A high-load high-precision light loading device for solar wing ground assembly

Abstract

The application designs a high-load high-precision light loading device for solar wing ground assembly, which is composed of a loading assembly and a fine adjustment assembly, the loading assembly includes a loading interface module and a driving module, wherein the loading interface module is installed at the front end of the driving module, the loading interface module is used to ensure that the steel belt in the compression release device is uniformly stressed during loading, and the driving module provides driving force for the whole loading assembly and ensures high-precision loading; the loading assembly is driven by a servo motor, and motion conversion is realized by using a ball screw transmission, and the loading motion is transmitted to the compression release device through a transmission chain, aiming to meet the ground loading demand of single-point accurate loading during the compression assembly of the circular solar wing; the fine adjustment mechanism is used to realize the fine adjustment of the assembly position of the loading device and the target of unloading the gravity of the loading device.

Description

Technical Field

[0001] This invention belongs to the technical fields of aerospace device assembly and mechanical engineering, and specifically relates to a high-load, high-precision, lightweight loading device for ground assembly of solar panels. Background Technology

[0002] my country's aerospace engineering is developing rapidly. Circular solar arrays, as energy sources for spacecraft, possess advantages such as light weight and high packing ratio, meeting the ever-increasing energy supply requirements and the need for miniaturization and lightweight design. The clamping assembly of circular solar arrays places high demands on their own assembly stress; improper stress control can cause the solar array to fail to deploy or even be damaged. Considering the requirements of the clamping assembly of circular solar arrays, the loading device should be small in size and light in weight, ensuring loading accuracy and uniform stress on the steel belt within the clamping and release device, while also avoiding applying any additional load to the solar array during loading. my country urgently needs ground-based clamping assembly equipment for circular solar arrays. Currently used loading equipment suffers from drawbacks to varying degrees, including large size, low loading accuracy, and limited load capacity. Summary of the Invention

[0003] Based on the above-mentioned technical problems, this invention designs a high-load, high-precision, lightweight loading device for ground assembly of solar panels, which consists of a loading component and a fine-tuning component. The loading component is driven by a servo motor and uses a ball screw transmission to realize motion conversion. The loading motion is transmitted to the clamping and releasing device through a transmission chain, aiming to meet the ground loading requirements of single-point precise loading during the clamping and assembly of circular solar panels. The fine-tuning mechanism is used to achieve the goal of fine-tuning the assembly position of the loading device and unloading the loading device by gravity.

[0004] A high-load, high-precision, lightweight loading device for ground assembly of solar panels is characterized by comprising a loading component and a fine-tuning component. The loading component primarily provides tensile and compressive loads for the solar panel assembly, while the fine-tuning component adjusts the installation position of the loading mechanism relative to the solar panel to eliminate positional interference and simultaneously provides gravity compensation for the loading component.

[0005] The loading component consists of a driver module and a loading interface module.

[0006] The drive module includes a servo motor, a harmonic reducer, a lead screw drive module, and an output shaft. The harmonic reducer is installed at the output end of the servo motor, the lead screw drive module is installed at the output end of the reducer, and the output shaft is installed at the front end of the lead screw drive module and fixedly connected to the lead screw nut. The front end of the lead screw drive module is a rectangular flange, which is fixedly connected to the loading interface module and the fine-tuning mechanism.

[0007] The loading interface module includes an anti-detachment clamp, a support frame, and a transmission chain. The anti-detachment clamp is installed in the through holes on both sides of the front end of the support frame. The support frame is installed in the front end of the drive module by bolts and nuts. The transmission chain is installed inside the support frame. The end of the transmission chain is connected to the output shaft of the drive module by a threaded assembly.

[0008] The anti-detachment clamp includes a hook, a rotating bolt, a spring set screw, and a rotating set screw. The hook is assembled with the support frame by the bolt. The spring set screw is positioned by the circular groove near the through holes on both sides of the front end of the support frame. The hook can rotate around the rotating bolt to restrict the outward movement of the adaptive hook and prevent it from detaching. The rotating set screw can fix the position of the hook by rotation.

