A magnetic torquer assembly device

Abstract

The present invention relates to the technical field of assembly equipment, and specifically to a magnetic torquer assembly equipment, including a clamping module and a driving module, the clamping module including a connecting disk, the bottom surface of the connecting disk is transmission-connected to the driving module, the top surface of the connecting disk is annularly equidistantly embedded with four positioning boxes, the side surface of the connecting disk is provided with two conveying modules and two mechanical arms, the top surface of the inner surface of the positioning box is slidably connected to two sliding frames, and the inner side surface of the positioning box is rotationally connected to a bidirectional screw rod that is screwed and connected to the side surfaces of the two sliding frames. In the present invention, the connecting disk is annularly equidistantly embedded with four positioning boxes, and the connecting disk and the positioning box can be driven to rotate by the driving module, and the box body clamped and fixed on the positioning box can be moved to the position of the mechanical arm for assembly. When assembling the magnetic torquer, the new box body can be clamped and fixed on the next positioning box, and the box body of the assembled magnetic torquer can be loosened, which is conducive to the rapid assembly of the magnetic torquer.

Description

Technical Field

[0001] The invention relates to the technical field of assembly equipment, and in particular to a magnetic torquer assembly equipment. Background Art

[0002] The magnetic torquer is one of the actuators of attitude control. The main body of the magnetic torquer consists of a rod-shaped magnetic core and an evenly and densely wound coil on the outside. The coil is passed with a rated current to generate the required magnetic moment, which interacts with the satellite orbit geomagnetic field to generate a torque acting on the celestial body, which is used to control the attitude of the satellite. The attitude control system of the spacecraft includes a reaction flywheel, a magnetic torquer, a gyroscope, a control component, etc. In actual use, at least three magnetic torquers will be installed in the control system box, and at least one magnetic torquer must be installed in the three directions of X, Y, and Z to control the attitude of the spacecraft in all directions. When assembling the magnetic torquer, the magnetic torquer is generally fixed inside the control system box by threaded connection and welding. During assembly, the box is generally clamped by assembly equipment to avoid displacement of the box when the magnetic torquer is placed into the box by a robotic arm, etc., resulting in deviation in the installation angle of the magnetic torquer.

[0003] When using the existing magnetic torquer assembly equipment, it is necessary to first clamp and fix the box, then assemble the magnetic torquer in the box through a mechanical arm, and finally release the box. This requires time to clamp and release the box each time it is assembled, which is not conducive to the rapid assembly of the magnetic torquer. Summary of the invention

[0004] In order to overcome the above-mentioned technical problems, the purpose of the present invention is to provide a magnetic torquer assembly device, in which four positioning boxes are equidistantly embedded in a ring shape through a connecting disk, and the connecting disk and the positioning boxes can be driven to rotate by a driving module, and the box clamped on the positioning boxes can be moved to the position of the robot arm for assembly. When assembling the magnetic torquer, the new box can be clamped and fixed on the next positioning box, and the box of the assembled magnetic torquer can be loosened, which is conducive to the rapid assembly of the magnetic torquer.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A magnetic torquer assembly device comprises a clamping module and a driving module, the clamping module comprises a connecting disk, the bottom surface of the connecting disk is transmission-connected to the driving module, the top surface of the connecting disk is annularly equidistantly embedded with four positioning boxes, the side of the connecting disk is provided with two conveying modules and two mechanical arms, the inner top surface of the positioning box is slidably connected to two sliding frames, the inner side surface of the positioning box is rotatably connected to a two-way screw rod that is screwed together with the two sliding frame sides, the bottom surface of the positioning box is fixedly connected to a transmission mechanism that is transmission-connected to the two-way screw rod, and the transmission mechanism is transmission-connected to the driving module, clamping blocks are arranged on both sides of the top surface of the sliding frame, the bottom surface of the clamping block is fixedly connected to a round rod, the side surface of the round rod is fixedly connected to a rectangular block that is slidably connected to the inner side surface of the sliding frame, four rotating seats are arranged inside the positioning box corresponding to the four clamping blocks, and the top surface of the rotating seat is fixedly connected to a limit frame that contacts the side surfaces of adjacent round rods.

[0007] Furthermore, the inner side surface of the positioning box is fixedly connected with four fixing blocks corresponding to the four rotating seats, and the inner side surface of the fixing block is rotatably connected to the side surface of the adjacent rotating seat.

[0008] Furthermore, a rotating disk is fixedly connected to the bottom end of the rotating seat, a round block is fixedly connected to one side of the bottom surface of the rotating disk, linkage rods are slidably connected to both sides of the inner bottom surface of the positioning box, both ends of the linkage rods are fixedly connected to push frames that contact the side surfaces of adjacent round blocks, and the bottom surface of the push frame is slidably connected to the inner bottom surface of the positioning box, two fixed rods are fixedly connected to the opposite surfaces of the two linkage rods, and the bottom surfaces of the fixed rods are slidably connected to the inner bottom surface of the positioning box.

[0009] Furthermore, the transmission mechanism includes a fixed frame, a sliding rod is slidably connected to the inner side surface of the fixed frame, the inner side surface of the fixed frame is rotatably connected to a rotating rod 1 that is rotatably connected to the inner side surface of the positioning box, the top of the rotating rod 1 and the side surface of the two-way screw rod are fixedly sleeved with bevel gears, and the two bevel gears are meshed for transmission, the inner side surface of the sliding rod is rotatably connected to a rotating rod 2 on the side facing away from the rotating rod 1, the sides of the rotating rod 1 and the rotating rod 2 are fixedly sleeved with pulleys, and the two pulleys are connected through belt transmission, and the rotating rod 2 is transmission connected to the driving module.

[0010] Furthermore, the driving module includes a base plate, the top surface of the base plate is fixedly connected to a support frame rotatably connected to the bottom surface of the connecting plate, the top surface of the base plate is fixedly connected to a driving mechanism, the driving mechanism is transmission-connected to a vertical pole, the top end of the vertical pole is transmission-connected to the bottom surface of the connecting plate, the side surface of the vertical pole is provided with an adjusting rod transmission-connected to the driving mechanism, the top end of the adjusting rod is fixedly connected to a second gear ring, and the second gear ring is meshed with a second transmission gear for transmission.

