Spacecraft electric valve product multi-station online automatic assembly system and method

Abstract

The application discloses a kind of spacecraft electric valve product multi-station online automatic assembly system, including multifunctional clamping module, pre-tightening force loading module, non-contact measurement module, laser spot welding module, motion positioning module, mechanical arm and central control processing system;The application also discloses a kind of spacecraft electric valve product multi-station online automatic assembly method, comprising: multifunctional clamping module is installed in motion positioning module;Motion positioning module drives multifunctional clamping module to be positioned in first station;Pre-tightening force loading module applies pre-tightening force;Multifunctional clamping module is transferred to second station;Valve core stroke measurement, electrical performance test and running-in;Multifunctional clamping module is positioned in third station and carries out laser spot welding.The application can integrate production station in product automatic assembly process, realize process data, production system integration, quality control precision.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electric valves, and particularly relates to a multi-station online automatic assembly system and method for electric valves of spacecrafts. BACKGROUND

[0002] Most of the electric valve products used in the attitude control propulsion system of the spacecraft field in China are solenoid axial flow structures, which are different from the same products in the general industrial field. For example, the product is not designed with a threaded structure connected to the product shell in order to meet the requirements of miniaturization and lightness and the control requirements of assembly process residues. The assembly process needs to rely on tools, fixtures and other measures for fixation. The accurate indicators and quality requirements also lead to the fact that the product can only be finally shell welded after the assembly, debugging and testing are completed, which leads to the fact that the overall assembly process of the product is more complex and tedious than the electric valve products in the general industrial field. The typical structure of the electric valve product of the spacecraft is shown in FIG. Figure 15

[0003] The traditional assembly process needs to go through the following links: part assembly, valve core measurement and debugging, product performance running and electrical performance testing, and product shell welding. Due to the production demand of multiple varieties and small batches of spacecraft products, the assembly process has always been mainly relied on manual work, and a part of automation is carried out for a link in the production process. In recent years, with the rapid development of the aerospace industry, the delivery quantity of aerospace products has increased significantly, and the delivery cycle has been shortened. The manual assembly method of the electric valve product of the spacecraft cannot meet the demand of the yield and delivery cycle. SUMMARY

[0004] The purpose of the application is to overcome the above-mentioned defects, provide a multi-station online automatic assembly system and method for electric valve products of spacecrafts, and solve the technical problems of low efficiency and strong production management dependence caused by the cross work of multiple devices, stations and personnel in the assembly of existing valve products. The process operation of the application is automatic and efficient, and can meet the demand of yield and delivery cycle.

[0005] To achieve the above-mentioned application purposes, the application provides the following technical solutions:

[0006] A multi-station online automatic assembly system for electric valve products of spacecrafts comprises a multifunctional clamping module, a pre-tightening force loading module, a non-contact measurement module, a laser spot welding module, a motion positioning module, a mechanical arm and a central control processing system.

[0007] The valve product is fixedly installed in the multifunctional clamping module.

[0008] The pre-tightening force loading module is located at the first station and is used to apply pre-tightening force to the valve product through the multifunctional clamping module.

[0009] ​The non-contact measurement module is located at the second station, and is used for performing valve core stroke measurement, electrical performance test and running-in on the valve product through the multifunctional clamping module;

[0010] The laser spot welding module is located at the third station, and is used for performing spot welding on the valve product through the multifunctional clamping module;

[0011] The motion positioning module is used for driving the multifunctional clamping module to translate, rotate or overturn in the three-dimensional space, so as to realize positioning of the multifunctional clamping module at the first station or the third station;

[0012] The mechanical arm is used for realizing transfer of the multifunctional clamping module between the feeding station and the motion positioning module, and between the feeding station and the second station;

[0013] The central control processing system is used for controlling the pre-tightening force loading module, the non-contact measurement module, the laser spot welding module, the motion positioning module and the mechanical arm according to the assembly process.

[0014] Further, the shell and support platform module is further included;

[0015] The shell and support platform module includes a support platform and a shell;

[0016] The support platform is installed inside the shell, and is used for supporting the multifunctional clamping module, the pre-tightening force loading module, the non-contact measurement module, the laser spot welding module, the motion positioning module and the mechanical arm; a part of the shell above the support platform is provided with a sliding door structure, the inside of the shell is a closed space when the sliding door is closed, and the part of the shell above the support platform is made of transparent acrylic material.

[0017] Further, the environmental control module is further included;

[0018] The environmental control module is arranged at the top of the shell, and is used for receiving a cleanliness control instruction of the central control processing system, and adjusting the cleanliness of the inside environment of the shell according to the cleanliness control instruction;

[0019] The environmental control module includes a fan and an air filter element.

[0020] Further, the multifunctional clamping module includes a shell, a lower pressing plate, an upper pressing plate, a spring, a spring pressing plate and a pressing nut;

[0021] The inside of the shell is provided with a cavity for accommodating the valve product; the lower pressing plate is connected to the lower end of the shell, and the upper surface of the lower pressing plate is provided with a first boss in contact with the lower end cover of the valve product; the upper pressing plate is installed inside the shell and above the lower pressing plate, and the lower surface of the upper pressing plate is provided with a second boss in contact with the upper end cover of the valve product;

[0022] The lower end of the spring is in contact with the upper surface of the upper pressing plate, the upper end of the spring is in contact with the lower surface of the spring pressing plate, and the downward movement of the spring pressing plate is converted into the pre-tightening force of the upper pressing plate on the upper end cover of the valve product through the spring;

[0023] The compression nut is located above the spring pressing plate, is threadedly connected with the upper end of the shell, and is used for locking the position of the spring pressing plate;

[0024] The shell is provided with an upper electrical interface for electrical performance test;

[0025] The upper pressing plate, the lower pressing plate or the shell is provided with a welding hole for welding the valve product.

[0026] Further, the motion positioning module comprises a three-coordinate displacement mechanism, a turnover mechanism and a rotating mechanism;

[0027] The three-coordinate displacement mechanism comprises a displacement platform and a mounting bracket located above the displacement platform;

[0028] The turnover mechanism is mounted on the displacement platform, the pre-tightening force loading module and the laser spot welding module are mounted on the mounting bracket, and the displacement platform is used for adjusting the position of the turnover mechanism in the three-dimensional space;

[0029] The multifunctional clamping module is mounted on the rotating mechanism, the turnover mechanism is used for driving the rotating mechanism to realize turnover in a first plane, and the rotating mechanism is used for driving the multifunctional clamping module to realize rotation in a second plane; the first plane is perpendicular to the second plane.

[0030] Further, the shell comprises a cylindrical structure and a shaft shoulder located at the lower end of the cylindrical structure, the diameter of the shaft shoulder is greater than that of the cylindrical structure, and the upper electrical interface is located on the shaft shoulder;

[0031] The shaft shoulder is further provided with a first positioning device, a positioning pin hole and a compression device;

[0032] The rotating mechanism comprises a rotating motor, a pinion, a gear, a tray, a bearing, a driving disc and a photoelectric sensor;

[0033] The turnover bracket comprises a bottom plate and a vertical plate perpendicular to the bottom plate, the tray is mounted on the bottom plate by the bearing, the rotating motor drives the driving disc to rotate through the pinion and the gear which are in mesh with each other, the rotation of the driving disc drives the rotation of the tray, the photoelectric sensor is located on the bottom plate of the turnover bracket, and the photoelectric sensor is used for detecting the rotation angle of the tray and outputting to the central control processing system;

[0034] The bottom plate is further provided with a position sensor, and the tray is provided with a locking assembly, a second positioning device and a positioning pin;

[0035] The positioning pin hole and the positioning pin are matched to realize the positioning of the multifunctional clamping module on the tray;

[0036] The first positioning device and the second positioning device are mutually attractive magnets, the in-place sensor is a magnetic sensor, the in-place sensor is configured to acquire a fitting signal of the first positioning device and the second positioning device, and the fitting signal is output to the central control processing system, which determines whether the positioning pin hole and the positioning pin are in place according to the fitting signal.

[0037] The locking assembly is locked on the tray by the locking and pressing device, and the multifunctional clamping module is locked.