[0009] The bottom end of the support frame is a rectangular flange, which is connected and assembled with the drive module. The transmission chain includes an adaptive hook, a limit nut, a limit screw, a tension sensor, and a locking nut. The tension sensor is installed at the front end of the output shaft, the adaptive hook is installed at the front end of the tension sensor, and the limit nut is installed on the end connector of the adaptive hook through a threaded pair to cooperate with the limit protrusion on the inner side of the support frame to limit the displacement of the adaptive hook. The limit screw is installed in the threaded hole reserved in the limit nut to lock the limit nut.

[0010] The locking nut is installed between the end connector and the tension sensor. The end connector includes a connector interface, a double-threaded sleeve, a connector bolt, and a threaded sleeve. The double-threaded sleeve is installed at the end of the connector interface via a threaded pair. The connector bolt is installed inside the double-threaded sleeve to smooth out the deformation and fracture process that may occur at the end connector after the device is overloaded, and to prevent large oscillations from affecting the front solar panel during the deformation and fracture process. The threaded sleeve is installed at the end of the connector bolt, and the threaded sleeve is connected to the tension sensor via a threaded pair.

[0011] The adaptive hook includes screws, connecting contact angles, connecting rods, intermediate connectors, and end connectors. The connecting contact angles are installed in pairs at both ends of connecting rod one. Connecting rod one is installed at the front end of the intermediate connector. The intermediate connectors are installed in pairs at both ends of connecting rod two. Connecting rod two is installed at the front end of the end connector. The distance between the holes at both ends of connecting rod one and connecting rod two and the intermediate hole is the same, so that equal lever arms can be formed when loading, ensuring that the load applied to the four connecting contact angles is the same.

[0012] The fine-tuning component includes an interface connection module and a six-degree-of-freedom fine-tuning mechanism. The interface connection module is installed on the top of the base plate of the spring bracket. The bottom of the interface connection module is a rectangular flange with a square hole in the middle. The drive module can pass through the square hole, and the support frame, drive module and interface connection module are fixedly connected by bolts and nuts.

[0013] The six-degree-of-freedom fine-tuning mechanism includes a spring bracket and a three-degree-of-freedom slide. The spring bracket is installed on the top of the three-degree-of-freedom slide. The spring bracket includes a V-shaped plate, a base plate, a stud, a second locking nut, an adjusting nut, a spring, a spring sleeve, an anti-loosening nut, and a bottom bracket. The base plate is installed at the bottom of the two V-shaped plates. The stud is installed above the bottom bracket. The V-shaped plate, the second locking nut, the adjusting nut, the spring, and the spring sleeve pass through the stud in sequence and are installed above the bottom bracket. The anti-loosening nut is installed below the bottom bracket.

[0014] The compression of the spring can be adjusted by adjusting the nut, thereby achieving three-degree-of-freedom rotation adjustment at the top. At the same time, because the spring has the ability to deform, the loading device has a certain self-adaptive ability to installation errors, reducing contact stiffness and installation stress.

[0015] The three-degree-of-freedom slide table includes a scissor lift, slide table one, and slide table two. The scissor lift is installed at the top of slide table one, and slide table one is installed at the top of slide table two. Slide table one is horizontally and vertically mounted on slide table two. The two slide tables can jointly achieve ±50mm displacement adjustment in the horizontal XY axis, and the scissor lift can achieve ±10mm micro-adjustment in the vertical direction. This enables micro-adjustment of the three translational degrees of freedom of the loading device. Through series installation with the spring bracket, the fine-tuning mechanism can achieve six-degree-of-freedom error compensation for the assembly position of the loading device.

[0016] The advantages of the technical solution of this invention are:

[0017] 1. This invention utilizes the precise position control of a servo motor and the low frictional resistance of a ball screw during operation to ensure precise control of the displacement at the front end of the loading device, thus achieving the loading requirements of small size, light weight, high load capacity, and high precision.

[0018] 2. This invention limits the displacement of the adaptive hook by cooperating with the limiting nut and the limiting protrusion on the inner side of the support frame, thereby limiting the working load and improving the safety of the device.

[0019] 3. To address the requirement of ensuring uniform force on the steel strip within the clamping and releasing device during loading, this invention incorporates an adaptive hook at the front end of the loading interface module. The adaptive hook's equal lever arm structure enables the loading device to apply load evenly to the four loading points of the clamping and releasing device. Furthermore, an anti-detachment clamp is designed to improve reliability.

