Satellite cabin panel assembly method

Abstract

The application provides a satellite cabin plate assembling method and belongs to the technical field of satellite assembly. The technical problem of the cabin plate assembling quality being difficult to guarantee in the existing satellite cabin plate assembling method is solved. The satellite cabin plate assembling method uses a tool inner frame as a medium to realize the transportation and positioning of the cabin plate, and installs different auxiliary positioning members on the accompanying frame of the positioner to be positioned with the tool inner frame of different rear-mounted cabin plates. The same accompanying frame can realize the accurate and convenient positioning of each rear-mounted cabin plate, the transportation and positioning of the cabin plate are prevented from being damaged, and the assembling precision and the assembly quality are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of satellite production and assembly, and relates to a satellite cabin plate assembling method. BACKGROUND

[0002] An artificial earth satellite refers to an unmanned spacecraft flying around the earth and operating more than one circle in a space orbit, which is simply called an artificial satellite. The artificial satellite is a spacecraft with the largest number of launches, the widest use and the fastest development, and is mainly used in various fields such as scientific exploration and research, weather forecasting, land resource investigation, land use, regional planning, communication, tracking, navigation and the like. At present, most microsatellites adopt a cabin plate type structure, including solar wings, a plurality of cabin plates and functional elements installed on each cabin plate. The process of assembling the plurality of cabin plates to form a box type structure is the process of assembly, and the control and optimization of the process play an important role in the quality assurance of the spacecraft product.

[0003] A satellite cabin plate and satellite main body frame assembly method, system and adjusting device are disclosed in Chinese Patent Publication No. CN112873103A. The state information of the satellite cabin plate and the satellite main body frame to be assembled can be obtained first, including at least one of position information and attitude information. Then, an adjusting signal is generated according to the state information and sent to an adjusting device to control the state relative change of the satellite main body frame and the satellite cabin plate according to the adjusting signal, so that the docking can be performed under the corresponding state.

[0004] The above scheme improves the intelligent degree, but in the above process, the assembly of the cabin plate and the frame structure is mainly performed. The cabin plate is directly contacted with the clamping instrument during the assembly and transportation process, and is easily deformed and affected by the assembly quality. SUMMARY

[0005] The present application provides a satellite cabin plate assembling method to solve the above problems existing in the prior art. The technical problem to be solved by the present application is how to ensure the assembly quality of the satellite.

[0006] The object of the present application can be achieved by the following technical scheme:

[0007] A satellite cabin plate assembling method, characterized in that it comprises the following steps:

[0008] Base plate installation: the tooling outer frame with the -Z cabin plate is transported to the pre-assembly platform, the mechanical arm grabs the tooling inner frame with the -Z cabin plate from the tooling outer frame of the pre-assembly platform, moves and positions to the contoured frame on the positioner, the tooling inner frame is positioned with the contoured frame, the -Z cabin plate bottom surface is attracted and locked with the contoured frame, the tooling inner frame and the -Z cabin plate are unlocked and disassembled from the contoured frame;

[0009] Back cabin plate installation: the tool outer frame with a single back cabin plate is transported to the pre-assembly platform, the auxiliary positioning part that can be positioned and matched with the corresponding tool inner frame is installed on the contour frame of the positioner, the tool inner frame with a single back cabin plate is grabbed from the tool outer frame of the pre-assembly platform by the mechanical arm, moved to the positioner to make the tool inner frame positioned and matched with the auxiliary positioning part installed on the contour frame, at the same time, the single back cabin plate is fixed with the existing cabin plate on the contour frame, and the tool inner frame and the auxiliary positioning part are removed;

[0010] Cabin combination: the above back cabin plate installation steps are repeated to complete the cabin combination of the satellite.