[0038] The welding holes include an upper end cover welding hole arranged on the upper pressing plate and used for welding an upper end cover and a shell of a valve product, a lower end cover welding hole arranged on the lower pressing plate and used for welding a lower end cover and the shell of the valve product, and a circumferential welding hole arranged on the shell.

[0039] Further, the central control processing system includes a central control processor, a display and input device, and a device state sensor.

[0040] The device state sensor is configured to sense states of the pre-tightening force loading module, the non-contact measurement module, the laser spot welding module, and the motion positioning module, generate state signals, and output the state signals to the central control processor.

[0041] The display and input device is configured to receive an externally input assembly process or user instruction, and output the assembly process or user instruction to the central control processor.

[0042] The central control processor is configured to generate control instructions for controlling the pre-tightening force loading module, the non-contact measurement module, the laser spot welding module, the motion positioning module, and the mechanical arm action according to the assembly process, the user instruction, or the state signal.

[0043] Further, the pre-tightening force loading module includes a force measuring device and a rotating locking mechanism.

[0044] The force measuring device is configured to press down the spring pressing plate and acquire a press-down force loading value applied to the spring pressing plate, and output the press-down force loading value to the central control processing system, which compares the press-down force loading value with a preset pre-tightening force loading value in real time, controls the force measuring device to stop pressing down the spring pressing plate when the press-down force loading value is equal to the preset pre-tightening force loading value, and controls the rotating locking mechanism to tighten the pressing nut, thereby locking the position of the spring pressing plate.

[0045] The non-contact measurement module includes a support, a laser micro-displacement detector, and an electrical performance testing device.

[0046] The laser micro-displacement detector and the electrical performance testing device are installed on the support, and the support is further provided with an electrical interface used for interfacing with the upper electrical interface, and the laser micro-displacement detector and the electrical performance testing device are respectively configured to perform valve core stroke measurement and electrical performance testing and running-in on the valve product after the upper electrical interface and the electrical interface are interfaced.

[0047] Further, the laser spot welding module comprises a vision system and a laser spot welding device;

[0048] The vision system is used to acquire images of the multifunctional clamping module and output the images to the central control processing system, the central control processing system identifies the welding hole position of the multifunctional clamping module in the images and displays the welding hole position to the user, the user inputs control instructions to the central control processing system according to the relative position of the welding hole and the laser spot welding device, and the central control processing system controls the movement positioning module to move, rotate or overturn the multifunctional clamping module according to the control instructions;

[0049] The laser spot welding device is used to spot weld the valve product through the welding hole.

[0050] Further, the displacement platform comprises an X axis, a Y axis and a Z axis, wherein the Z axis is a vertical direction, and the X axis and the Y axis are perpendicular to each other in a horizontal plane; the overturning mechanism is slidingly installed on the X axis, one end of the X axis is slidingly installed on the Y axis, and one end of the Y axis is slidingly installed on the Z axis;

[0051] The X axis and the Y axis adopt an automatic movement sliding table, and the Z axis adopts an automatic lifting sliding table with power-off self-locking function;

[0052] The pre-tightening force loading device and the laser welding device are installed on a mounting bracket in a direction parallel to the X axis, and the mounting bracket is slidingly installed on the Z axis;

[0053] The maximum diameter of the multifunctional clamping module is Ф, the minimum installation distance of the pre-tightening force loading device and the laser welding device is M, the maximum and minimum sizes of the valve product are L 最大 and L 最小 respectively, the focal length adjustment distance of the laser welding device is S, the stroke of the X axis is ≥ Ф+M, the stroke of the Y axis is ≥ Ф, and the stroke of the Z axis is ≥ L 最大 -L 最小 +S.

[0054] Further, the overturning mechanism comprises an overturning motor, a reducer and an overturning bracket connected in sequence, and further comprises an overturning positioning assembly;

[0055] The rotating mechanism is installed in the overturning bracket, the reducer is installed on the X axis, and the motor drives the overturning bracket to overturn through the reducer;

[0056] The overturning positioning assembly is used to detect the overturning angle of the overturning bracket.

[0057] Further, the rotating mechanism comprises a rotating motor, a small gear, a large gear, a tray, a bearing, a driving disc and a photoelectric sensor;

[0058] The turnover support comprises a bottom plate and a vertical plate perpendicular to the bottom plate, a tray is installed on the bottom plate by bearings, a rotating motor drives a driving disc to rotate through a small gear and a large gear, rotation of the driving disc drives the tray to rotate, and a photoelectric sensor is arranged on the bottom plate of the turnover support and is used for detecting a rotation angle of the tray.

[0059] Further, the axis of the valve product coincides with the axis of the shell, the center of the lower pressing plate and the center of the upper pressing plate are respectively provided with a first through hole and a second through hole;

[0060] The lower end cover and the upper end cover of the valve product are respectively provided with a lower end cover joint and an upper end cover joint, the first boss of the lower pressing plate is used for contacting an end face of the lower end cover of the valve product, the lower end cover joint of the valve product extends out of the lower pressing plate through the first through hole, the second boss of the upper pressing plate is used for contacting an end face of the upper end cover of the valve product, and the upper end cover joint of the valve product extends out of the upper pressing plate through the second through hole;

[0061] The center of the spring pressing plate is provided with a third through hole for the upper end cover joint of the valve product to pass through;

[0062] The first boss of the lower pressing plate and the second boss of the upper pressing plate are both annular bosses, and the outer diameter of the annular boss is less than or equal to the diameter of the lower end cover of the valve product and the upper end cover of the valve product.

[0063] Further, the shell is provided with guide grooves in the up-down direction, the number of the guide grooves is greater than or equal to 3, and the guide grooves are uniformly distributed along the circumferential direction of the shell;

[0064] The spring pressing plate comprises a pressing plate body and a pressing claw connected to the edge of the pressing plate body, the pressing plate body is located in the shell, the pressing claw extends out of the shell from the guide groove, and the pressing nut moves up and down to press or relax the pressing claw of the spring pressing plate, so that the pressing claw moves downward or upward along the guide groove.

[0065] Further, the shell comprises a cylindrical structure and a shaft shoulder arranged at the lower end of the cylindrical structure, the diameter of the shaft shoulder is greater than the diameter of the cylindrical structure, and the upper electrical interface is arranged on the shaft shoulder;

[0066] The shaft shoulder is further provided with a first positioning device, a positioning pin hole and a pressing device;

[0067] The bottom plate of the turnover support is further provided with a position reaching sensor, the tray is provided with a locking assembly, a second positioning device and a positioning pin;

[0068] The cooperation of the positioning pin hole and the positioning pin realizes positioning of the valve product tool on the tray;

[0069] The first positioning device and the second positioning device are mutually attractive magnets, the position reaching sensor is a magnetic sensor, and the position reaching sensor feeds back whether the cooperation of the positioning pin hole and the positioning pin is in place by detecting whether the first positioning device and the second positioning device are aligned and attached;

[0070] The locking assembly realizes locking of the valve product tool on the tray through the locking and pressing device.

[0071] The welding holes include upper end cover welding holes arranged on the upper pressing plate and used for welding the upper end cover and the shell of the valve product, lower end cover welding holes arranged on the lower pressing plate and used for welding the lower end cover and the shell of the valve product, and circumferential welding holes arranged on the shell;

[0072] The upper end cover welding holes are three waist-shaped holes uniformly distributed in the circumference, and the positions of the waist-shaped holes correspond to the matching seams of the upper end cover and the shell of the valve product.

[0073] The lower end cover welding holes are three waist-shaped holes uniformly distributed in the circumference, and the positions of the waist-shaped holes correspond to the matching seams of the lower end cover and the shell of the valve product.

[0074] The positions of the circumferential welding holes correspond to the matching seams on the shell of the valve product.

[0075] Further, the rotating mechanism further includes a gas supply tee joint and a cylinder assembly, a first port of the gas supply tee joint is connected to an external gas source, second and third ports are respectively connected to two cylinder assemblies, the external gas source drives the two cylinder assemblies to act through gas, and the cylinder assembly is used to drive the locking assembly to open or lock the pressing device.

[0076] The bearing is a deep groove ball bearing.