[0020] 4. The present invention decomposes the six degrees of freedom of the loading device in space into three translational degrees of freedom and three rotational degrees of freedom, and uses a three-degree-of-freedom slide table and spring support to achieve position compensation, reduce contact stiffness, and thus reduce installation stress. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the loading device of the present invention;

[0022] Figure 2 This is a schematic diagram of the loading component structure of the loading device of the present invention;

[0023] Figure 3 This is a schematic diagram of the fine-tuning mechanism of the loading device of the present invention;

[0024] Figure 4 This is a structural breakdown diagram of the loading component of the loading device of the present invention;

[0025] Figure 5 This is an exploded view of the anti-detachment clamp structure of the loading component of the present invention;

[0026] Figure 6 This is a schematic diagram of the overall structure of the transmission chain of the loading component of the present invention;

[0027] Figure 7 This is a schematic diagram showing the disassembled transmission chain structure of the loading component of the present invention;

[0028] Figure 8 This is an exploded view of the adaptive hook structure of the transmission chain of the present invention;

[0029] Figure 9 This is an exploded view of the fine-tuning component of the present invention;

[0030] Figure 10 This is an exploded schematic diagram of the spring support in the fine-tuning component of the present invention;

[0031] Figure 11 This is a schematic diagram of the three-degree-of-freedom slide structure in the fine-tuning component of the present invention;

[0032] Figure 12 This is a schematic diagram of the end connector structure of the present invention;

[0033] Figure 13 This is a cross-sectional view of the end connector of the present invention;

[0034] Figure 14 This is a cross-sectional view of the double-layer threaded sleeve in the end connector of the present invention;

[0035] In the diagram: 1. Loading component, 2. Fine-tuning component, 3. Loading interface module, 4. Drive module, 5. Interface connection module, 6. Six-DOF fine-tuning mechanism, 7. Anti-detachment clamp, 8. Support frame, 9. Transmission chain, 10. Output shaft, 11. Screw drive module, 12. Harmonic reducer, 13. Servo motor, 14. Rotary bolt, 15. Spring set screw, 16. Hook one, 17. Hook two, 18. Rotary set screw, 19. Adaptive hook, 20. Limit nut, 21. Tension sensor, 22. Limit set screw, 23. Locking nut 1. 24. Contact Angle, 25. Link 1, 26. Intermediate Connector, 27. End Connector, 28. Link 2, 29. Spring Bracket, 30. Three-DOF Slide, 31. Stud, 32. V-plate, 33. Locking Nut 2, 34. Adjusting Nut, 35. Spring, 36. Spring Sleeve, 37. Base Plate, 38. Bottom Bracket, 39. Anti-loosening Nut, 40. Scissor Lift, 41. Slide 1, 42. Slide 2, 43. Connector Interface, 44. Double-Layer Threaded Sleeve, 45. Connector Bolt, 46. Threaded Sleeve. Detailed Implementation

[0036] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. The preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0037] Referring to the accompanying drawings, the structures, proportions, sizes, etc., shown in the drawings are merely for illustrative purposes to aid those skilled in the art in understanding and reading the content disclosed herein. They are not intended to limit the conditions under which the invention can be implemented and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the positional limitations used in this specification are merely for clarity of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0038] like Figure 1 The diagram shown is a schematic diagram of the overall structure of the loading device of the present invention. The high-load, high-precision, lightweight loading device for ground assembly of the solar array of the present invention includes a loading component 1 and a fine-tuning component 2. The loading component 1 is installed above the fine-tuning component 2, specifically fixedly installed above the fine-tuning component 2 through the interface connection module 5 of the fine-tuning component 2. The loading component 1 is used to connect with the clamping and releasing device to realize the loading action. The fine-tuning component 2 is used to realize the micro-adjustment of the position of the loading device and the unloading of the gravity of the loading device.

[0039] Figure 2This is a schematic diagram of the loading component structure of the loading device of the present invention. The loading component 1 includes a loading interface module and a driving module 4. The loading interface module 3 is installed at the front end of the driving module 4. The main function of the loading interface module 3 is to ensure that the steel belt in the clamping and releasing device is subjected to uniform force during loading. The driving module 4 provides driving force for the entire loading component and ensures high-precision loading.

