test voltage is DC 250V, and the insulation resistance is ≥600MΩ.

[0055] S7. Cable binding: The width of the binding buckle is 3-20mm, the spacing is 150-300mm, the remaining length of the wire end is 10-15mm, and the knot should be tightened and pulled to the middle of the binding buckle. The lead-out wires should be consistent, the welding point should not be suspended, and fixed to the structural plate with GD414 silicone rubber; the lead-out wires are fixed into bundles with GD414 silicone rubber at intervals of 100-150mm and fixed together with the cable net.

[0056] This embodiment improves the consistency and reliability of cable network welding through cable binding and other technologies, improves production efficiency, and lays a foundation for realizing satellite industrialization and mass production.

[0057] Embodiment 2:

[0058] like Figure 1 to Figure 3 As shown, a robot-based satellite cable network welding method includes welding between the satellite cable network and the device-end thermistor leads, the device-end heating loop leads, the connector leads, and the cable network conductors.

[0059] In another embodiment, a welding method provides a method including a robot control system and a satellite cable network welding process. The robot control system includes a remote control computer, a control computer, a sensor and communication system, and a joint motion system. The remote control computer sends a cable network welding instruction, the control computer receives the instruction and sends it to the sensor system and the joint motion execution system, the sensor receives and feeds back the joint motion execution status to the control computer, and completes the satellite cable network welding.

[0060] In another embodiment, the satellite cable network welding process includes cable conductor specifications and models, conductor structure composition, welding method, overlap length, etc. The cable network welding process includes cutting the conductor to a suitable length for cable network binding and fixing, conductor head stripping, conductor tinning, installing a first layer of protective casing on the conductor weld points, installing a second layer of protective casing on the conductor weld points, lead welding, excess material inspection, blowing and shrinking heat shrink casing, resistance measurement and cable network binding.

[0061] In another embodiment, the welding parameter settings include wire stripping: hot stripping, the stripping length is 4 to 5 mm; wire tinning: end treatment, the tinning amount should be moderate, 0.5 to 1 mm away from the root of the wire insulation layer; wire welding: the wire end position does not move, the soldering iron tip is welded, the electric soldering iron temperature is (290±10)°C, the welding time is 2 to 3s, and then wiped with anhydrous ethanol; heat shrink tubing shrinking: the first layer of heat shrink tubing is shrunk before the second layer of heat shrink tubing is shrunk; the wire heads, shielding wires and other excess materials generated by welding are placed in an excess material collection box.

[0062] In another embodiment, the welding method comprises the following steps:

[0063] S1. Stripping, including hot stripping, stripping length 4 to 5 mm; stripping process: the robot controls the jaws to press down vertically, and the jaws must not rotate relative to the wire during heating (it is allowed that the jaws should be loosened after heating in one direction, and then heated in the other direction after turning 90 degrees). When stripping, the robot rotates in the original twisting direction and then tightens in the twisting direction of the core wire. The robot's visual system detects that the core wire surface is free of scratches, extrusion, loose twisting, broken strands and deformation.

[0064] S2. Wire tinning: The robot will tin the screwed wire ends. The amount of tin should be moderate and smooth, and the distance from the root of the wire insulation layer should be 0.5 to 1 mm. The solder should penetrate into the core wire. The surface of the core wire should be evenly moistened and bright, with a slight outline of the core wire. The tinning temperature is (290±10)℃, and the tinning time is 2 to 3s.

[0065] S3. Wire welding: Keep the wire end in place, and use an electric soldering iron to weld the wires at a temperature of (290±10)℃ for 2 to 3 seconds. The wires are welded together in parallel and tightly, with a welding length of about 5mm and a welding time of 2 to 3 seconds. There should be no tin within 0.5 to 1mm between the wire and the insulation layer. After the solder joint cools down naturally, the robot cleans excess solder and residue with a cloth dipped in anhydrous ethanol.

[0066] S4, heat shrink tubing set and blowing: robot cutting φ1.2 / 0.6, length 20mm, φ2.0 / 0.8, length 20mm heat shrink tubing, heating with double-layer tubing protection for lead wires and wire welding points; blowing the heat shrink tubing, the hot air gun is about 50mm away from the tubing.