[0011] Furthermore, the side surface of the vertical rod is rotatably connected to a sleeve rod rotatably connected to the inner side surface of the adjustment rod, the bottom of the sleeve rod side surface is transmission-connected to the driving mechanism, the top of the sleeve rod side surface is fixedly connected to an adjustment frame, the side surface of the adjustment frame is fixedly connected to a gear ring 1, and the side surface of the gear ring 1 is slidingly connected to the inner side surface of the positioning box, and a transmission gear 1 that meshes with the gear ring 1 is fixedly sleeved on the side surface of a rotating seat.

[0012] Further, the driving mechanism includes a fixed box, the bottom surface of the fixed box is fixedly connected to the top surface of the base plate, the bottom end of the vertical rod is rotatably connected to the inner side surface of the fixed box, the inner side surface of the fixed box is rotatably connected to the side surface of the adjusting rod, the vertical rod, the sleeve rod and the top of the side surface of the adjusting rod are all fixedly sleeved with linkage gears, the inner bottom surface of the fixed box is fixedly connected to a driving motor, the output end of the driving motor is transmission-connected with a transmission rod, the top of the transmission rod is fixedly connected to a rectangular rod, the side surface of the rectangular rod is slidably connected to the driving rod, the side surface of the driving rod is fixedly sleeved with driving gear 1 and driving gear 2, the linkage gears on the vertical rod and the sleeve rod are meshed with driving gear 1 for transmission, and the driving gear 2 is meshed with the linkage gear on the adjusting rod for transmission.

[0013] The invention further comprises: a hydraulic rod 1 is fixedly connected to the bottom surface of the fixed box, and an adjusting plate is transmission-connected to the output end of the hydraulic rod 1, and the inner side surface of the adjusting plate is rotatably connected to the side surface of the driving rod. The adjusting plate can limit the position of the driving rod, and the driving rod can slide on the rectangular rod. The hydraulic rod 1 can drive the adjusting plate to move, and the adjusting plate can drive the driving rod to move, so that the adjusting plate drives the driving rod to move upward, so that the driving gear 1 is disengaged from the linkage gear on the vertical rod, and the driving gear 1 is meshed with the linkage gear on the sleeve rod, so that the driving gear 2 is disengaged from the linkage gear. At this time, the driving rod will only drive the sleeve rod to rotate through the driving gear 1 and the linkage gear, so that the gear ring 1 rotates, and the angle of the limit frame is adjusted, so that the adjusting plate can move upward a certain distance, so that the linkage gears on the vertical rod and the sleeve rod are both disengaged from the driving gear 1, and the driving gear 2 is disengaged from the linkage gear on the adjusting rod, and the driving gear 1 is plugged and meshed with the linkage gear on the adjusting rod. At this time, the driving rod will only drive the adjusting rod to rotate through the driving gear 1 and the linkage gear, so that the gear ring 2 rotates, drives the bidirectional screw rod to rotate, and the clamping block clamps or releases the box body.

[0014] The thickness of the driving gear one is less than the spacing between the two linkage gears on the vertical rod and the adjusting rod, so that the driving gear one can only mesh with the linkage gear on the sleeve rod. The top and bottom surfaces of the driving gear one, the driving gear two and the linkage gear are fixed with guide wheels. The guide wheels are fixed with a plurality of guide teeth corresponding to the teeth of the driving gear one, the driving gear two and the linkage gear. The side surfaces of the guide teeth have an arc surface, so that the driving gear one and the driving gear two can be smoothly plugged and meshed with the linkage gear.

[0015] Furthermore, the top surface of the fixed box is fixedly connected to the limit rail, and the bottom surface of the sliding rod is fixedly connected to a limit block that contacts the inner surface of the limit rail. The limit rail can limit the position of the sliding rod and the transmission gear 2 through the limit block. Under the action of the limit rail, the two transmission gears 2 of the corresponding conveying module can be meshed with the gear ring 2, and the two transmission gears 2 of the corresponding mechanical arm can be disengaged from the gear ring 2. In this way, when the gear ring 2 rotates and the bidirectional lead screw rotates, only the two bidirectional lead screws of the corresponding conveying module will rotate, thereby clamping the box body that is not equipped with the magnetic torquer and loosening the box body that is equipped with the magnetic torquer. This will not affect the clamping of the box body at the mechanical arm, ensuring that the box body can be clamped and loosened while being assembled through the mechanical arm. When the clamping module rotates as a whole, the transmission mechanism can be rotated. At this time, there will be two limit blocks passing through the two inflection points of the limit rail respectively. When one of the limit blocks passes through an inflection point, under the action of the limit rail, the limit block can be moved away from the second gear ring, so that the corresponding transmission gear second is disengaged from the second gear ring, and the corresponding belt is relaxed. When the other limit block passes through another inflection point, under the action of the limit rail, the limit block can drive the sliding rod to move toward the second gear ring, so that the transmission gear second on the sliding rod is meshed with the second gear ring, and the belt in the corresponding sliding rod is tightened, so that the transmission gears second of the corresponding two conveying modules are always meshed with the second gear ring, and the two transmission gears second of the corresponding two robotic arms are disengaged from the second gear ring.

[0016] Furthermore, the conveying module includes a conveyor belt mechanism, side frames are fixedly connected to both sides of the top surface of the conveyor belt mechanism, the top surfaces of the two side frames are slidably connected to sliding frames, and the top surface of one side frame is fixedly connected to a linear motor, the output end of the linear motor is transmission-connected to the inner side surface of the sliding frame, the bottom surface of the sliding frame is fixedly connected to a hydraulic rod 2, and the output end of the hydraulic rod 2 is transmission-connected to a toggle frame.