[0040] Figure 3 This is a schematic diagram of the fine-tuning mechanism of the loading device of the present invention. The interface connection module 5 is installed above the six-degree-of-freedom fine-tuning mechanism 6 through two cantilever beam structures on the side. The end face of the interface connection module 5 is a rectangular flange. The drive module 4 of the loading component 1 passes through the central square hole of the interface connection module 5. The loading component 1 and the interface connection module 5 are connected and fixed by bolts, thereby realizing the fixed connection between the loading component 1 and the six-degree-of-freedom fine-tuning mechanism 6, so that the adjustment action of the fine-tuning component 2 can act on the loading component 1. The six-degree-of-freedom fine-tuning mechanism 6 is used to realize the six-degree-of-freedom fine-tuning in space and the gravity unloading of the loading component.

[0041] Figure 4 This is a structural breakdown diagram of the loading component of the loading device of the present invention. As shown in the figure, the loading interface module 3 includes an anti-detachment clamp 7, a support frame 8, and a transmission chain 9. The drive module 4 includes a lead screw drive module 11, a harmonic reducer 12, and a servo motor 13. The servo motor 13 drives the lead screw drive module 11 to rotate through the harmonic reducer 12. The output shaft 10 of the lead screw drive module 11 extends into the loading interface module 3 to drive the transmission chain 9.

[0042] Figure 5 This is an exploded view of the anti-detachment clamp structure of the loading component of the present invention; Figure 6 This is a schematic diagram of the overall structure of the transmission chain of the loading component of the present invention; Figure 7 This is a schematic diagram showing the disassembled transmission chain structure of the loading component of this invention; combined with Figure 5 , Figure 6 , Figure 7The support frame 8 consists of a flange seat and two cantilever arms extending forward from the end face of the flange seat, with the two cantilever arms symmetrically distributed vertically. The flange seat is bolted to the flange of the lead screw drive module 11 and the rectangular flange on the end face of the interface connection module 5. The front end of the support frame 8 has four small support surfaces, which can press against the clamping seat on the clamping release device, applying pressure load to the clamping release device, and providing positioning and support for the loading assembly 1. Long strips are designed on the two cantilever arms of the support frame 8. In addition to meeting strength requirements, the grooves are designed for lightweighting of the device. The inner sides of both cantilever arms of the support frame 8 are designed with limiting protrusions to restrict the travel of the limiting nut 20 in the transmission chain 9. The anti-detachment clamp 7 includes a rotating bolt 14, a spring set screw 15, a first hook 16, a second hook 17, and a rotating set screw 18. Both the first hook 16 and the second hook 17 have protrusions with two threaded through holes of different sizes. During installation, the protrusions of the first hook 16 and the second hook 17 are tightly fitted to the support. On both sides of the cantilever end of the support frame 8, rotating bolts 14 pass sequentially through the larger threaded holes of hook one 16, support frame 8, and hook two 17. A rotating set screw 18 is installed in the threaded hole at the other end of the rotating bolt 14 to prevent it from falling off. This completes the installation of one set of hooks. A set of hooks is installed at each of the two cantilever ends of the support frame 8, and the two sets of hooks are symmetrically centered. A spring set screw 15 is installed in the smaller threaded holes of hook one 16 and hook two 17, allowing the spring set screw 15 to engage with the support frame. The circular grooves near the through holes on both sides of the cantilever front end of the support frame 8 are used for positioning. The circular grooves are divided into two groups: the front circular groove is the limiting position, and the rear circular groove is the release position. Each group of hooks can rotate around the rotating bolt 14 and is positioned by the spring set screw 15. When the hook rotates to the front direction, i.e., the limiting position, it can restrict the outward movement of the adaptive hook and prevent it from falling out. When the hook rotates to the release position, the restriction is released. When the hook rotates to the limiting or release position on the support frame 8, it is tightened by rotating the rotating set screw 18 to fix the hook. The anti-detachment clamp 7 is located at the front end of the loading interface module 3 and can restrict and release the adaptive hook 19 by rotation. When the anti-detachment clamp 7 rotates to the limiting state, it can prevent the adaptive hook from falling out during the loading process.