[0067] S5. Inspection of excess materials: The robot vision system detects excess materials such as tin slag and wire ends.

[0068] S6. Resistance measurement: Use a dedicated test device to connect one end of the robot to the cable network connector node, and the other end to the cable network connector node to measure the resistance between the wires. The on-resistance is required to be ≤325mΩ. Use a dedicated test device to connect one end of the robot to the cable network connector node, and the other end to the cable network connector node to measure the insulation resistance between the wires. The test voltage is DC 250V, and the insulation resistance is ≥600MΩ.

[0069] S7. Cable binding: The width of the binding buckle is 3-20mm, the spacing is 150-300mm, the remaining length of the wire end is 10-15mm, and the knot should be tightened and pulled to the middle of the binding buckle. The lead-out wires should be consistent, the welding point should not be suspended, and fixed to the structural plate with GD414 silicone rubber; the lead-out wires are fixed into bundles with GD414 silicone rubber at intervals of 100-150mm and fixed together with the cable net.

[0070] In another embodiment, the robot control system execution sequence includes the following steps:

[0071] S1. First, the cable network welding instruction is sent through the remote control computer, and the control computer receives the instruction and sends it to the sensor system and the joint action execution system;

[0072] S2. The sensor receives and feeds back the execution status of the joint action to the control computer to complete the welding of the satellite cable network.

[0073] In a further technical solution, the satellite cable network welding process sequence includes the following steps:

[0074] S1. Cut the wire length to a suitable length for cable net binding and fixing;

[0075] S2, wire stripping;

[0076] S3, wire tinning;

[0077] S4, the first layer protection sleeve of the wire welding point and the second layer protection sleeve of the wire welding point;

[0078] S5, lead welding;

[0079] S6. Check for excess;

[0080] S7, blowing and shrinking heat shrink tubing;

[0081] S8, wire resistance measurement;

[0082] S9. Cable network binding.

[0083] In another embodiment, the sensor communicating with the control computer comprises the following steps:

[0084] S1. The sensor system detects the action execution end, and the action execution end feeds back the execution signal to the sensor system. The control computer compares the sensor feedback signal and sends the action execution instruction if the signal is normal.

[0085] S2. Signal comparison finds an abnormality and the control computer sends a stop command.

[0086] This embodiment adds robot control system execution and sensor and control computer communication on the basis of Embodiment 1. Compared with traditional manual welding, the welding robot has higher welding efficiency and can adapt to the welding of various products. It ensures welding quality while saving costs for the enterprise.

[0087] The above embodiments only express the specific implementation of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A robot-based satellite cable network welding method, characterized in that: The welding includes welding between the satellite cable network and the thermistor leads at the equipment end, the heating loop leads at the equipment end, the connector leads and the cable network conductors; The welding method comprises the following steps: S1. Stripping, including hot stripping, stripping length 4-5mm; Stripping process: the robot controls the jaws to press vertically downward, and the jaws must not rotate relative to the wire during heating. When stripping, the robot rotates in the original twisting direction and then tightens in the twisting direction of the core wire. The robot's visual system detects that the core wire surface is free of scratches, extrusion, loose twisting, broken strands, and deformation; S2. Tinning of wires: The robot tins the ends of the twisted wires. The amount of tin should be moderate and smooth, and the distance from the root of the wire insulation layer should be 0.5-1mm. The solder should penetrate into the core wire, and the surface of the core wire should be evenly moistened and bright, with a slight outline of the core wire. The tinning temperature is (290±10)℃, and the tinning time is 2-3s. S3. Wire welding: Keep the wire end in place, and use the robot to weld with an electric soldering iron, with a welding temperature of (290±10)℃ and a welding time of 2 to 3 seconds; the wires are welded together in parallel and tightly, with a welding length of about 5mm and a welding time of 2 to 3 seconds. There should be no tin between the wire and the insulation layer within 0.5 to 1mm. After the solder joint cools down naturally, the robot cleans the excess solder and residue with a cloth dipped in anhydrous ethanol; S4, heat shrink tubing set and blowing: robot cutting φ1.2 / 0.6, length 20mm, φ2.0 / 0.8, length 20mm heat shrink tubing, heating with double-layer tubing protection for lead wire and wire welding point; blowing the heat shrink tubing, the hot air gun is about 50mm away from the tubing; S5. Inspection of excess objects: The robot vision system detects excess objects, which are tin slag and wire ends; S6. Resistance measurement: The robot uses a special test device to connect one end of the cable network connector node and the other end of the cable network connector node to measure the resistance between the wires. The on-resistance is required to be ≤325mΩ. Use a special test device to connect one end of the cable network connector node and the other end of the cable network connector node to measure the insulation resistance between the wires. The test voltage is DC 250V and the insulation resistance is ≥600MΩ. S7. Cable binding: The width of the buckle is 3-20mm, the spacing is 150-300mm, the remaining length of the wire end is 10-15mm, the knot should be tightened and pulled to the middle of the buckle; the lead-out wires should be kept consistent, the welding points should not be left hanging, and they should be fixed to the structural plate with GD414 silicone rubber; the lead-out wires are fixed into bundles with GD414 silicone rubber at intervals of 100-150mm and fixed together with the cable net.