[0017] Beneficial effects of the present invention:

[0018] 1. Four positioning boxes are equidistantly embedded in the ring through the connecting disk. During assembly, the box can be transported to a positioning box through a conveying module. At this time, the driving module can be used to drive the bidirectional screw to rotate, so that the sliding frame drives the clamping block to move toward the box, so that the four clamping blocks clamp the four corners of the box to stably fix the box. Then, the box clamped and fixed on the positioning box can be transported to the position of the robot arm through the driving module. After the box is transported to the transfer position of the robot arm, the magnetic torquer can be welded and fixed by the robot arm, so that the magnetic torquer is assembled and fixed in the box. When assembling the magnetic torquer, the next box can be clamped and fixed on the next positioning box, and the box assembled with the magnetic torquer can be loosened. In this way, when assembling the magnetic torquer, the box can be clamped and loosened at the same time, which is conducive to saving assembly time and facilitating the rapid assembly of the magnetic torquer.

[0019] 2. By pushing the inner side of the frame to contact the side of the round block, when the gear ring rotates, it can drive the transmission gear to rotate, so that one rotating seat can rotate. The four rotating seats can rotate synchronously through the linkage rod, and the rotation directions of the two adjacent rotating seats are opposite. In this way, the moving path and position of the clamping block can be adjusted, so that the clamping block can clamp boxes of different sizes, and the adjustment is relatively fast and easy to use;

[0020] 3. Through the contact between the limit block and the inner side of the limit rail, the limit rail can adjust and limit the position of the sliding rod through the limit block to make the transmission gear 2 engage or disengage with the gear ring 2. In this way, the two transmission gear rings 2 on the corresponding robot arm station can be disengaged from the gear ring 2, and the two transmission gears 2 of the corresponding conveying module can be engaged with the gear ring 2. In this way, when the driving module rotates the gear ring 2, the gear ring 2 can drive the clamping block located on one side of the two conveying modules to move, so that the clamping block loosens or clamps the box body, and at the same time will not drive the clamping block located on the assembly station to move, which will not affect the assembly of the magnetic torquer and is conducive to the rapid assembly of the magnetic torquer. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings.

[0022] Figure 1 It is a schematic diagram of the overall structure of a magnetic torquer assembly device of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the clamping module in the present invention;

[0024] Figure 3 is a front view structural diagram of the clamping module in the present invention;

[0025] Figure 4 It is a schematic diagram of the internal top view of the positioning box in the present invention;

[0026] Figure 5 It is a schematic diagram of the internal side view structure of the positioning box in the present invention;

[0027] Figure 6 It is a schematic diagram of the sliding frame structure in the present invention;

[0028] Figure 7 It is a schematic diagram of the limit frame structure in the present invention;

[0029] Figure 8 It is a schematic diagram of the front view structure of the rotating seat in the present invention;

[0030] Fig. 9 It is a bottom view structural diagram of the linkage rod in the present invention;

[0031] Fig.10It is a schematic diagram of the internal structure of the transmission mechanism of the present invention;

[0032] Fig.11 It is a schematic diagram of the structure of the driving module part in the present invention;

[0033] Fig.12 It is a schematic diagram of the pole structure in the present invention;

[0034] Fig.13 It is a schematic diagram of the internal structure of the adjusting rod in the present invention;

[0035] Fig.14 is a schematic diagram of the top view of the gear ring 2 in the present invention;

[0036] Fig.15 It is a schematic diagram of the top view structure of the limit rail in the present invention;

[0037] Fig.16 Is a schematic diagram of the internal structure of the drive mechanism of the present invention;

[0038] Fig.17 It is a schematic diagram of the structure of the conveying module in the present invention.

[0039] In the figure: 100, clamping module; 110, connecting disk; 120, positioning box; 121, sliding frame; 122, two-way screw; 123, fixed block; 124, linkage rod; 125, fixed rod; 126, pushing frame; 130, clamping block; 131, round rod; 132, rectangular block; 140, rotating seat; 141, limit frame; 142, transmission gear 1; 143, rotating disk; 144, round block; 150, transmission mechanism; 151, fixed frame; 152, sliding rod; 153, rotating rod 1; 154, rotating rod 2; 155, transmission gear 2; 156, pulley; 157, limit block; 160, bevel gear; 200, drive module ; 210, bottom plate; 211, support frame; 220, driving mechanism; 221, fixing box; 222, driving motor; 223, transmission rod; 224, hydraulic rod 1; 225, rectangular rod; 226, adjustment plate; 227, driving rod; 2271, driving gear 1; 2272, driving gear 2; 230, vertical pole; 240, sleeve rod; 241, adjustment frame; 242, gear ring 1; 250, adjustment rod; 251, gear ring 2; 260, linkage gear; 270, limiting rail; 300, conveying module; 310, conveyor belt mechanism; 320, side frame; 330, sliding frame; 340, hydraulic rod 2; 341, toggle frame; 400, mechanical arm. DETAILED DESCRIPTION

[0040] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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] See also Figure 1-17 As shown, a magnetic torquer assembly device includes a clamping module 100 and a driving module 200, the clamping module 100 includes a connecting disk 110, the bottom surface of the connecting disk 110 is transmission-connected to the driving module 200, four positioning boxes 120 are equidistantly embedded in the top surface of the connecting disk 110, two conveying modules 300 and two mechanical arms 400 are arranged on the side of the connecting disk 110, the top surface of the positioning box 120 is slidably connected to two sliding frames 121, the inner side surface of the positioning box 120 is rotatably connected to a bidirectional screw rod 122 that is screwed together with the sides of the two sliding frames 121, and the positioning box 120 is rotatably connected to the inner side surface of the two sliding frames 121. The bottom surface of 20 is fixedly connected with a transmission mechanism 150 which is transmission-connected to the bidirectional screw rod 122, and the transmission mechanism 150 is transmission-connected to the driving module 200, and clamping blocks 130 are arranged on both sides of the top surface of the sliding frame 121, and the bottom surface of the clamping block 130 is fixedly connected with a round rod 131, and the side surface of the round rod 131 is fixedly connected with a rectangular block 132 which is slidingly connected to the inner side surface of the sliding frame 121, and four rotating seats 140 are arranged inside the positioning box 120 corresponding to the four clamping blocks 130, and the top surface of the rotating seat 140 is fixedly connected with a limit frame 141 which contacts the side surface of the adjacent round rod 131.