[0077] A spacecraft electric valve product multi-station online automatic assembly method is realized by using the spacecraft electric valve product multi-station online automatic assembly system, and the method comprises the following steps:

[0078] S1, in the feeding station, the valve product is fixedly installed in the multifunctional clamping module; the central control processing system controls the mechanical arm to install the multifunctional clamping module in the motion positioning module;

[0079] S2, the central control processing system controls the motion positioning module to drive the multifunctional clamping module to translate in the three-dimensional space, so that the multifunctional clamping module is positioned at the first station;

[0080] S3, the central control processing system controls the pre-tightening force loading module to exert a pre-tightening force on the valve product through the multifunctional clamping module;

[0081] S4, the central control processing system controls the mechanical arm to transfer the multifunctional clamping module to the second station;

[0082] S5, the non-contact measurement module measures the valve core stroke of the valve product through the multifunctional clamping module, and outputs the valve core stroke measurement result to the central control processing system;

[0083] S6 The central control processing system judges whether the spool stroke measurement result is qualified, and when qualified, the central control processing system controls the non-contact measurement module to test the electrical performance of the valve product through the multifunctional clamping module, and when unqualified, returns to S1;

[0084] S7 The central control processing system controls the mechanical arm to install the multifunctional clamping module on the motion positioning module;

[0085] S8 The central control processing system controls the motion positioning module to drive the multifunctional clamping module to translate in the three-dimensional space, so that the multifunctional clamping module is positioned at the third station;

[0086] S9 The laser spot welding module performs laser spot welding on the valve product through the multifunctional clamping module; during the spot welding process, the central control processing system controls the motion positioning module to drive the multifunctional clamping module to rotate or overturn, and selects the welding position;

[0087] S10 The central control processing system controls the mechanical arm to transfer the multifunctional clamping module to the unloading station.

[0088] Compared with the prior art, the present application has at least one of the following beneficial effects:

[0089] (1) The present application adopts a multi-station online automatic assembly technology, and the process operation is automatic and efficient, the process is quickly and automatically connected, and data and records are automatically collected and arranged, which can effectively solve the problems of low efficiency and strong production management dependence caused by the cross work of multiple devices, stations and personnel in the production process;

[0090] (2) The present application reduces the error caused by personnel factors in the manual operation and measurement process, improves the consistency of product assembly quality, improves the production quality level, and reduces the risk;

[0091] (3) The present application solves the problem that each product needs a set of tooling in the traditional assembly process, directly reducing the cost of tooling production, maintenance and management;

[0092] (4) The present application has strong coverage for spacecraft electric valve products, and the process and parameters are easy to be digitized and managed and driven;

[0093] (5) The present application creatively proposes a multifunctional clamping module, which realizes stable and convenient application of pre-tightening force of the valve product, and provides a basis for subsequent assembly test process;

[0094] (6) The multifunctional clamping module of the present application can solve the problems of installation, positioning and rapid connection of interfaces of products in the assembly process in cooperation with the positioning motion module, compared with the traditional operation mode, the operation at each station is simplified, which is a necessary condition for realizing the automation of the assembly process. BRIEF DESCRIPTION OF DRAWINGS

[0095] Figure 1 The principle diagram of the multi-station online automatic assembly system for the spacecraft electric valve product of the application;

[0096] Figure 2 The working flow chart of the multi-station online automatic assembly system for the spacecraft electric valve product of the application;

[0097] Figure 3 The sectional view of the multifunctional clamping module of the application;

[0098] Figure 4 The interface structure diagram of the multifunctional clamping module of the application, wherein (a) is a perspective view from one angle, (b) is a top view, and (c) is a perspective view from another angle;

[0099] Figure 5 The structure diagram of the motion positioning module of the application;

[0100] Figure 6 The structure diagram of the three-coordinate displacement mechanism of the application;

[0101] Figure 7 The structure diagram of the turnover mechanism of the application;

[0102] Figure 8 The working schematic diagram of the positioning assembly of the application; wherein (a) is 0° turnover, (b) is 90° turnover, and (c) is 180° turnover;

[0103] Figure 9 The structure diagram of the rotating mechanism of the application; wherein (a) is a transmission structure schematic diagram, and (b) is a locking structure schematic diagram;

[0104] Figure 10 The hardware layout diagram of the process flow area of the multi-station online automatic assembly system of the application;

[0105] Figure 11 The overall structure diagram of the multi-station online automatic assembly system of the application;

[0106] Figure 12 The control function diagram of the multi-station online automatic assembly system for the spacecraft electric valve product of the application;

[0107] Figure 13 The control architecture diagram of the multi-station online automatic assembly system for the spacecraft electric valve product of the application;

[0108] Figure 14 The hardware control diagram of the multi-station online automatic assembly system for the spacecraft electric valve product of the application;

[0109] Figure 15 The structure schematic diagram of the electric valve product;

[0110] In the figure, 1 - multifunction clamping module, 2 - pre-tightening force loading module, 3 - non-contact measurement module, 4 - laser spot welding module, 5 - motion positioning module, 6 - mechanical arm, 7 - environmental control module, 8 - central control processing system, 9 - shell and support platform module, 10 - valve product, 20 - feeding station, 21 - discharging station;

[0111] 12 - housing, 13 - lower pressing plate, 14 - upper pressing plate, 15 - spring, 16 - spring pressing plate, 17 - compression nut, 18 - guide groove, 19 - external thread, 110 - pressing jaw, 111 - tightening groove, 112 - first positioning device, 113 - positioning pin hole, 114 - compression mechanism, 115 - upper electrical interface, 116 - clamping mechanism, 117 - upper end cover welding hole, 118 - lower end cover welding hole, 119 - circumferential welding hole;

[0112] 34 - support, 35 - laser micro-displacement detector, 36 - driving power supply;

[0113] 46 - vision system, 47 - laser spot welding equipment;

[0114] 51 - three-coordinate displacement mechanism, 52 - overturning mechanism, 53 - rotating mechanism, 55 - pre-tightening force loading device, 56 - laser welding device, 57 - X-axis, 58 - Y-axis, 59 - Z-axis, 510 - mounting bracket, 511 - overturning machine, 512 - speed reducer, 513 - overturning positioning assembly, 514 - overturning bracket, 515 - rotating motor, 516 - pinion, 517 - gear, 518 - tray, 519 - bearing, 520 - driving disc, 521 - photoelectric sensor, 522 - gas supply tee, 523 - cylinder assembly, 524 - locking assembly, 525 - in-place sensor, 526 - second positioning device, 527 - positioning pin;

[0115] 82 - display and input device, 83 - central control processor, 85 - device state sensor;

[0116] 90 - support platform, 91 - shell. DETAILED DESCRIPTION

[0117] The features and advantages of the present application will become more apparent from the detailed description set forth below when taken in conjunction with the drawings.

[0118] The term "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. Unless specifically stated otherwise, the drawings are not drawn to scale and the disclosure is not limited to the specific embodiments illustrated in the drawings.

[0119] The application is a design method of an automatic assembly system of a spacecraft electric valve product, which realizes the online automatic operation of five process flows of pre-tightening force loading, valve core stroke measurement, electrical performance testing, switch running-in and shell welding in the product assembly process.

[0120] The process flow realized by the spacecraft electric valve product multi-station online automatic assembly system of the application is as follows:

[0121] Pre-tightening force loading→valve core stroke measurement→electrical performance testing→running-in→welding.

[0122] The spacecraft electric valve product multi-station online automatic assembly system of the application realizes the operation and automatic operation of each process flow through multiple modular designs, and comprises: a multifunctional clamping module 1, a pre-tightening force loading module 2, a non-contact measurement module 3, a laser spot welding module 4, a motion positioning module 5, a mechanical arm 6, a central control processing system block 8, and optionally, an environmental control module 7 and a shell and support platform module 9.

[0123] The pre-tightening force loading module, the non-contact measurement module and the laser spot welding module realize the functions of each process flow link to form a process flow area. The motion positioning module and the mechanical arm are responsible for the automatic transfer and positioning functions of each link in the process flow. The multifunctional clamping module is a fixture for fixing the product throughout the process, which provides mechanical interfaces for positioning and transferring of each station in the assembly process, as well as sensor and electrical testing interfaces. The environmental control module maintains the cleanliness of the operating environment. The central control processing system drives and controls the entire operation process. The shell and support platform module is used for the installation of the shell body and each module.