[0043] The transmission chain 9 is installed between the two cantilever arms of the support frame 8 and can transmit the driving force provided by the drive module 4 to complete the loading action. The servo motor 13 of the drive module 4 can achieve precise position control. The driving force of the drive module 4 is provided by the servo motor 13. The output shaft of the servo motor 13 generates rotational torque, which is output to the harmonic reducer 12 through the coupling. The function of the harmonic reducer 12 is to increase the torque, proportionally amplifying the rotational torque output by the servo motor 13 to drive the lead screw transmission module 11. The lead screw transmission module 11 transmits the torque output by the reducer to the lead screw through the coupling. The rotation of the lead screw drives the lead screw nut. The linear feed motion drives the output shaft 10, which is fixedly connected to the nut, to perform linear feed motion. The output shaft 10 of the drive module is connected to the rear end of the tension sensor 21 at the end of the transmission chain 9 in the loading interface module 3, so that the output shaft 10 can transmit driving force to the transmission chain 9. The front end of the tension sensor 21 is equipped with an adaptive hook 19 through the end connector 27. A locking nut 23 is provided between the adaptive hook 19 and the tension sensor 21. The locking nut 23 is screwed onto the end connector 27 to fix the adaptive hook 19 and the tension sensor 21 relatively and prevent the tension sensor 21 from rotating axially. The end connector 27 is externally fitted with a limiting nut 20. The limiting nut 20 has multiple threaded through holes distributed circumferentially. A limiting screw 22 is installed in each threaded through hole. The limiting nut 20 can rotate relative to the central axis of the adaptive hook 19. In use, the axial position of the limiting nut 20 can be adjusted by rotating it. The stroke of the limiting nut 20 is limited by the limiting protrusion on the inner side of the support frame 8. The stroke of the adaptive hook 19 can also be limited at the same time. Therefore, the gap between the limiting nut 20 and the limiting protrusion can be adjusted and the limiting screw 22 can be used to tighten the limiting nut 20 relative to the limiting protrusion to form the positioning of the limiting nut 20 relative to the limiting protrusion. The stroke of the adaptive hook 19 is limited by the gap between the two, thereby limiting the tension of the steel belt in the clamping and releasing device and preventing excessive loading force from damaging the front end device. The tension transmitter 21 at the end of the transmission chain can provide feedback on the actual loading force for feedback control to ensure loading accuracy.

[0044] Figure 8This is an exploded view of the adaptive hook structure of the transmission chain of the present invention. The adaptive hook 19 can adapt to the positional deviation of the loading component 1 and the clamping release device during assembly. Relying on the principle of equal lever arms, it achieves uniform force on the steel belt inside the clamping release device during loading. As shown in the figure, the adaptive hook 19 includes a connecting contact angle 24, a connecting rod 1 25, an intermediate connecting piece 26, an end connecting piece 27, and a connecting rod 28. The front end of the connecting contact angle 24 has a hook-shaped structure. During operation, the front hook of the connecting contact angle 24 is assembled with the clamping release device. The rear end of the connecting contact angle 24 has a hinge structure. There are three through holes in the middle of the connecting rod 1 25 and the connecting rod 28. The distance between the two through holes on both sides of the three through holes and the central through hole is the same. When subjected to force, it can form an equal lever arm, thereby forming a uniform load during loading. The connecting contact angle 24... 4. Two hinged structures connected to the rear end of the contact angle 24 are respectively hinged and installed at both ends of the connecting rod 25 using screws. The middle hole of the connecting rod 25 is connected to the front hinge of the intermediate connector 26 using screws. The intermediate connector 26 is a hinge structure composed of mutually perpendicular front and rear hinges. The structure consisting of the contact angle 24, connecting rod 25, and intermediate connector 26 is arranged symmetrically in two sets. The rear hinges of the two intermediate connectors 26 are respectively installed at the two through holes on the side of the connecting rod 28 using screws. The middle through hole of the connecting rod 28 is connected to the front end of the end connector 27 using screws. When the loading device is working, it can apply a load to the clamping and releasing device, and ensure uniform loading by relying on its own equal lever arm.