[0042] The driving module 200 can drive the bidirectional screw rod 122 to rotate through the transmission mechanism 150. The rotation of the bidirectional screw rod 122 can move the two sliding frames 121 thereon toward each other. The sliding frame 121 can push the round rod 131 and the clamping block 130 to move through the rectangular block 132. The round rod 131 can move along the inside of the limit frame 141, so that the clamping block 130 moves toward a corner of the box to clamp the box. The driving module 200 can drive the connecting disk 110 to rotate, and the connecting disk 110 can drive the positioning box 120 to rotate. In this way, after a box is transported to the positioning box 120 for clamping and fixing through a conveying module 300, the connecting disk 110 can be rotated, so that the box is rotated to the position of the two mechanical arms 400 in turn, and a machine can be used. The robot arm 400 assembles the magnetic torquer into the box body, and the magnetic torquer can be further welded and fixed in the box body by another robot arm 400 to complete the fixed assembly of the magnetic torquer in the box body, or the magnetic torquer can be fixed in the box body by screws by another robot arm 400. After the fixed assembly is completed, the box body and the magnetic torquer can be transported to another conveying module 300. After the box body is loosened, the box body is transported to the next process by another conveying module 300. During the assembly process of the box body by the robot arm 400, the bidirectional screw rod 122 can be rotated by the driving module 200 to make the clamping block 130 clamp or release the box body. This is beneficial to save time for clamping and loosening the box body, and is conducive to the rapid assembly of the magnetic torquer in the box body.

[0043] The threads at the same end of the bidirectional screw rods 122 in two adjacent positioning boxes 120 rotate in opposite directions. In this way, when the two bidirectional screw rods 122 of the corresponding conveying modules 300 rotate in the same direction, the bidirectional screw rod 122 corresponding to one conveying module 300 can rotate to make the two sliding frames 121 on the bidirectional screw rod 122 move toward each other, so that the clamping block 130 clamps the box body of the corresponding conveying module 300, and the bidirectional screw rod 122 corresponding to the other conveying module 300 rotates to make the two sliding frames 121 on it move away from each other, so that the clamping block 130 releases the box body of the corresponding other conveying module 300.

[0044] The inner side surface of the positioning box 120 corresponds to the four rotating seats 140 and is fixedly connected with four fixed blocks 123. The inner side surface of the fixed block 123 is rotatably connected to the side surface of the adjacent rotating seat 140. The fixed block 123 can support the rotating seat 140. A damper can be set between the inner side surface of the fixed block 123 and the side surface of the rotating seat 140 to limit the rotation of the rotating seat 140 and the limit frame 141.

[0045] A rotating disk 143 is fixedly connected to the bottom end of the rotating seat 140, and a round block 144 is fixedly connected to one side of the bottom surface of the rotating disk 143. Linkage rods 124 are slidably connected to both sides of the inner bottom surface of the positioning box 120. Both ends of the linkage rod 124 are fixedly connected to a pushing frame 126 that contacts the side surfaces of the adjacent round blocks 144, and the bottom surface of the pushing frame 126 is slidably connected to the inner bottom surface of the positioning box 120. Two fixed rods 125 are fixedly connected to the opposite surfaces of the two linkage rods 124, and the bottom surface of the fixed rod 125 is slidably connected to the inner bottom surface of the positioning box 120. When a rotating seat 140 rotates, it can drive the rotating disk 143 at the bottom thereof to rotate, and the rotating disk 143 can drive the round block 144 to rotate. The round block 144 can push the pushing frame 126 at one end of the linkage rod 124 to move, thereby moving the linkage rod 124, and the linkage rod 124 can move the round block 144 by pushing the pushing frame 126 The two linkage rods 124 are connected by a fixed rod 125, so that the four rotating seats 140 in the same positioning box 120 can rotate synchronously. Since the positions of the four round blocks 144 on the four rotating disks 143 are respectively lower right, lower left, upper left, and upper right, when the four rotating seats 140 rotate synchronously, the rotation directions of the two adjacent rotating seats 140 are opposite, while the rotation directions of the two rotating seats 140 located at the diagonal positions are the same. Therefore, the angles of the four limit frames 141 are adjusted as needed, and the moving direction of the round rod 131 is adjusted. When the sliding frame 121 moves the same distance, the moving distance and direction of the four clamping blocks 130 are changed, so that the clamping blocks 130 can clamp boxes of different sizes.

[0046] The transmission mechanism 150 includes a fixed frame 151, and a sliding rod 152 is slidably connected to the inner side surface of the fixed frame 151. The inner side surface of the fixed frame 151 is rotatably connected to a rotating rod 153 rotatably connected to the inner side surface of the positioning box 120. The top of the rotating rod 153 and the side of the two-way screw rod 122 are fixedly sleeved with a bevel gear 160, and the two bevel gears 160 are meshed for transmission. The inner side surface of the sliding rod 152 is rotatably connected to a rotating rod 2 154 on the side away from the rotating rod 153. The sides of the rotating rod 153 and the rotating rod 2 154 are fixedly sleeved with pulleys 156, and the two pulleys 156 are connected through belt transmission. The rotating rod 2 154 is transmission connected to the driving module 200. The rotating rod 153 and the rotating rod 2 154 can rotate synchronously through the pulley 156, and the rotating rod 1 153 can drive the two-way screw rod 122 to rotate through the bevel gear 160.

[0047] The driving module 200 includes a bottom plate 210, the top surface of the bottom plate 210 is fixedly connected to a support frame 211 that is rotatably connected to the bottom surface of the connecting plate 110, the top surface of the bottom plate 210 is fixedly connected to a driving mechanism 220, the driving mechanism 220 is transmission-connected to a vertical rod 230, the top of the vertical rod 230 is transmission-connected to the bottom surface of the connecting plate 110, and the side of the vertical rod 230 is provided with an adjusting rod 250 that is transmission-connected to the driving mechanism 220, the top of the adjusting rod 250 is fixedly connected to a second gear ring 251, and the second gear ring 251 meshes with the second transmission gear 155. The supporting frame 211 can support the connecting plate 110, the driving mechanism 220 can drive the vertical rod 230 to rotate, and adjust the angle of the connecting plate 110, the driving mechanism 220 can drive the adjusting rod 250 to rotate, the adjusting rod 250 can drive the gear ring 251 to rotate, the gear ring 251 can drive the transmission gear 2 155 meshing therewith to rotate, so that the rotating rod 2 154 can rotate, so that the rotating rod 1 153 drives the bidirectional screw rod 122 to rotate, and drives the clamping block 130 to move, and loosen or clamp the box.