[0124] The multifunctional clamping module 1 is a fixture structure for the product, and the valve product 10 is installed therein to realize the installation, positioning and quick connection of interfaces of each process and station. The multifunctional clamping module 1 is designed with positioning pin holes, a pressing mechanism, a magnetic positioning device for positioning of each station, a clamping mechanism for transfer of the mechanical arm, and an electrical interface for electrical transmission interface of the non-contact measurement and testing module.

[0125] The pre-tightening force loading module 2 implements quantitative loading of the pre-tightening force on the valve product 10, and comprises a force measuring device and a rotary locking mechanism. The force measuring device monitors the pre-tightening force loading value, and the rotary locking mechanism locks the loading position after loading.

[0126] The non-contact measurement module 3 performs valve core stroke measurement, electrical performance test, switch running-in on the valve product 10, and is composed of a support 34, a laser micro-displacement detector 35, an electrical performance test device, and a driving power supply 36; the laser micro-displacement detector 35 measures the stroke of the valve core of the valve product, the driving power supply 36 serves as the driving of the valve product, and the electrical performance test device tests the current, response time and other parameters in the movement process.

[0127] The laser spot welding module 4 performs laser spot welding connection on the shell of the valve product 10, and is mainly composed of a vision system 46 and a laser spot welding device 47; the vision system 46 accurately aligns the welding spot position during the spot welding process, and the laser spot welding device 47 performs spot welding on the welding seam.

[0128] The motion positioning module 5 is mainly composed of a three-coordinate displacement mechanism 51, a rotating mechanism 52 and a turnover mechanism 53, the functional clamping module 1 is installed on the rotating mechanism 52, the three-coordinate displacement mechanism 51 drives the rotating mechanism 52 and the turnover mechanism 53 to move in the horizontal plane, and the turnover mechanism 53 drives the rotating mechanism 52 to turn over.

[0129] The central processing system module 8 includes a central control processor 83, a device state sensor 85, and a display and input device 82, and functions to drive and control the entire operation process.

[0130] The shell and support platform module 9 includes a support platform 90 and a shell 91; the support platform 90 adopts a marble platform support, which is placed inside the shell 91, the upper part of the marble platform support serves as a process flow area, and various station hardware is installed, the space below the marble platform support is used to place industrial computers, device power supplies and the like, the marble platform support of the support platform is placed inside the shell, the hardware parts of the pre-tightening force loading module, the non-contact measurement module and the laser spot welding module form a process flow area and are placed on the upper part of the marble platform support; the motion positioning module is fixedly installed together with the pre-tightening force loading module and the laser spot welding module in the process flow area; the mechanical arm is arranged inside the shell body and is fixedly connected with the marble platform; the shell 91 is a square box structure, a transparent acrylic material is used in the visible area above the support platform 90, acrylic fixed windows are used on the front and back surfaces, transparent acrylic sliding door structures are used on the two sides which are the areas needed to be operated, and metal shells are selected for the top of the shell 91 and the area below the marble platform support; the display and input device 82 uses an input keyboard and a display and is fixed on the metal shell.

[0131] The function of the mechanical arm 6 is to drive the multifunctional clamping module 1 to convert positions between stations, and the mechanical arm 6 is mainly composed of a 6-degree-of-freedom collaborative mechanical arm and a clamping jaw.

[0132] The environmental control module 7 is fixed on the top of the shell and functions to maintain the cleanliness of the operating environment and is mainly composed of an air purification system composed of a fan and an air filter.

[0133] Optionally, the display and input device 82 is mounted on the housing 91, and the environmental control module 7 is integrated on the top of the housing 91; the support platform 90 is placed inside the housing 91; the pre-tightening loading module 2, motion positioning module 5, support 34, laser micro-displacement detection 35, vision system 46, and laser spot welding equipment 47 are mounted on the support platform 90; the central control processor 83, drive power supply 36, and equipment status sensing 85 are installed in the lower space of the support platform 90; the loading station 20 and unloading station 21 are set inside the housing 91, and the mounting brackets of the loading and unloading stations are fixedly connected to the support platform 90, with their height on the same plane as the support platform; the multi-functional clamping module 1 is first placed on the initial position loading station 20, and other stations are located on the rotating mechanism 12, electrical interface and support 14, and unloading station 21; the robotic arm 6 is installed inside the housing 91, and its mounting bracket is fixedly connected to the support platform 90.

[0134] The workflow of the multi-station online automatic assembly system for spacecraft electric valve products is as follows: The system starts, and the central control processing system module 8 performs a functional self-test; the environmental control module 7 initiates environmental cleanliness control; the robotic arm 6 transports the multi-functional clamping module 1 containing the valve product from the loading station to the motion positioning module 5; it is then transferred to the pre-tightening loading module 2 to complete the pre-tightening loading, and then transferred back to the motion positioning module 5; the robotic arm 6 transports the multi-functional clamping module 1 to the non-contact measurement module 3 for non-contact measurement of the valve core stroke, electrical performance testing, and break-in; the robotic arm 6 again transports the multi-functional clamping module 1 to the motion positioning module 5; the laser spot welding module 4 performs rotational positioning through the motion positioning module 5 to complete the end welding connection of one end of the product shell; the motion positioning module 5 flips the product 180 degrees and rotates it to complete the end welding connection of the other end of the product shell; the robotic arm 6 transports the multi-functional clamping module 1 to the unloading station.

[0135] Optionally, the laser spot welding and vision correction module uses a vision system to determine the precise position of the valve body weld seam through human-computer interaction. The laser spot welding equipment then performs the welding. The motion and positioning module rotates and switches the circumferential welding position of the valve product. After completing the circumferential welding, the motion and positioning module flips the product to the other end face to complete the circumferential welding of the other end face.

[0136] Optionally, the display and input device 82 inputs commands to the central control processing system 8; the preload loading module 2 receives commands from the central control processing system 8 and applies preload to the product; the non-contact measurement and testing module 3 receives commands from the central control processing system 8 and measures the valve core stroke; the vision system 46 feeds back commands to the display and input device 22 through the central control processing system 8, and after confirmation by the display and input device 22, transmits the commands to the drive motion positioning module 5 through the central control processing system 8 for horizontal movement, rotation, and flipping; the laser spot welding equipment 46 receives commands from the central control processing system 8. The control processing system 8 receives instructions to perform welding; the motion positioning module 5 receives instructions from the central control processing system 8 and operates the multi-functional clamping module 1 to move between the pre-tension loading module 2 and the laser spot welding module 4, and performs rotation and flipping positioning at the laser spot welding and vision correction module 4; the robotic arm 6 receives instructions from the central control processing system 8 and operates the multi-functional clamping module 1 to move from the loading station 20 to the rotating mechanism 12, support 34 and unloading station 21; the environmental control module 7 receives instructions from the central control processing system 8 and starts up first before operation.

[0137] The following is in conjunction with the appendix Figures 1-15 The present invention will be described in further detail as follows:

[0138] Figure 1 This is a schematic diagram of a multi-station online automated assembly system for spacecraft electric valve products. The system adopts a modular design, and the logical relationship of the automated assembly system is as follows: Multifunctional clamping module 1 is controlled by motion and positioning module 5 and robotic arm clamping motion module 6; preload loading module 2 controls motion and positioning module 5 to load multifunctional clamping module 1 and move it in the X, Y, and Z directions, thus controlling multifunctional clamping module 1; non-contact measurement and testing module 3 controls the movement of robotic arm clamping motion module 6, including its movement along the Z1 axis, thus controlling multifunctional clamping module 1; laser spot welding and vision correction module 4 controls motion and positioning module 5 to load multifunctional clamping module 1 and move it along the C-axis. Z Axis, C X The shaft rotation motion controls the multi-functional clamping module 1; the central control processing system module 8 is responsible for receiving feedback from all other modules and performing control.