[0045] Figure 9 This is an exploded view of the fine-tuning component of the present invention. As shown in the figure, the six-degree-of-freedom fine-tuning mechanism 6 in the fine-tuning component includes a spring bracket 29 and a three-degree-of-freedom slide 30. The spring bracket 29 is installed above the three-degree-of-freedom slide 30 through a threaded joint. The spring bracket 29 can realize fine-tuning in three rotational degrees of freedom and gravity compensation for the loading component 1. The three-degree-of-freedom slide 30 can realize micro-adjustments of ±50mm in the horizontal XY axis and ±10mm in the vertical direction, thus realizing fine-tuning in three translational degrees of freedom.

[0046] Figure 10This is an exploded view of the spring bracket in the fine-tuning component of the present invention. As shown in the figure, the spring bracket 29 includes a stud 31, a V-shaped plate 32, a locking nut 33, an adjusting nut 34, a spring 35, a spring sleeve 36, a base plate 37, a bottom bracket 38, and an anti-loosening nut 39. The stud 31 is installed above the elongated hole of the bottom bracket 38. The bottom bracket 38 includes two arranged side by side. Each bottom bracket 38 has an elongated hole on each side. A set of gravity compensation components is installed in each elongated hole. Each set of gravity compensation components includes a stud 31 and a V-shaped plate 32. The components include a second locking nut 33, an adjusting nut 34, a spring 35, and a spring sleeve 36. The V-shaped plate 32, locking nut 33, adjusting nut 34, spring 35, and spring sleeve 36 are sequentially installed above the elongated hole of the bottom bracket 38, passing through studs 31 from top to bottom. Two V-shaped plates 32 are fixedly installed on both sides above the bottom plate 37. Each V-shaped plate 32 has a stud 31 passing through both ends. The second locking nut 33 locks the V-shaped plate 32, preventing it from sliding up and down relative to the studs 31. The adjusting nut 34 has an internal... The stepped shaft sleeve with threads is installed below the locking nut 33 via a threaded pair. Its outer edge is designed with vertical grooves for manual rotation. The outer diameter of the narrow neck of the stepped shaft structure of the adjusting nut 34 is slightly smaller than the inner diameter of the spring, and it has a smooth cylindrical surface. The spring 35 is installed below the adjusting nut 34, with its inner side contacting the outer surface of the narrow neck of the adjusting nut 34. This prevents the threads on the stud 31 from contacting the inner side of the spring 35, reducing the friction between the spring 35 and the stud 31. This, in turn, reduces the interference of vertical friction on the elastic force, improving the gravity compensation effect. The spring 35 can, on the one hand, realize the gravity compensation of the loading device, and on the other hand, it can adaptively adjust during the loading process to make the central axis of the loading device coaxial with the clamping and releasing device. The spring sleeve 36 is a three-stage hollow stepped shaft with smooth cylindrical surfaces inside and out. It is installed at the bottom of the spring 35. The stud 31 can slide up and down inside the spring sleeve 36, which can prevent the stud 31 from rubbing against the edge of the elongated hole of the bottom bracket 38, reduce the friction between the bottom bracket 38 and the stud 31, and thus reduce the interference of the friction in the vertical direction on the elastic force, and improve the gravity compensation effect.

[0047] Figure 11 This is a schematic diagram of the three-degree-of-freedom slide structure in the fine-tuning component of the present invention. The three-degree-of-freedom slide 30 includes a scissor lift 40, a slide 1 41, and a slide 2 42. The scissor lift 40 is installed above the slide 1 41 and can realize micro-displacement adjustment in the vertical direction. The slide 1 41 is installed above the slide 2 42. Both the slide 1 41 and the slide 2 42 can realize micro-displacement adjustment in a single axis. By vertically installing the slides, micro-displacement adjustment of three translational degrees of freedom can be achieved.