[0048] The side of the vertical rod 230 is rotatably connected to a sleeve rod 240 that is rotatably connected to the inner side of the adjustment rod 250. The bottom of the side of the sleeve rod 240 is transmission-connected to the driving mechanism 220. The top of the side of the sleeve rod 240 is fixedly connected to an adjustment frame 241. The side of the adjustment frame 241 is fixedly connected to a gear ring 242, and the side of the gear ring 242 is slidingly connected to the inner side of the positioning box 120. A transmission gear 142 that meshes with the gear ring 242 is fixedly sleeved on the side of a rotating seat 140. The driving mechanism 220 can drive the sleeve rod 240 to rotate, the sleeve rod 240 can drive the adjustment frame 241 and the gear ring 242 to rotate, the gear ring 242 can drive the transmission gear 142 to rotate, and the transmission gear 142 can drive a rotating seat 140 to rotate, thereby adjusting the angles of the limit frames 141 in the four positioning boxes 120. In this way, the angles of all the limit frames 141 can be adjusted at one time.

[0049] The driving mechanism 220 includes a fixed box 221, the bottom surface of the fixed box 221 is fixedly connected to the top surface of the bottom plate 210, the bottom end of the vertical rod 230 is rotatably connected to the inner side surface of the fixed box 221, the inner side surface of the fixed box 221 is rotatably connected to the side surface of the adjusting rod 250, the vertical rod 230, the sleeve rod 240 and the top of the side surface of the adjusting rod 250 are all fixedly sleeved with a linkage gear 260, the inner bottom surface of the fixed box 221 is fixedly connected to a driving motor 222, the output end of the driving motor 222 is transmission-connected to a transmission rod 223, the top of the transmission rod 223 is fixedly connected to a rectangular rod 225, the side surface of the rectangular rod 225 is slidably connected to a driving rod 227, the side surface of the driving rod 227 is fixedly sleeved with a driving gear 1 2271 and a driving gear 2 2272, and the linkage gears 260 located on the vertical rod 230 and the sleeve rod 240 are all connected to the driving gears The wheel 1 2271 is meshed for transmission, the driving gear 2272 is meshed for transmission with the linkage gear 260 located on the adjusting rod 250, the driving motor 222 can drive the transmission rod 223 to rotate, the transmission rod 223 can drive the driving rod 227 to rotate through the rectangular rod 225, the driving rod 227 can drive the vertical rod 230, the sleeve rod 240 and the adjusting rod 250 to rotate through the driving gear 1 2271, the driving gear 2 2272 and the linkage gear 260, the vertical rod 230 can drive the connecting disk 110 to rotate, so that the clamping module 100 rotates as a whole, because the gear ring 1 242 and the gear ring 2 251 can rotate synchronously, so that the gear ring 1 242 will not drive the transmission gear 1 142 to rotate, and the gear ring 2 251 will not drive the transmission gear 2 155 to rotate, thereby ensuring the smooth rotation of the clamping module 100.

[0050] The bottom surface of the fixed box 221 is fixedly connected with a hydraulic rod 1 224, and the output end of the hydraulic rod 1 224 is transmission-connected with an adjustment plate 226. The inner side surface of the adjustment plate 226 is rotationally connected with the side surface of the driving rod 227. The adjustment plate 226 can limit the position of the driving rod 227, and the driving rod 227 can slide on the rectangular rod 225. The hydraulic rod 1 224 can drive the adjustment plate 226 to move, and the adjustment plate 226 can drive the driving rod 227 to move, so that the adjustment plate 226 can drive the driving rod 227 to move upward, so that the driving gear 1 2271 is disengaged from the linkage gear 260 on the vertical rod 230, and the driving gear 1 2271 is only engaged with the linkage gear 260 on the sleeve rod 240, so that the driving gear 2 2272 is disengaged from the linkage gear 260. At this time, the driving The rod 227 will drive the sleeve rod 240 to rotate through the driving gear 1 2271 and the linkage gear 260, thereby rotating the gear ring 1 242. By adjusting the angle of the limit frame 141, the adjustment plate 226 can be moved upward by a certain distance, so that the linkage gears 260 on the vertical rod 230 and the sleeve rod 240 are both disengaged from the driving gear 1 2271, and the driving gear 2 2272 is disengaged from the linkage gear 260 on the adjusting rod 250, and the driving gear 1 2271 is plugged and meshed with the linkage gear 260 on the adjusting rod 250. At this time, the driving rod 227 will drive the adjusting rod 250 to rotate through the driving gear 1 2271 and the linkage gear 260, thereby rotating the gear ring 2 251, driving the bidirectional screw rod 122 to rotate, and causing the clamping block 130 to clamp or release the box.

[0051] The thickness of the driving gear 1 2271 is smaller than the spacing between the two linkage gears 260 on the vertical rod 230 and the adjusting rod 250, thereby ensuring that the driving gear 1 2271 can only mesh with the linkage gear 260 on the sleeve rod 240. Guide wheels are fixed on the top and bottom surfaces of the driving gear 1 2271, the driving gear 2 2272 and the linkage gear 260. The guide wheels are fixed with a plurality of guide teeth corresponding to the teeth of the driving gear 1 2271, the driving gear 2 2272 and the linkage gear 260. The side surfaces of the guide teeth have an arc surface, thereby allowing the driving gear 1 2271 and the driving gear 2 2272 to smoothly engage with the linkage gear 260 through insertion.