[0011] The method is a process step performed after each cabin plate is processed in the batch production process of the satellite. After the cabin plate is processed at the sub-assembly station, it needs to be combined and spliced to form a spacecraft. Base plate installation: the -Z cabin plate is the assembly base plate of the satellite spacecraft. The mechanical arm grabs the tool inner frame with the -Z cabin plate and positions it with the contour frame to accurately position the -Z cabin plate and attract and lock it with the contour frame, avoiding direct contact between the mechanical arm and the -Z cabin plate. After the -Z cabin plate is locked, the tool inner frame is removed and returned to the tool outer frame to continue participating in production at the sub-assembly station. Back cabin plate installation: the back cabin plate is used to participate in assembly one by one to form a satellite, similar to the -Z cabin plate. The sub-assembly station is transported to the pre-assembly platform together with the tool outer frame, and the operator positions and installs the auxiliary positioning part on the contour frame. Then the mechanical arm grabs the tool inner frame with a single back cabin plate and matches it with the auxiliary positioning part on the contour frame to realize accurate positioning of the back cabin plate and the installed cabin plate. Different auxiliary positioning parts and contour frames can form tool inner frames that adapt to different back cabin plates, enabling the same contour frame to accurately and conveniently position each back cabin plate. During the cabin plate transportation and fastening process, the force acting on the cabin plate is mainly applied to the tool inner frame or the tool outer frame, avoiding damage to the cabin plate during transportation and positioning, improving assembly accuracy. Cabin combination: the satellite is assembled and the cabin combination quality is ensured after the cabin plates are assembled according to the above steps.

[0012] In the above satellite cabin plate assembly method, the back cabin plates are +X partition plate, -X partition plate, +Z cabin plate, +X cabin plate, -X cabin plate, +Y cabin plate and -Y cabin plate in sequence. The back cabin plates are assembled in the order of +X partition plate, -X partition plate, +Z cabin plate, +X cabin plate, -X cabin plate, +Y cabin plate and -Y cabin plate. In this way, during assembly, each back cabin plate is preferentially formed into a frame structure with the -Z cabin plate, and the assembly accuracy of the back cabin plate is ensured by the constraint between the cabin plates, making the assembly process more reasonable and reliable.

[0013] In the satellite cabin plate assembly method, the positioning hole of the -Z cabin plate bottom surface is horizontally positioned with the top end of the suction column arranged on the profiled frame, and the -Z cabin plate bottom surface is adsorbed on the suction column. Thus, the -Z cabin plate can be quickly and accurately positioned horizontally when the base plate is assembled, and the relative position of the satellite is stable when the profiled frame is turned over by the positioner.

[0014] In the satellite cabin plate assembly method, when the -Z cabin plate is positioned on the profiled frame, the pre-engagement positions of the -Z cabin plate and the ±X partition plate are vertically opposite to the relief operation hole in the middle of the profiled frame. Thus, the fastening operation of the -Z cabin plate and the ±X partition plate can be realized from the bottom surface of the -Z cabin plate, which reduces the process difficulty under the condition of ensuring reasonable fastening position.

[0015] In the satellite cabin plate assembly method, the inner frame of the tool is positioned with the corresponding auxiliary positioning member through a hole pin structure. The hole pin structure is convenient to assemble and accurate in positioning, which is beneficial to improving the assembly efficiency and ensuring the assembly quality.

[0016] In the satellite cabin plate assembly method, the rear cabin plate and the satellite are spliced and fixed by a single-arm robot grabbing a screw through tightening operation. Thus, the splicing and fixing of the cabin plates by the single-arm robot improves the efficiency and the operation accuracy.

[0017] In the satellite cabin plate assembly method, the single-arm robot performs thread glueing operation on the screw after grabbing the screw. The thread glue improves the fastening effect and sealing effect of the screw, which is beneficial to meeting the assembly requirements of the satellite product cabin plates and improving the assembly quality.

[0018] In the satellite cabin plate assembly method, the single-arm robot replaces the gun head and performs glueing operation on the outer end of the tightened screw after each rear cabin plate installation step. Thus, the fastening effect of the tightened screw is further improved, and a mark is formed, which reduces the probability of screw loosening after vibration and improves the stability of the cabin plate assembly.

[0019] In the satellite cabin plate assembly method, the outer frame of the tool is grabbed by the mechanical arm and returned to the outer frame of the tool on the pre-assembly platform after being disassembled, and the outer frame of the tool is transported to the sub-assembly station by AGV. The AGV is an automatic navigation vehicle, and the AGV has strong carrying capacity and accurate trajectory, which ensures the flow efficiency and improves the accuracy of the flow placement of the cabin plate.

[0020] Compared with the prior art, the advantages of the present application are as follows:

[0021] The satellite cabin plate assembly method realizes the transportation and positioning of the cabin plate through the tool inner frame as a medium, and installs different auxiliary positioning members on the accompanying frame of the positioner to position the tool inner frame of different rear-mounted cabin plates, so that the same profiled frame can realize accurate and convenient positioning of each rear-mounted cabin plate, and the transportation and positioning of the cabin plate are avoided from being damaged, and the assembly precision and assembly quality are improved. DETAILED DESCRIPTION

[0022] The following is a specific embodiment of the present application, which further describes the technical solutions of the present application, but the present application is not limited to these embodiments.