[0139] Figure 2The flow chart of the multi-station online automatic assembly system for spacecraft electric valve products is as follows: system start, central control processing system module 8 performs function self-checking; start environment control module 7 to control the environment; mechanical arm clamping movement module 6 transports the multifunctional clamping module 1 with the valve product inside from the feeding station to the movement and positioning module 5; transfer to the pre-tightening force loading module 2 to complete the pre-tightening force loading, and transfer back to the initial position of the movement and positioning module 5; the mechanical arm clamping movement module 6 transports the multifunctional clamping module 1 to the non-contact measurement and testing module 3 to perform non-contact measurement of the valve core stroke, electrical performance testing and running-in; the mechanical arm clamping movement module 6 transports the multifunctional clamping module 1 to the movement and positioning module 5 again; the laser spot welding and vision correction module 4 rotates and positions through the movement and positioning module 5 to complete the spot welding connection of one end of the product shell; the movement and positioning module 5 flips the product by 180 degrees to complete the spot welding connection of the other end of the product shell; the mechanical arm clamping movement module 6 transports the multifunctional clamping module 1 to the discharging station.

[0140] Figure 3 、 Figure 4 The multifunctional clamping module diagram is shown in the figure. The valve product 10 is installed inside the multifunctional clamping module 1. The multifunctional clamping module 1 is designed with positioning pin holes, pressing mechanisms and magnetic positioning devices for positioning at each station. It has a clamping mechanism for use in transferring by the mechanical arm clamping movement module, and an upper power interface as an electrical transmission interface of the non-contact measurement and testing module.

[0141] Figure 5 、 6 The movement and positioning module diagram is shown in the figures 7, 8 and 9. It mainly consists of a three-coordinate displacement mechanism, a rotating mechanism and a flipping mechanism. The functional clamping module 1 is installed on the rotating mechanism. The three-coordinate displacement mechanism drives the rotating mechanism and the flipping mechanism to move in the horizontal plane. The flipping mechanism drives the rotating mechanism to flip.

[0142] Figure 10 The hardware layout diagram of the multi-station online automatic assembly system process flow area is shown in the figure. The support 34 and the laser micro-displacement detection 35 are components of the non-contact measurement module 3. The vision system 46 and the laser spot welding equipment 47 are components of the laser spot welding module 4. The support platform 90 adopts a marble platform support. The movement and positioning module 5, the support 34 and the laser micro-displacement detection 35 are installed on the support platform 90. The pre-tightening force loading module 2, the vision system 46 and the laser spot welding equipment 47 are installed on the movement and positioning module 5. The mechanical arm 6 adopts a 6-degree-of-freedom collaborative mechanical arm. Its installation support is fixedly connected with the support platform 40. The installation support of the feeding station 20 and the discharging station 19 is fixedly connected with the support platform 40 and installed on the same plane with the support platform 40. The multifunctional clamping module 1 is first placed on the initial position feeding station 20. The other stations are on the rotating mechanism 52, the support 34 and the discharging station 21.

[0143] Figure 11 The whole structure diagram of the multi-station online automatic assembly system is shown in FIG. 1. The support platform 90 and the shell 91 are components of the shell and support platform module 9. The display and input device 82 is installed on the shell 91. The shell 91 is made of transparent acrylic material in the area above the support platform 90. The transparent acrylic material is fixed on the front and back surfaces. The transparent acrylic sliding door structure is used on the two side surfaces. The metal shell is used on the top and below the support platform. The environmental control module 7 is integrated on the top of the shell 91.

[0144] Figure 12 Figure 13 The control function diagram and control architecture diagram of the multi-station online automatic assembly system for spacecraft electric valve products are shown in FIG. 2. The system can control the process links of the tight force loading, measurement, testing, running, and laser welding in the system independently, thereby enhancing the scalability of the application of the multi-station online automatic assembly system for spacecraft electric valve products. Figure 2

[0145] The hardware control scheme diagram of the multi-station online automatic assembly system for spacecraft electric valve products is shown in FIG. 3. The central control processor 83 and the device state sensor 85 are components of the central processing system 8. The driving power supply 36 is a component of the non-contact measurement module 3. These three parts are installed in the lower space of the support platform 90 and are not shown in FIG. 1. Figure 14 The display and input device 82 is used to input instructions to the central control processing 8. The pre-tightening force loading module 2 receives the instructions of the central control processing system 8 and applies the pre-tightening force to the product. The non-contact measurement and testing module 3 receives the instructions of the central control processing system 8 and measures the stroke of the valve core. The visual system 46 feeds back the instructions to the display and input device 82 through the central control processing system 8. After the confirmation of the display and input device 82, the instructions are transmitted to the driving motion positioning module 5 through the central control processing system 8 to move horizontally, rotate, and flip. The laser spot welding device 47 receives the instructions of the central control processing system 8 and performs welding. The motion positioning module 5 receives the instructions of the central control processing system 8 and operates the multifunctional clamping module 1 to transfer the position between the pre-tightening force loading module 2 and the laser spot welding module 4 and to rotate and flip in the position of the laser spot welding module 4. The mechanical arm 6 receives the instructions of the central control processing system 8 and operates the multifunctional clamping module 1 to transfer from the loading position 20 to the rotating mechanism 52 of the motion and positioning module 5, the support 34 of the non-contact measurement module 3, and the unloading position 21. The environmental control module 7 receives the instructions of the central control processing system module 8 and is operated first. Figure 5 Figures 1-13 As shown in FIG. 4, the multi-station online automatic assembly system for spacecraft electric valve products is composed of the shell and support platform module 9, the central processing system 8, the pre-tightening force loading module 2, the non-contact measurement and testing module 3, the visual system 46, the driving motion positioning module 5, the laser spot welding device 47, the multifunctional clamping module 1, the mechanical arm 6, and the environmental control module 7.

[0146] As shown in FIG. 4, the multi-station online automatic assembly system for spacecraft electric valve products is composed of the shell and support platform module 9, the central processing system 8, the pre-tightening force loading module 2, the non-contact measurement and testing module 3, the visual system 46, the driving motion positioning module 5, the laser spot welding device 47, the multifunctional clamping module 1, the mechanical arm 6, and the environmental control module 7. Figure 5 ​​As shown, in a preferred embodiment, the multifunctional clamping module is placed on the rotating mechanism 53, and the turnover mechanism 52 is combined with the rotating mechanism 53 to meet the requirements of product turnover and rotation at the same station. The turnover mechanism 52 and the rotating mechanism 53 are installed on the three-coordinate displacement mechanism 51.

[0147] As shown in the above, Figure 6 The structure of the three-coordinate displacement mechanism 51 includes an X-axis 57, a Y-axis 58, a Z-axis 59, a mounting bracket 510, a pre-tightening force loading module 2, and a laser spot welding module 4 installed on the mounting bracket 510. In order to reduce the cantilever state of the mounting bracket 510 and cause the slide table to vibrate, the X-axis 57 adopts an 80mm wide automatic motion slide table. Considering the safety factor, the Z-axis 59 selects a lifting table with a power-off self-locking function. The stroke of the three-coordinate displacement mechanism 51 is as follows:

[0148] a) The X-direction stroke is not less than Ф+M;

[0149] b) The Y-direction stroke is not less than Ф;

[0150] c) The Z-direction stroke is not less than L 最大 -L 最小 +S.

[0151] Wherein, Ф is the maximum tooling diameter of the valve product, L is the longest distance between the two ends of the valve product (i.e. the distance between the upper end face joint end and the lower end face joint end of the valve product), S is the laser welding focal distance, and M is the minimum installation distance of the pre-tightening force loading and laser welding hardware (the cumulative width of the two hardware).

[0152] The working process of the three-coordinate displacement mechanism 51 is as follows: after the valve product is confirmed to be placed on the rotating mechanism 53, the X-axis 57 first drives the turnover mechanism 52, the rotating mechanism 53 and the valve product 10 to be transported below the pre-tightening force loading device for positioning. The Y-axis 58 and the Z-axis 59 are linked to accurately position the valve product 10. The pre-tightening force loading module 2 moves downward along the axis to perform pre-tightening force loading and locking in place. After completion, the pre-tightening force loading module 2 moves upward to return to the original position. The mechanical arm transfers the valve tool to the next station for valve core stroke measurement, electrical performance test and running-in. After completion, the mechanical arm transfers the valve tool back to the rotating mechanism 53. The X-axis 57 drives the turnover mechanism 52 and the rotating mechanism 53 to transport the valve product 10 below the laser spot welding module 4. The X-axis 57, the Y-axis 58 and the Z-axis 59 accurately position according to the welding position instruction.