[0052] The top surface of the fixed box 221 is fixedly connected to the limit rail 270, and the bottom surface of the sliding rod 152 is fixedly connected to a limit block 157 that contacts the inner side of the limit rail 270. The limit rail 270 can limit the position of the sliding rod 152 and the transmission gear 155 through the limit block 157. Under the action of the limit rail 270, the two transmission gears 155 of the corresponding conveying module 300 can be meshed with the gear ring 251, and the two transmission gears 155 of the corresponding mechanical arm 400 can be disengaged from the gear ring 251. In this way, when the gear ring 251 rotates and the bidirectional lead screw 122 rotates, only the two bidirectional lead screws 122 of the corresponding conveying module 300 will rotate, thereby clamping the box body that is not equipped with the magnetic torquer and loosening the box body that is equipped with the magnetic torquer. This will not affect the clamping of the box body at the mechanical arm 400, ensuring that the box body is clamped and loosened while being assembled through the mechanical arm 400, and at the clamping module 100 When the whole body rotates, the transmission mechanism 150 can be rotated. At this time, there will be two limit blocks 157 passing through the two inflection points of the limit rail 270 respectively. When one of the limit blocks 157 passes through an inflection point, under the action of the limit rail 270, the limit block 157 can be moved away from the gear ring 251, so that the corresponding transmission gear 2 155 is disengaged from the gear ring 251, and the corresponding belt is relaxed. When the other limit block 157 passes through another inflection point, under the action of the limit rail 270, the limit block 157 can drive the sliding rod 152 to move toward the gear ring 251, so that the transmission gear 2 155 on the sliding rod 152 is meshed with the gear ring 251, and the belt in the corresponding sliding rod 152 is tightened, so that the transmission gear 2 155 of the corresponding two conveying modules 300 is always meshed with the gear ring 251, and the two transmission gears 2 155 of the corresponding two robotic arms 400 are disengaged from the gear ring 251.

[0053] The conveying module 300 includes a conveyor belt mechanism 310, both sides of the top surface of the conveyor belt mechanism 310 are fixedly connected to side frames 320, the top surfaces of the two side frames 320 are slidably connected to sliding frames 330, and the top surface of one side frame 320 is fixedly connected to a linear motor, the output end of the linear motor is transmission-connected to the inner side surface of the sliding frame 330, the bottom surface of the sliding frame 330 is fixedly connected to a hydraulic rod 2 340, and the output end of the hydraulic rod 2 340 is transmission-connected to a toggle frame 341, and the linear motor can drive the sliding frame 330 to move along the top surface of the side frame 320. The box can be transported by the conveyor belt mechanism 310, and the toggle frame 341 can be lowered by the hydraulic rod 340 so that the toggle frame 341 is stuck on the side wall of the box. Then, the sliding frame 330 can be driven to move by the linear motor so that the toggle frame 341 pushes the box, so that the box moves from the conveyor belt mechanism 310 to the positioning box 120, or the box moves from the positioning box 120 to the conveyor belt mechanism 310. Then, the toggle frame 341 can be raised by the hydraulic rod 340 to separate the toggle frame 341 from the box, thereby completing the movement of the box.

[0054] Working principle: When in use, start the hydraulic rod 224, the hydraulic rod 224 can drive the adjustment plate 226 to move upward, the adjustment plate 226 can drive the driving rod 227 to move upward, so that the linkage gear 260 on the vertical rod 230 is disengaged from the driving gear 2271, and the driving gear 2272 is disengaged from the linkage gear 260 on the adjustment rod 250, so that the driving gear 2271 is only engaged with the linkage gear 260 on the sleeve rod 240, then the driving motor 222 can be started, the driving motor 222 can make the transmission rod 223 and the driving rod 227 rotate, the driving rod 227 will drive the sleeve rod 240 to rotate through the driving gear 2271 and the linkage gear 260, the sleeve rod 240 can drive the adjustment frame 241 and the gear ring 242 to rotate, the gear ring 242 can drive the rotating seat 140 to rotate through the transmission gear 142, and the rotating seat 140 can To drive the rotating disk 143 to rotate, the rotating disk 143 can move the pushing frame 126 at one end of the linkage rod 124 through the round block 144, and the linkage rod 124 can push the round block 144 corresponding to the other end thereof to rotate through the pushing frame 126, so that the rotating seat 140 at the other end of the linkage rod 124 rotates, and the two linkage rods 124 can rotate synchronously through the fixed rod 125, so that the four rotating seats 140 in the same positioning box 120 will keep synchronous rotation through the linkage rod 124 and the pushing frame 126, and the rotation directions of the two adjacent rotating seats 140 are opposite, and the rotating seat 140 can drive the limit frame 141 to rotate, so that the clamping block 130 can clamp boxes of different sizes according to the moving directions of the clamping block 130 and the round rod 131, and then the driving rod 227 is moved downward to its original position through the hydraulic rod 124;

[0055] The box is transported by a conveyor belt mechanism 310, and the toggle frame 341 can be lowered by the second hydraulic rod 340 so that the toggle frame 341 is stuck on the side wall of the box. Then the linear motor is started, and the linear motor can drive the sliding frame 330 to move along the top surface of the side frame 320, so that the toggle frame 341 pushes the box onto the connecting plate 110, so that the box is located on a positioning box 120, and then the toggle frame 341 can be raised by the second hydraulic rod 340, and the sliding frame 330 and the second hydraulic rod 340 can be moved in the opposite direction to the original position by the linear motor;

[0056] After the box body moves to the positioning box 120, the hydraulic rod 1 224 is started, and the hydraulic rod 1 224 can drive the adjustment plate 226 to move upward, and the adjustment plate 226 can drive the driving rod 227 to move upward, so that the driving gear 1 2271 and the driving gear 2 2272 are moved upward, so that the linkage gear 260 on the vertical rod 230 and the sleeve rod 240 are disengaged from the driving gear 1 2271, and the driving gear 2 2272 is disengaged from the linkage gear 260 on the adjustment rod 250, and the driving gear 1 2271 is plugged and meshed with the linkage gear 260 on the adjustment rod 250. At this time, the driving motor 222 can be started, and the driving motor 222 can drive the transmission rod 223 to rotate, and the transmission rod 223 can rotate through the torque The rod 225 drives the driving rod 227 to rotate, and the driving rod 227 can drive the adjusting rod 250 to rotate through the driving gear 1 2271 and the linkage gear 260, and the adjusting rod 250 can drive the gear ring 251 to rotate. Due to the restriction of the limit rail 270, the transmission gears 155 corresponding to the two conveying modules 300 can be meshed with the gear ring 251, and the two transmission gears 155 corresponding to the two mechanical arms 400 can be disengaged from the gear ring 251. In this way, when the gear ring 251 rotates, the gear ring 251 can drive the two transmission gears 155 meshed therewith to rotate, so that the rotating rod 154 rotates, and the rotating rod 154 can drive the rotating rod 153 to rotate through the pulley 156;