[0023] The satellite cabin plate assembly method comprises the following steps:

[0024] Base plate installation: the AGV transports the tool outer frame clamping the -Z cabin plate to the pre-assembly platform of the assembly station, the mechanical arm grabs the tool inner frame with the -Z cabin plate from the tool outer frame of the pre-assembly platform, moves and positions to the profiled frame clamped on the positioner, the tool inner frame is positioned with the profiled frame, the positioning hole on the bottom surface of the -Z cabin plate is horizontally positioned with the top end of the suction column arranged on the profiled frame, and the bottom surface of the -Z cabin plate is adsorbed on the suction column. The pre-assembly position of the -Z cabin plate and the ±X partition plate is kept along the vertical direction and opposite to the let-go operation hole in the middle of the profiled frame, the tool inner frame and the -Z cabin plate are unlocked and detached from the profiled frame, and the tool inner frame is grabbed by the mechanical arm and returned to the tool outer frame on the pre-assembly platform. The tool outer frame and the tool inner frame are transported back to the disassembly station;

[0025] Rear-mounted cabin plate installation: the tool outer frame clamping the +X partition plate is transported to the pre-assembly platform, the auxiliary positioning member corresponding to the tool inner frame of the X partition plate is installed on the profiled frame of the positioner, the tool inner frame with the +X partition plate is grabbed by the mechanical arm from the tool outer frame of the pre-assembly platform, and is moved to the positioner to position and cooperate the tool inner frame with the auxiliary positioning member. The tool inner frame and the auxiliary positioning member are matched through the hole pin structure, and the single rear-mounted cabin plate is in contact with the -Z cabin plate on the profiled frame. The single-arm robot grabs the screw and tightens the operation to fix and assemble the rear-mounted cabin plate with the spacecraft. Then the single-arm robot changes the gun head and performs the dispensing operation on the outer end of the tightened screw. The tool inner frame and the +X partition plate are unlocked and the tool inner frame and the auxiliary positioning member are detached. The tool inner frame is grabbed by the mechanical arm and sent to the tool outer frame of the pre-assembly platform and transported back to the disassembly station by the AGV. The auxiliary positioning member is taken off by manual operation.

[0026] Cabin assembly: the above rear-mounted cabin plate installation steps are repeated to complete the assembly of the -X partition plate, +Z cabin plate, +X cabin plate and -X cabin plate. The satellite semi-finished product is subjected to precision measurement, electrical measurement and normal pressure thermal cycle test, and then the above rear-mounted cabin plate installation steps are repeated to complete the assembly of the +Y cabin plate and -Y cabin plate to complete the cabin assembly of the satellite.

[0027] The method is a process step carried out after each cabin plate is processed in the satellite mass production process. After the cabin plate is processed in the subassembly station, it needs to be spliced into a spacecraft through assembly. The -Z cabin plate is the assembly base plate of the satellite spacecraft. The mechanical arm positions the -Z cabin plate with the tool inner frame and the profiled frame, so that the -Z cabin plate is accurately positioned and locked with the profiled frame, avoiding direct contact between the mechanical arm and the -Z cabin plate. After the -Z cabin plate is locked, the tool inner frame is disassembled and returned to the tool outer frame to continue participating in production in the subassembly station. The rear cabin plate is used to participate in assembly to form a satellite one by one. Similar to the -Z cabin plate, the rear cabin plate is transported to the pre-assembly platform together with the tool outer frame from the subassembly station. At the same time, the operator positions and installs the auxiliary positioning member on the profiled frame. Then the mechanical arm grabs the tool inner frame with a single rear cabin plate and cooperates with the auxiliary positioning member on the profiled frame. Different auxiliary positioning members and profiled frames can form tool inner frames that adapt to different rear cabin plates, so that the same profiled frame can realize accurate and convenient positioning of each rear cabin plate, avoid damage during transportation and positioning, and improve assembly accuracy, thereby ensuring the quality of satellite assembly. Specifically, the single-arm robot grabs the screw and first performs thread glueing operation on the screw. The thread glue improves the fastening effect and sealing effect of the screw, which is beneficial to meet the assembly requirements between the cabin plates of the satellite product and improve the assembly quality. Before the cabin is assembled, the size and position of the assembled semi-finished satellite are precisely measured. The assembly accuracy is judged by the theodolite equipment. Through the detection, the subsequent assembly reference is avoided to increase the adjustment cost. The electric measurement is performed on the assembled semi-finished satellite. The Y-direction through of the satellite is beneficial to the arrangement and test of the equipment and the line, so as to make the test and adjustment smooth and ensure the assembly quality of the satellite product. The normal pressure thermal cycle test is a test in a normal pressure test environment. The temperature in the laboratory is controlled between -150 DEG C and 170 DEG C. First, the temperature is increased to the high temperature limit and maintained for 8 hours. Then, the temperature is decreased to the low temperature limit and maintained for a certain period of time. Then, the temperature is increased to the high temperature. This cycle is repeated 10 times. Through the reciprocating cycle of the temperature, the satellite is exposed to an alternating test environment of high temperature and low temperature, so as to detect the high temperature resistance and low temperature resistance of each component of the satellite. At this time, the satellite is a semi-finished product with Y-direction through, which is beneficial to form convection, so that the temperature of the internal environment of the satellite can quickly reach the test temperature, and the detection verification efficiency is improved.