2. The robot-based satellite cable network welding method according to claim 1, characterized in that: The welding method provides a method including a robot control system and a satellite cable network welding process. The robot control system includes a remote control computer, a control computer, a sensor and communication system, and a joint action system. The remote control computer sends a cable network welding instruction, the control computer receives the instruction and sends it to the sensor system and the joint action execution system, the sensor receives and feeds back the joint action execution status to the control computer, and the satellite cable network welding is completed.

3. The robot-based satellite cable network welding method according to claim 2, characterized in that: The satellite cable network welding process includes cable conductor specifications and models, conductor structure composition, welding method, overlap length, etc. The cable network welding process includes cutting the conductor to a suitable length for cable network binding and fixing, conductor head stripping, conductor tinning, fitting the first layer of protective sleeves on the conductor welding points, fitting the second layer of protective sleeves on the conductor welding points, lead welding, excess material inspection, blowing and shrinking heat shrink sleeves, resistance measurement and cable network binding.

4. The robot-based satellite cable network welding method according to claim 3 is characterized in that: The welding parameter settings include wire stripping: hot stripping, the stripping length is 4 to 5 mm; wire tinning: end treatment, the tinning amount should be moderate, and the distance from the root of the wire insulation layer is 0.5 to 1 mm; wire welding: the wire end position does not move, the soldering iron head is welded, the electric soldering iron temperature is (290±10)°C, the welding time is 2 to 3s, and then wiped with anhydrous ethanol; heat shrink tubing shrinkage: the first layer of heat shrink tubing is shrunk before the second layer of heat shrink tubing is shrunk; the wire heads, shielding wires and other excess materials generated by welding are placed in an excess material collection box.

5. The robot-based satellite cable network welding method according to claim 4 is characterized in that: The robot control system execution sequence includes the following steps: S1. First, the cable network welding instruction is sent through the remote control computer, and the control computer receives the instruction and sends it to the sensor system and the joint action execution system; S2. The sensor receives and feeds back the execution status of the joint action to the control computer to complete the welding of the satellite cable network.

6. The robot-based satellite cable network welding method according to claim 5, characterized in that: The satellite cable network welding process sequence comprises the following steps: S1. Cut the wire length to a suitable length for cable net binding and fixing; S2, wire stripping; S3, tinning of wires; S4, the first layer protection sleeve of the wire welding point and the second layer protection sleeve of the wire welding point; S5, lead welding; S6. Check for excess; S7, blowing and shrinking heat shrink tubing; S8, wire resistance measurement; S9. Cable network binding.

7. The robot-based satellite cable network welding method according to claim 6, characterized in that: The communication between the sensor and the control computer includes the following steps: S1. The sensor system detects the action execution end, and the action execution end feeds back the execution signal to the sensor system. The control computer compares the sensor feedback signal and sends the action execution instruction if the signal is normal. S2. Signal comparison finds an abnormality and the control computer sends a stop command.

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