[0057] The rotating rod 153 can drive the bidirectional screw rod 122 to rotate through the bevel gear 160. Since the threads on the bidirectional screw rods 122 in the two adjacent positioning boxes 120 rotate in opposite directions, when the two bidirectional screw rods 122 of the corresponding conveying modules 300 rotate in the same direction, the bidirectional screw rod 122 of one conveying module 300 can rotate to make the two sliding frames 121 thereon move toward each other, and the bidirectional screw rod 122 of the other conveying module 300 can rotate to make the two sliding frames 121 thereon move away from each other. The two sliding frames 121 move toward each other, and the sliding frame 121 can make the clamping block 130 move along the limit frame 141 through the round rod 131 and the rectangular block 132. The box body moves, and the two sliding frames 121 move in opposite directions. The sliding frame 121 can push the clamping block 130 to move away from the box body along the limit frame 141, so that the clamping block 130 corresponding to one conveying module 300 clamps and fixes the box body on the positioning box 120, and the clamping block 130 corresponding to the other conveying module 300 can release the box body. At this time, the loosened box body can be moved from the connecting plate 110 to the conveyor belt mechanism 310 of the other conveying module 300 through the sliding frame 330 and the toggle frame 341 of the other conveying module 300, so that the box body with the magnetic torquer assembled can be transported to the next production step through the other conveyor belt mechanism 310;

[0058] The hydraulic rod 1 224 can be started to make the adjustment plate 226 drive the driving rod 227 to move downward, so that the driving gear 1 2271 is disengaged from the linkage gear 260 on the adjustment rod 250, and the linkage gear 260 on the vertical rod 230 and the sleeve rod 240 are plugged and meshed with the driving gear 1 2271, and the driving gear 2 2272 is plugged and meshed with the linkage gear 260 on the adjustment rod 250, and then the driving motor 222 can be started, and the driving motor 222 can drive the transmission rod 223 and the driving rod 227 to rotate, and the driving rod 227 can drive the vertical rod 230, the sleeve rod 240 and the adjustment rod 250 through the driving gear 1 2271, the driving gear 2 2272 and the linkage gear 260. The section rod 250 rotates, and the vertical rod 230 can drive the connection plate 110 to rotate, so that the clamping module 100 rotates as a whole. Since the gear ring 1 242 and the gear ring 2 251 can rotate synchronously, the gear ring 1 242 will not drive the transmission gear 1 142 to rotate, and the gear ring 2 251 will not drive the transmission gear 2 155 to rotate, thereby adjusting the positions of the four positioning boxes 120, so that the clamped box body is rotated to one mechanical arm 400, and the box body at one mechanical arm 400 is rotated to another mechanical arm 400. At this time, the magnetic torquer can be assembled in the box body by one mechanical arm 400, and the magnetic torquer is further welded and fixed in the box body by another mechanical arm 400;

[0059] When the clamping module 100 rotates as a whole, the limit block 157 will move in the limit rail 270. When the two limit blocks 157 pass through two inflection points respectively, they can move under the action of the limit rail 270. When one of the limit blocks 157 passes through an inflection point, under the action of the limit rail 270, the limit block 157 can drive the sliding rod 152 to move away from the gear ring 251, so that the transmission gear 2 155 on the sliding rod 152 is disengaged from the gear ring 251. When the other limit block 157 passes through another inflection point, under the action of the limit rail 270, the limit block 157 can drive the sliding rod 152 to move toward the gear ring 251, so that the transmission gear 2 155 on the sliding rod 152 is meshed with the gear ring 251. In this way, after the clamping module 100 adjusts its position, the transmission gear 2 155 of the corresponding two conveying modules 300 is always meshed with the gear ring 251. After the rotation is completed, when the mechanical arms 400 are assembled, a conveying module 300 can move a new box to the corresponding positioning box 120, and then the hydraulic rod 1 224 can drive the adjustment plate 226 to move upward again, so that the linkage gears 260 on the vertical rod 230 and the sleeve rod 240 are both disengaged from the driving gear 1 2271, and the driving gear 2 2272 is disengaged from the linkage gear 260 on the adjusting rod 250, and the driving gear 1 2271 is plugged and meshed with the linkage gear 260 on the adjusting rod 250, and then the driving motor 222 can be started again, so that the clamping block 130 of the corresponding conveying module 300 clamps the box, and the clamping block 130 of the corresponding other conveying module 300 releases the assembled box, so as to cyclically assemble the box;

[0060] After a box is completed, it is transported to the clamping module 100 through a conveying module 300. After being driven by the driving module 200, the clamping module 100 clamps the box. Then, the positions of the two robotic arms 400 are conveyed in turn to assemble the magnetic torquer. Finally, the box is transported to the position of another conveying module 300. After the box is released, the box is moved onto it through another conveying module 300. Then, the box assembled with the magnetic torquer is transported to the next process.

[0061] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0062] The above contents are merely examples and explanations of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the invention or exceed the scope defined by the claims, they shall all fall within the protection scope of the present invention.