[0028] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art of the present application can make various modifications or supplements to the described specific embodiments or replace them with similar ways, without departing from the spirit of the present application or exceeding the scope defined by the appended claims.

Claims

1. A method for assembling satellite modules, characterized in that, The method comprises the following steps: Substrate installation: the jig outer frame with the -Z cabin plate is positioned and clamped, and is transported to the pre-assembly platform. The jig inner frame with the -Z cabin plate is grabbed from the jig outer frame of the pre-assembly platform by a mechanical arm, is moved and positioned on the conformal frame of the positioner, the jig inner frame is positioned with the conformal frame, and the bottom surface of the -Z cabin plate is suction-locked with the conformal frame. The jig inner frame and the -Z cabin plate are unlocked and disassembled from the conformal frame. Rear cabin plate installation: the jig outer frame with a single rear cabin plate is positioned and clamped, and is transported to the pre-assembly platform. The auxiliary positioning member that can be positioned and matched with the corresponding jig inner frame is installed on the conformal frame of the positioner. The jig inner frame with the single rear cabin plate is grabbed from the jig outer frame of the pre-assembly platform by the mechanical arm, is moved to the positioner, and is positioned and matched with the auxiliary positioning member installed on the conformal frame of the positioner. Meanwhile, the single rear cabin plate is spliced and fixed with the existing cabin plate on the conformal frame. The jig inner frame and the auxiliary positioning member are disassembled. Cabin splicing: the above rear cabin plate installation step is repeated until the satellite is completed.

2. The method of claim 1, wherein, The rear cabin plates are +X partition plates, -X partition plates, +Z cabin plates, +X cabin plates, -X cabin plates, +Y cabin plates and -Y cabin plates in sequence.

3. The method of claim 1 or 2, wherein In the substrate installation step, the positioning hole of the bottom surface of the -Z cabin plate is horizontally positioned with the top end of the suction column arranged on the conformal frame, and the bottom surface of the -Z cabin plate is suction-locked on the suction column.

4. The method of claim 1 or 2, wherein When the -Z cabin plate is positioned on the conformal frame, the pre-engagement positions of the -Z cabin plate and the ±X partition plates are vertically opposite to the relief operation hole in the middle of the conformal frame.

5. The method of claim 1 or 2, wherein The jig inner frame and the corresponding auxiliary positioning member are positioned through the hole pin structure.

6. The method of claim 1 or 2, wherein The splicing and fixed connection of the rear cabin plate and the satellite are realized by screw tightening operation of the single-arm robot.

7. The method of claim 3, wherein, After the single-arm robot grabs the screw, the screw is subjected to thread glue coating operation.

8. The method of claim 3, wherein, After each rear cabin plate installation step, the single-arm robot changes the gun head and performs glue dispensing operation on the outer end of the tightened screw.

9. The method of claim 1 or 2, wherein The jig outer frame is grabbed by the mechanical arm after disassembly and is returned to the jig outer frame on the pre-assembly platform. Then, the jig outer frame and the jig inner frame are transported back to the sub-assembly station.

10. The method of claim 6, wherein, The jig outer frame is transported to the sub-assembly station and the pre-assembly platform by AGV.