[0153] As shown in the above, Figure 7 、 8 The structure of the turnover mechanism 52 includes a turnover motor 511, a speed reducer 512, a rotary positioning assembly 513 and a turnover bracket 514.

[0154] The overturning motor 511 and the matched coupling are standard parts. The overturning motor 511 selects a step motor, maintains torque 1.3 NM, the overall accuracy is 0.15°, the rotating speed is 30-40 revolutions / min, and the matched coupling selects a diaphragm type, and the allowable deflection angle is less than 2°.

[0155] The reducer 512 selects a planetary reducer with accuracy 0.15°, and the reduction ratio is 10:1.

[0156] The rotating positioning assembly 513 is used for detecting the overturning angle of the overturning support 514. According to the product, only two end faces or two end circumferences have welding requirements, the overturning angle is set to 0°, 90° and 180°, and according to the functional requirements, different stations are different by 90°. The positioning is realized by using the combination of the photoelectric sensor and the positioning disc. The positioning disc is distributed at intervals of 90°, each groove corresponds to a station, and the "light entering" is used as the positioning trigger. The working schematic diagram of the rotating positioning assembly 513 is shown in Figure 8 .

[0157] The overturning support 514 and the rotating positioning assembly 513 are connected and fixed by 6 screws. The overturning mechanism 52 is installed on the X shaft 57, and the overturning in the plane composed of the X shaft and the Z shaft is realized.

[0158] The actual application of the overturning mechanism 52 needs to carry out mechanical simulation on the structural design of the overturning mechanism 52 according to the load and the motion state, and verify the reliability of the structural strength.

[0159] As shown in Figure 9 , the rotating mechanism 53 is represented by a) a transmission chain structure sectional view and b) a locking structure diagram.

[0160] As shown in Figure 9 (a), the transmission chain structure composition includes a rotating motor 515, a pinion 516, a gear 517, a tray 518, a bearing 519 and a driving disc 520. The rotating motor 515 selects a 2-phase step motor, and the transmission ratio is 93:16. The specific size of the gear is designed according to the bearing and the transmission scheme. The bearing 519 needs to bear forces in all directions, and a deep groove ball bearing 61810 is selected.

[0161] As shown in Figure 9 (b), the locking structure composition includes a photoelectric sensor 521, a gas supply tee 522, a cylinder assembly 523, a locking assembly 524, a position sensor 525, a second positioning device 526 and a positioning pin 527. The gas supply tee 522 is connected with a one-in-two-out gas pipe and connected with two cylinder assemblies 523. The position sensor 525 adopts a magnetic sensor. The second positioning device 526 is a magnet.

[0162] The working process of the rotating mechanism 53 is as follows: the small gear 516 and the large gear 517 are driven to rotate by the motor 515, the zero position is recognized by the photoelectric sensor 521, after receiving the detection signal, the locking assembly 524 is opened by the driving cylinder assembly 523, the multifunctional clamping module is placed on the tray 518, after positioning by the positioning pin 527 and the second positioning device 526, the to-position sensor 525 monitors the completion, and then the cylinder assembly 523 is reset, the locking assembly 524 fixes the multifunctional clamping module, after the process is completed, the locking assembly 524 is opened by the driving cylinder assembly 523, and the multifunctional clamping module is unlocked. The cylinder assembly 523 is a standard part, which is pushed out by air and retracted by air release. The locking assembly is a flexible structure, which is opened when the cylinder is pushed, and is naturally compressed when the cylinder is loosened.

[0163] As Figure 3 , the multifunctional clamping module includes a shell 12, a lower pressing plate 13, an upper pressing plate 14, a spring 15, a spring pressing plate 16, and a compression nut 17. The lower pressing plate 13 is fixed on the shell 12 by six countersunk screws passing through screw holes, and the plane of the lower pressing plate 13 after installation is lower than the bottom surface of the shell, so that the bottom surface of the shell serves as the installation reference surface of the process. The shell 12 and the lower pressing plate 13 form a cylindrical cavity for accommodating the valve product 10; the upper pressing plate 14 presses the upper end surface of the valve product, the spring 15 is pressed on the upper pressing plate 14 through the spring pressing plate 16 as a pressure transmission structure; after the lower pressing plate 13 is connected with the shell 12, the bottom surface is lower than the bottom surface of the shaft shoulder of the shell 12; the lower pressing plate 13 is a central through hole structure, the lower end cover joint of the valve product 10 passes out from the through hole, and the lower pressing plate 13 and the valve product 10 have a boss at the compression part, which only contacts the lower end cover surface of the valve product 10; after the valve product 10 is placed in the cavity of the shell 12, the upper pressing plate 14 is placed on the valve product 10, the upper pressing plate 14 is a central through hole structure, the upper end cover joint of the valve product 10 passes out from the through hole, and the upper pressing plate 14 and the valve product 10 have a boss at the compression part, which only contacts the upper end cover surface of the valve product 10; the spring 15 and the spring pressing plate 16 are arranged on the upper pressing plate 14, the spring pressing plate 16 is a central through hole structure, the upper end cover joint of the valve product 10 passes out from the through hole, and the end surface of the upper pressing plate 14 and the spring pressing plate 16 contacting the spring 15 is provided with a lower recessed step for positioning the spring; the shell 12 is provided with external threads 19 at the upper end, the compression nut 17 is connected with the external threads 19, and the compression nut 17 compresses the spring pressing plate 16 in a screwed manner through the external threads 19 on the upper part of the shell 12. The external threads on the upper part of the shell 12 satisfy the length of the spring pressing plate 16 pressing the spring 15.

[0164] The outer shell 12 has three guide grooves 18 evenly distributed around the external thread circumference. The spring pressure plate 16 has three evenly distributed pressure claws 110 around its circumference. The three pressure claws 110 extend from the three guide grooves 18 of the outer shell 12. After the clamping nut 17 is connected to the external thread 19, it presses on the three pressure claws 110. The clamping nut 17 transmits the clamping force through the pressure claws 110 extending from the outer shell 12 via the spring pressure plate 16.

[0165] As attached Figure 4 As shown, the upper pressure plate 14, as a preload loading component, has an annular boss. The outer diameter of the boss is not greater than the diameter of the upper end cover of the valve product, ensuring that the bottom surface of the upper pressure plate 14 presses on the valve end cover, and the valve end cover applies force to the elastic component of the valve core. The spring 15 is a multi-layer wave spring, which meets the requirements of small installation space and stable structure. In order to facilitate the tightening control of the clamping nut 17, the spring stiffness is selected such that the spring compression under the loading state is about half of the compression stroke. The upper end surface of the upper pressure plate 14 and the lower end surface of the spring pressure plate 16 are provided with a 0.5mm deep recessed step (first groove and second groove) near the outer circle end. The step plays a positioning role for the spring and prevents the spring from rubbing against the inner wall of the outer shell 12.