Claims

1. A magnetic torquer assembly device, characterized in that: The invention comprises a clamping module (100) and a driving module (200), wherein the clamping module (100) comprises a connecting disk (110), the bottom surface of the connecting disk (110) is drivingly connected to the driving module (200), the top surface of the connecting disk (110) is annularly and equidistantly embedded with four positioning boxes (120), the side surface of the connecting disk (110) is provided with two conveying modules (300) and two mechanical arms (400), the top surface of the positioning box (120) is slidably connected to two sliding frames (121), the inner side surface of the positioning box (120) is rotatably connected to a bidirectional screw rod (122) which is screwed to the side surfaces of the two sliding frames (121), and the bottom surface of the positioning box (120) is fixed A transmission mechanism (150) is fixedly connected to the bidirectional screw rod (122), and the transmission mechanism (150) is connected to the driving module (200). Clamping blocks (130) are arranged on both sides of the top surface of the sliding frame (121). The bottom surface of the clamping block (130) is fixedly connected to a round rod (131). The side surface of the round rod (131) is fixedly connected to a rectangular block (132) slidably connected to the inner side surface of the sliding frame (121). Four rotating seats (140) are arranged inside the positioning box (120) corresponding to the four clamping blocks (130). The top surface of the rotating seat (140) is fixedly connected to a limit frame (141) in contact with the side surface of an adjacent round rod (131). The bottom end of the rotating seat (140) is fixedly connected to a rotating disk (143), one side of the bottom surface of the rotating disk (143) is fixedly connected to a round block (144), both sides of the inner bottom surface of the positioning box (120) are slidably connected to linkage rods (124), both ends of the linkage rods (124) are fixedly connected to a push frame (126) in contact with the side surface of the adjacent round block (144), and the bottom surface of the push frame (126) is slidably connected to the inner bottom surface of the positioning box (120), and the opposite surfaces of the two linkage rods (124) are fixedly connected to two fixed rods (125), and the bottom surfaces of the fixed rods (125) are slidably connected to the inner bottom surface of the positioning box (120); The transmission mechanism (150) comprises a fixed frame (151), the inner side surface of the fixed frame (151) is slidably connected to a sliding rod (152), the inner side surface of the fixed frame (151) is rotatably connected to a rotating rod 1 (153) rotatably connected to the inner side surface of the positioning box (120), the top of the rotating rod 1 (153) and the side surface of the bidirectional screw rod (122) are both fixedly sleeved with a bevel gear (160), and the two bevel gears (160) are meshed for transmission, the inner side surface of the sliding rod (152) is rotatably connected to a rotating rod 2 (154) on a side away from the rotating rod 1 (153), the sides of the rotating rod 1 (153) and the rotating rod 2 (154) are both fixedly sleeved with pulleys (156), and the two pulleys (156) are connected through belt transmission, and the rotating rod 2 (154) is transmission connected to the driving module (200).

2. A magnetic torquer assembly device according to claim 1, characterized in that: Four fixing blocks (123) are fixedly connected to the inner side surface of the positioning box (120) corresponding to the four rotating seats (140), and the inner side surface of the fixing block (123) is rotatably connected to the side surface of an adjacent rotating seat (140).

3. The magnetic torquer assembly equipment according to claim 1, characterized in that: The driving module (200) comprises a base plate (210), the top surface of the base plate (210) being fixedly connected to a support frame (211) rotatably connected to the bottom surface of the connection disk (110), the top surface of the base plate (210) being fixedly connected to a driving mechanism (220), the driving mechanism (220) being transmission-connected to a vertical rod (230), the top end of the vertical rod (230) being transmission-connected to the bottom surface of the connection disk (110), an adjusting rod (250) being transmission-connected to the driving mechanism (220) being arranged on a side surface of the vertical rod (230), the top end of the adjusting rod (250) being fixedly connected to a second gear ring (251), and the second gear ring (251) being meshed with a second transmission gear (155) for transmission.

4. The magnetic torquer assembly equipment according to claim 3, characterized in that: The side of the vertical rod (230) is rotatably connected to a sleeve rod (240) rotatably connected to the inner side of the adjustment rod (250); the bottom of the side of the sleeve rod (240) is transmission-connected to the driving mechanism (220); the top of the side of the sleeve rod (240) is fixedly connected to an adjustment frame (241); the side of the adjustment frame (241) is fixedly connected to a gear ring 1 (242); the side of the gear ring 1 (242) is slidably connected to the inner side of the positioning box (120); and a transmission gear 1 (142) meshing with the gear ring 1 (242) is fixedly sleeved on the side of a rotating seat (140).

5. The magnetic torquer assembly equipment according to claim 4, characterized in that: The driving mechanism (220) comprises a fixing box (221), the bottom surface of the fixing box (221) is fixedly connected to the top surface of the bottom plate (210), the bottom end of the vertical rod (230) is rotatably connected to the inner side surface of the fixing box (221), the inner side surface of the fixing box (221) is rotatably connected to the side surface of the adjusting rod (250), the top of the side surface of the vertical rod (230), the sleeve rod (240) and the adjusting rod (250) are all fixedly sleeved with a linkage gear (260), the inner bottom surface of the fixing box (221) is fixedly connected to a driving motor (222), and the driving motor (222) outputs The end of the vertical rod (230) is connected to a transmission rod (223), the top of the transmission rod (223) is fixedly connected to a rectangular rod (225), the side of the rectangular rod (225) is slidably connected to a driving rod (227), the side of the driving rod (227) is fixedly sleeved with a driving gear 1 (2271) and a driving gear 2 (2272), the linkage gears (260) located on the vertical rod (230) and the sleeve rod (240) are meshed with the driving gear 1 (2271) for transmission, and the driving gear 2 (2272) is meshed with the linkage gear (260) located on the adjustment rod (250) for transmission.

6. The magnetic torquer assembly equipment according to claim 5, characterized in that: The inner bottom surface of the fixed box (221) is fixedly connected to a hydraulic rod 1 (224); the output end of the hydraulic rod 1 (224) is drivingly connected to an adjustment plate (226); the inner side surface of the adjustment plate (226) is rotatably connected to the side surface of a driving rod (227).

7. The magnetic torquer assembly equipment according to claim 5, characterized in that: The top surface of the fixed box (221) is fixedly connected to a limit rail (270), and the bottom surface of the sliding rod (152) is fixedly connected to a limit block (157) that contacts the inner side surface of the limit rail (270).

8. The magnetic torquer assembly equipment according to claim 1, characterized in that: The conveying module (300) comprises a conveyor belt mechanism (310), the top surfaces of the conveyor belt mechanism (310) are fixedly connected to side frames (320) on both sides, the top surfaces of the two side frames (320) are slidably connected to sliding frames (330), and the top surface of one side frame (320) is fixedly connected to a linear motor, the output end of the linear motor is transmission-connected to the inner side surface of the sliding frame (330), the bottom surface of the sliding frame (330) is fixedly connected to a hydraulic rod 2 (340), and the output end of the hydraulic rod 2 (340) is transmission-connected to a toggle frame (341).

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