[0048] Figure 12 This is a schematic diagram of the end connector structure of the present invention. Figure 13 This is a cross-sectional view of the end connector of the present invention. Figure 14 This is a cross-sectional schematic diagram of the double-layer threaded sleeve in the end connector of the present invention. As shown in the figure, the end connector 27 includes a connector interface 43, a double-layer threaded sleeve 44, a connector bolt 45, and a threaded sleeve 46. One end face of the connector interface 43 is provided with a hinge that is hinged to the intermediate hole of the connecting rod 28, and the other end face forms a threaded blind hole. The double-layer threaded sleeve 44 is installed in the threaded blind hole of the connector interface 43 through a threaded pair. The connector bolt 45 is installed inside the double-layer threaded sleeve 44, and the strength of the connector bolt 45 is greater than the strength of the inner sleeve of the double-layer threaded sleeve 44. Meanwhile, there are four evenly distributed small strip grooves inside the double-layer threaded sleeve 44 to weaken the strength of the inner end. When overloaded, the connecting bolt 45 will squeeze the inner sleeve of the double-layer threaded sleeve 44. At this time, the inner sleeve of the double-layer threaded sleeve 44 will be squeezed outward, accompanied by deformation or even breakage. This is to smooth out the deformation and breakage process that may occur at the end connector after the device is overloaded, and to prevent the deformation and breakage process from generating large oscillations that affect the front solar panel. The threaded sleeve 46 is installed at the end of the connecting bolt 45. The threaded sleeve 46 is connected to the tension sensor 21 through a threaded pair.

[0049] While specific embodiments of the present invention have been described in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that, based on the technical solutions of the present invention, various modifications or variations of equivalent structures or processes that can be made by those skilled in the art without creative effort, or direct or indirect applications to other related technical fields, are still within the scope of protection of the present invention.

Claims

1. A high-load, high-precision, lightweight loading device for ground assembly of solar panels, characterized in that, This includes loading components and fine-tuning components; The loading component includes a loading interface module and a driving module. The loading interface module is installed at the front end of the driving module. The loading interface module is used to ensure that the steel strip in the clamping and releasing device is subjected to uniform force during loading. The driving module provides driving force for the entire loading component and ensures high-precision loading. The fine-tuning component includes a six-degree-of-freedom fine-tuning mechanism and an interface connection module. The interface connection module is mounted above the six-degree-of-freedom fine-tuning mechanism via two cantilever beam structures on the side. The end face of the interface connection module is a rectangular flange. The drive module of the loading component passes through the central square hole of the interface connection module. The loading component is connected and fixed to the interface connection module by bolts. The six-degree-of-freedom fine-tuning mechanism is used to realize six-degree-of-freedom fine-tuning in space and gravity unloading of the loading component. The loading interface module includes an anti-detachment clamp, a support frame, and a transmission chain; The support frame consists of a flange seat and two cantilever arms extending forward from the end face of the flange seat, and the two cantilever arms are symmetrically distributed vertically. The flange seat is fixedly connected to the drive module and the interface connection module. The anti-detachment clamp includes a rotating bolt, a spring set screw, a first hook, a second hook, and a rotating set screw. Both the first and second hooks have protrusions with two threaded holes of different sizes. During installation, the protrusions of the first and second hooks are pressed against the cantilever ends of the support frame. The rotating bolt passes sequentially through the larger threaded hole of the first hook, the support frame, and the second hook. The rotating set screw is installed in the threaded hole at the other end of the rotating bolt. Each of the two cantilever ends of the support frame has a set of anti-detachment clamps, symmetrically arranged. The smaller threaded hole of each of the first and second hooks contains a spring set screw. Two circular grooves are provided on both sides of the cantilever end of the support frame; the forward groove is the limiting position, and the rearward groove is the release position. These grooves cooperate with the spring set screws to position the first or second hook. The transmission chain is installed between the two cantilever ends of the support frame and transmits the driving force provided by the drive module to complete the loading action.

2. The loading device according to claim 1, further characterized in that, The drive module includes a lead screw transmission module, a harmonic reducer, and a servo motor. The servo motor drives the lead screw transmission module to rotate through the harmonic reducer. The lead screw transmission module drives the lead screw nut to perform linear feed motion through the rotation of the lead screw, thereby driving the output shaft, which is fixedly connected to the lead screw nut, to perform linear feed motion. The output shaft of the lead screw transmission module extends into the loading interface module to drive the transmission chain.