[0166] As attached Figure 4(a) as shown, the tool structure providing full process interface functions includes two tightening grooves 111 evenly distributed on the circumference of the compression nut 17, the groove is 6mm wide and 8mm deep, symmetric at both ends, and the groove is matched with the tightening device of the pre-tightening force loading station; two magnets with a diameter of 6mm are evenly distributed on the circumference of the shaft shoulder of the shell 12, the magnets serve as the first positioning device 112 and are aligned with the second positioning device 526 on the tray 518, providing detection signals for the in-place sensor 525, the magnets are fixed in the through hole of the shaft shoulder of the shell 12, and the bottom surface of the magnets is flush with the bottom surface of the shaft shoulder of the shell 12; 2 positioning pin holes 113 and 2 compression mechanisms 114 are evenly distributed on the circumference of the shaft shoulder of the shell 12, the pin holes 113 are matched with the positioning pins 527 on the tray 518 in sliding clearance, thereby realizing the mechanical positioning of the tool installed on the station; the compression mechanism 114 is a cylindrical ring fixed on the shaft shoulder of the shell 12 by screws, symmetrically arranged on the circumference of the shaft shoulder, during the welding process, the locking assembly 524 is fixed by clamping the compression mechanism 114, realizing the fixation of the tool during the 180° turning process in the welding process; the upper power interface 115 is composed of a male connector and a terminal, the shaft shoulder end surface of the shell 12 is provided with a matching hole for the male connector, the male connector and the terminal are fixed on the shaft shoulder end surface by screws, the male connector pins extend from the lower end of the shaft shoulder end surface, and are connected with the female connector on the station during mechanical positioning, thereby realizing automatic power connection on the station; two clamping mechanisms 116 are evenly distributed on the circumference of the shell 12, the clamping mechanism 116 is composed of a trapezoidal table and a threaded cylindrical rod, the threaded cylindrical rod fixes the trapezoidal table to the circumference of the shell 12 through the through hole in the center of the trapezoidal table, the clamping mechanism 116 is symmetrically arranged on the circumference of the shell 2, the trapezoidal table of the clamping mechanism 116 is used for clamping cooperation with the mechanical arm jaw during the transfer of the tool by the mechanical arm, preventing the tool from shaking during the transfer process, the threaded cylindrical rod acts as a pin matched with the mechanical arm jaw, preventing slipping and fixing during the transfer process; the compression plate 14 is provided with three upper end cover welding holes 117 evenly distributed on the circumference; the lower compression plate 13 is provided with three lower end cover welding holes 118 evenly distributed on the circumference; the shell 12 is provided with three circumferential welding holes 119 evenly distributed on the circumference.The upper end cover welding hole 117 is three waist-shaped holes uniformly distributed on the circumference of the upper pressing plate, and the position of the waist-shaped hole on the circumference diameter is a jointing seam that can expose the valve product shell and the upper end cover. The laser beam passes through the upper end cover welding hole 117 to weld the valve product shell and the upper end cover at three uniformly distributed positions along the circumference, so as to fix the upper cover and the shell, and make the valve product subsequent process independent of the tooling; the lower end cover welding hole 118 is three waist-shaped holes uniformly distributed on the circumference of the lower pressing plate, and has the same effect as the upper end cover welding hole, which is a welding window for the valve lower end cover and the shell; the circumferential welding hole 119 is a welding window provided by the valve structure design for the valve product shell needing to be connected on the circumference, and the circumferential welding hole 119 corresponds to the jointing seam between the adjacent two shell parts.

[0167] First, the product is fixed by using the multifunctional clamping module. The lower pressing plate 13 is fixed on the shell 12 by screws. The valve product is placed in the cylindrical cavity formed by the shell 12 and the lower pressing plate 13. The upper pressing plate 14 is placed to press the upper end surface of the valve product. Then, the spring 15, the spring pressing plate 16, the compression nut 17 and the compression claw 110 of the spring pressing plate 16 are sequentially placed in the guide groove 18 and the outer thread 19, and the compression claw 110 of the spring pressing plate 16 is pressed, so as to complete the fixing of the product. The process flow of the valve product includes pre-tightening force loading, valve core stroke measurement, electrical performance test, running-in and welding. In the pre-tightening force loading process, the mechanical arm carries the tooling to the work station through the clamping mechanism 116, is positioned by the pin hole 113 and the positioning pin 527, is aligned by the first positioning device 112 and the second positioning device 526, and the installation and positioning of the multifunctional clamping module on the work station are completed by the feedback signal of the in-place sensor 525. The pre-tightening force loading device applies pressure through the lower spring pressing plate 16. After being in place, the compression nut 17 is tightened by the tightening groove 111 to lock, and the pre-tightening force loading process is completed. The valve core stroke measurement, electrical performance test and running-in processes require the same work station. The transfer positioning process is the same as above. The in-place sensor 525 also realizes conduction in the positioning process. After the positioning is completed, the valve core stroke measurement, electrical performance test and running-in are performed on the product. The positioning of the welding process is the same as that of the pre-tightening force loading process. After being in place, the upper end cover of the valve and the shell are welded through the upper end cover welding hole 117. The fixed compression mechanism 414 is turned over by 180°. The lower end cover of the valve and the shell are welded through the lower end cover welding hole 118. The shell 12 is welded by the circumferential welding hole 119.

[0168] The application discloses a kind of spacecraft electric valve product multi-station on-line automatic assembly system, the system uses multi-station on-line automatic assembly technology, process operation is automatically, efficiently, process can be quickly recorded and linked.The application can realize the pre-tightening force loading of spacecraft electric valve product assembly process, valve core measurement, electrical performance test, switch running-in, shell welding 5 process flows on-line automatic operation.The application can integrate production station in product automatic assembly process, realize process data, production system integration, quality control precision, facilitate production management and performance control at the same time, effectively solve the efficiency low and production management strong dependence problem caused by multiple equipment, station, personnel cross work in traditional personnel operation production process.

[0169] The above detailed description of the application is made in conjunction with specific embodiments and exemplary examples, but these descriptions cannot be understood as limiting the application. Those skilled in the art understand that the technical solutions and embodiments of the application can be variously replaced, modified or improved without departing from the spirit and scope of the application, and these all fall within the scope of the application. The scope of protection of the application is subject to the appended claims.

[0170] The contents not described in detail in the specification of the application are the known technology of those skilled in the art.

Claims

1. A multi-station, in-line, automated assembly system for spacecraft electrovalve products, characterized in that, The multifunctional clamping module (1), the pre-tightening force loading module (2), the non-contact measurement module (3), the laser spot welding module (4), the motion positioning module (5), the mechanical arm (6) and the central control processing system (8) are included. The valve product (10) is fixedly installed in the multifunctional clamping module (1). The pre-tightening force loading module (2) is located at the first station and is used for applying pre-tightening force to the valve product (10) through the multifunctional clamping module (1). The non-contact measurement module (3) is located at the second station and is used for measuring the valve core stroke, testing the electrical performance and running of the valve product (10) through the multifunctional clamping module (1). The laser spot welding module (4) is located at the third station and is used for spot welding the valve product (10) through the multifunctional clamping module (1). The motion positioning module (5) is used for driving the multifunctional clamping module (1) to translate, rotate or overturn in a three-dimensional space, so as to realize the positioning of the multifunctional clamping module (1) at the first station or the third station. The mechanical arm (6) is used for realizing the transfer of the multifunctional clamping module (1) between the loading station (20) and the motion positioning module (5) and between the loading station (20) and the second station. The central control processing system (8) is used for controlling the pre-tightening force loading module (2), the non-contact measurement module (3), the laser spot welding module (4), the motion positioning module (5) and the mechanical arm (6) according to the assembly process. The multifunctional clamping module (1) includes a shell (12), a lower pressing plate (13) and an upper pressing plate (14). The shell (12) is internally provided with a cavity for accommodating the valve product (10). The lower pressing plate (13) is connected to the lower end of the shell (12), and the upper surface of the lower pressing plate (13) is provided with a first boss in contact with the lower end cover of the valve product (10). The upper pressing plate (14) is installed inside the shell (12) and above the lower pressing plate (13), and the lower surface of the upper pressing plate (14) is provided with a second boss in contact with the upper end cover of the valve product (10). The upper pressing plate (14), the lower pressing plate (13) or the shell (12) is provided with a welding hole for welding the valve product (10). The motion positioning module (5) includes a overturning mechanism (52) and a rotating mechanism (53). The multifunctional clamping module (1) is installed on the rotating mechanism (53). The overturning mechanism (52) is used for driving the rotating mechanism (53) to overturn in a first plane. The rotating mechanism (53) is used for driving the multifunctional clamping module (1) to rotate in a second plane. The first plane is perpendicular to the second plane. The shaft shoulder is further provided with a first positioning device (112), a positioning pin hole (113) and a pressing device (114). The rotating mechanism (53) includes a rotating motor (515), a pinion (516), a large gear (517), a tray (518), a bearing (519), a driving disc (520) and a photoelectric sensor (521). The turnover support (514) comprises a bottom plate and a vertical plate perpendicular to the bottom plate, the tray (518) is installed on the bottom plate by a bearing (519), the rotary motor (515) drives the driving disc (520) to rotate through the intermeshing pinion (516) and the gear (517), the rotation of the driving disc (520) drives the tray (518) to rotate, the photoelectric sensor (521) is arranged on the bottom plate of the turnover support (514), and the photoelectric sensor (521) is used for detecting the rotation angle of the tray (518) and outputting to the central control processing system (8); The bottom plate is further provided with a position sensor (525), the tray (518) is provided with a locking assembly (524), a second positioning device (526) and a positioning pin (527); The positioning pin hole (113) and the positioning pin (527) are matched to realize the positioning of the multifunctional clamping module on the tray (518); The first positioning device (112) and the second positioning device (526) are magnets that attract each other, the position sensor (525) is a magnetic sensor, the position sensor (525) is used for acquiring a close signal of the first positioning device (112) and the second positioning device (526) and outputting the close signal to the central control processing system (8), and the central control processing system (8) judges whether the positioning pin hole (113) and the positioning pin (527) are matched in place according to the close signal; The locking assembly (524) realizes the locking of the multifunctional clamping module on the tray (518) through the locking and pressing device (114); The welding holes comprise an upper end cover welding hole (117) arranged on the upper pressing plate (14) and used for welding the upper end cover and the shell of the valve product (10), a lower end cover welding hole (118) arranged on the lower pressing plate (13) and used for welding the lower end cover and the shell of the valve product (10), and a circumferential welding hole (119) arranged on the shell (12).

2. The multi-station, in-line, automated assembly system for spacecraft electromechanical valves as recited in claim 1, wherein, Further comprising a shell and support platform module (9); The shell and support platform module (9) comprises a support platform (90) and a shell (91); The support platform (90) is installed inside the shell (91) and is used for supporting the multifunctional clamping module (1), the pre-tightening force loading module (2), the non-contact measurement module (3), the laser spot welding module (4), the motion positioning module (5) and the mechanical arm (6); the part of the shell (91) above the support platform (90) is provided with a sliding door structure, the inside of the shell (91) is a closed space when the sliding door is closed, and the part of the shell (91) above the support platform (90) is made of transparent acrylic material.

3. The multi-station, in-line, automated assembly system for spacecraft electrovalve products of claim 1, wherein, Further comprising an environment control module (7); The environment control module (7) is arranged at the top of the shell (91) and is used for receiving a cleanliness control instruction of the central control processing system (8) and adjusting the cleanliness of the inside environment of the shell (91) according to the cleanliness control instruction; The environment control module (7) comprises a fan and an air filter element.

4. The multi-station, in-line, automated assembly system for spacecraft electrovalve products of claim 1, wherein, The multifunctional clamping module (1) further comprises a spring (15), a spring pressing plate (16) and a pressing nut (17); The lower end of the spring (15) is in contact with the upper surface of the upper pressing plate (14), and the upper end of the spring (15) is in contact with the lower surface of the spring pressing plate (16), and the downward movement of the spring pressing plate (16) is converted into the pre-tightening force exerted by the upper pressing plate (14) on the upper end cover of the valve product (10) through the spring (15); The compression nut (17) is located above the spring pressing plate (16) and is screwed with the upper end of the shell (12), and the compression nut (17) is used to lock the position of the spring pressing plate (16); The shell (12) is provided with an upper electrical interface (115) for electrical performance test.

5. The multi-station, in-line, automated assembly system for spacecraft electrovalve products of claim 4, wherein, The motion positioning module (5) further comprises a three-coordinate displacement mechanism (51); The three-coordinate displacement mechanism (51) comprises a displacement platform and a mounting bracket (510) located above the displacement platform; The pre-tightening force loading module (2) and the laser spot welding module (4) are installed on the mounting bracket (510), and the displacement platform is used to adjust the position of the turnover mechanism (52) in the three-dimensional space.

6. The multi-station, in-line, automated assembly system for spacecraft electrovalve products of claim 5, wherein, The upper electrical interface (115) is arranged on the shaft shoulder of the shell (12).

7. The multi-station, in-line, automated assembly system for spacecraft electrovalve products of claim 1, wherein, The central control processing system (8) comprises a central control processor (83), a display and input device (82), and a device state sensor (85); The device state sensor (85) is used to sense the state of the pre-tightening force loading module (2), the non-contact measurement module (3), the laser spot welding module (4), and the motion positioning module (5), generate a state signal, and output the state signal to the central control processor (83); The display and input device (82) is used to receive an externally input assembly process or user instruction, and output the assembly process or user instruction to the central control processor (83); The central control processor (83) generates a control instruction for controlling the actions of the pre-tightening force loading module (2), the non-contact measurement module (3), the laser spot welding module (4), the motion positioning module (5), and the mechanical arm (6) according to the assembly process, the user instruction, or the state signal.

8. The multi-station, in-line, automated assembly system for spacecraft electrovalve products of claim 4, wherein, The pre-tightening force loading module (2) comprises a force measuring device and a rotary locking mechanism; The force measuring device is used to press down the spring pressing plate (16) and obtain a pressing force loading value applied to the spring pressing plate (16), and output the pressing force loading value to the central control processing system (8), which compares the pressing force loading value with a preset pre-tightening force loading value in real time, and when the pressing force loading value is equal to the preset pre-tightening force loading value, controls the force measuring device to stop pressing down the spring pressing plate (16), and controls the rotary locking mechanism to tighten the compression nut (17), thereby locking the position of the spring pressing plate (16); The non-contact measurement module (3) comprises a support (34), a laser micro-displacement detector (35), and an electrical performance test device; The laser micro-displacement detector (35) and the electrical performance test device are installed on the support (34), and the support (34) is further provided with an electrical interface for docking with the upper electrical interface (115), and the laser micro-displacement detector (35) and the electrical performance test device are respectively used to measure the valve core stroke of the valve product (10) and perform electrical performance test and running-in after the upper electrical interface (115) and the electrical interface are docked.

9. The multi-station, in-line, automated assembly system for spacecraft electrovalve products of claim 4, wherein, The laser spot welding module (4) comprises a vision system (46) and a laser spot welding device (47); The vision system (46) is used to acquire images of the multifunctional clamping module (1) and output the images to the central control processing system (8), the central control processing system (8) identifies the welding hole position of the multifunctional clamping module (1) in the images and displays the welding hole position to the user, the user inputs control instructions to the central control processing system (8) according to the relative position of the welding hole and the laser spot welding device (47), and the central control processing system (8) controls the motion positioning module (5) to move, rotate or overturn the multifunctional clamping module (1) according to the control instructions; The laser spot welding device (47) is used to spot weld the valve product (10) through the welding hole.

10. A multi-station, in-line, automated assembly method for spacecraft solenoid valve products, characterized by, The spacecraft electric valve product multi-station online automatic assembly system according to any one of claims 1-9 is characterized in that it comprises: S1, at the feeding station (20), the valve product (10) is fixedly installed in the multifunctional clamping module (1); the central control processing system (8) controls the mechanical arm (6) to install the multifunctional clamping module (1) on the motion positioning module (5); S2, the central control processing system (8) controls the motion positioning module (5) to drive the multifunctional clamping module (1) to translate in the three-dimensional space, so that the multifunctional clamping module (1) is positioned at the first station; S3, the central control processing system (8) controls the pre-tightening force loading module (2) to apply a pre-tightening force to the valve product (10) through the multifunctional clamping module (1); S4, the central control processing system (8) controls the mechanical arm (6) to transfer the multifunctional clamping module (1) to the second station; S5, the non-contact measurement module (3) measures the valve core stroke of the valve product (10) through the multifunctional clamping module (1) and outputs the valve core stroke measurement result to the central control processing system (8); S6, the central control processing system (8) judges whether the valve core stroke measurement result is qualified, if yes, the central control processing system (8) controls the non-contact measurement module (3) to test the electrical performance and run-in of the valve product (10) through the multifunctional clamping module (1), and if not, returns to S1; S7, the central control processing system (8) controls the mechanical arm (6) to install the multifunctional clamping module (1) on the motion positioning module (5); S8, the central control processing system (8) controls the motion positioning module (5) to drive the multifunctional clamping module (1) to translate in the three-dimensional space, so that the multifunctional clamping module (1) is positioned at the third station; S9, the laser spot welding module (4) performs laser spot welding on the valve product (10) through the multifunctional clamping module (1); during the spot welding process, the central control processing system (8) controls the motion positioning module (5) to drive the multifunctional clamping module (1) to rotate or overturn for welding position selection; S10, the central control processing system (8) controls the mechanical arm (6) to transfer the multifunctional clamping module (1) to the discharging station (21).

Images