3. The loading device according to claim 1, further characterized in that, The six-degree-of-freedom fine-tuning mechanism includes a spring bracket and a three-degree-of-freedom slide. The spring bracket is installed above the three-degree-of-freedom slide via a threaded joint. The spring bracket can achieve fine-tuning in three rotational degrees of freedom and gravity compensation for the loading components. The three-degree-of-freedom slide can achieve minute adjustments in the horizontal XY axis and the vertical direction.

4. The loading device according to claim 3, further characterized in that, The spring bracket includes a stud, a V-shaped plate, a second locking nut, an adjusting nut, a spring, a spring sleeve, a base plate, a bottom bracket, and an anti-loosening nut. The stud is installed above the elongated hole of the bottom bracket. The bottom bracket includes two side by side, each with an elongated hole on each side. A set of gravity compensation components is installed in each elongated hole. Each set of gravity compensation components includes a stud, a V-shaped plate, a second locking nut, an adjusting nut, a spring, and a spring sleeve. The V-shaped plate, the second locking nut, the adjusting nut, the spring, and the spring sleeve pass through the stud from top to bottom and are installed above the elongated hole of the bottom bracket. There are two V-shaped plates, which are fixedly installed on both sides above the base plate. A stud passes through each end of each V-shaped plate. The second locking nut is used to lock the V-shaped plate and prevent it from sliding up and down relative to the stud.

5. The loading device according to claim 3 or 4, characterized in that, The three-degree-of-freedom slide table includes a scissor lift, slide table one, and slide table two. The scissor lift is installed above slide table one and can achieve micro-displacement adjustment in the vertical direction. Slide table one is installed above slide table two, and slide table one and slide table two respectively achieve micro-displacement adjustment in a single axis.

6. The loading device according to claim 1, characterized in that, The transmission chain includes an adaptive hook, an end connector, and a tension sensor. The rear end of the tension sensor is connected to the drive module to transmit power. The front end of the tension sensor is equipped with the adaptive hook via the end connector. The adaptive hook includes a connecting contact angle, a first connecting rod, an intermediate connecting rod, an end connector, and a second connecting rod. The front end of the connecting contact angle has a hook-shaped structure, and the rear end has a hinge-type structure. Both the first and second connecting rods have three through holes in the middle. The distance between the through holes on both sides and the central through hole is the same. The connecting contact angles are grouped in pairs, and after two connecting contact angles... The hinged structure at the ends is hinged and installed at both ends of the connecting rod one using screws. The middle hole of the connecting rod one is hinged and installed at the front hinge of the intermediate connector using screws. The intermediate connector is a hinge structure composed of mutually perpendicular front hinges and rear hinges. The structure consisting of the contact angle, connecting rod one, and intermediate connector is symmetrically arranged in two sets. The rear hinges of the two intermediate connectors are hinged and installed at the two through holes on the side of the connecting rod two using screws. The middle through hole of the connecting rod two is hinged and installed at the front end of the end connector using screws.

7. The loading device according to claim 6, further characterized in that, The end connector shown includes a connector interface, a double-threaded sleeve, a connector bolt, and a threaded sleeve. One end face of the connector interface is provided with a hinge that is hinged to the intermediate hole of the connecting rod, and the other end face forms a threaded blind hole. The double-threaded sleeve is installed in the threaded blind hole of the connector interface through a threaded pair. The connector bolt is installed inside the double-threaded sleeve. The strength of the connector bolt is greater than the strength of the inner sleeve of the double-threaded sleeve. The threaded sleeve is installed at the end of the connector bolt. The threaded sleeve is connected to the tension sensor through a threaded pair.

8. The loading device according to claim 6 or 7, further characterized in that, The inner sides of both cantilever arms of the support frame are designed with limiting protrusions. The outer side of the end connector is fitted with a limiting nut. The limiting nut has multiple threaded through holes distributed in a circle. Limiting screws are installed in the threaded through holes. The limiting nut can rotate relative to the central axis of the self-adaptive hook. In use, the axial position of the limiting nut can be adjusted by rotating the limiting nut. The limit protrusions on the inner side of the support frame limit the stroke of the limiting nut. The limiting screws are used to screw inward to tighten and position the limiting nut relative to the limiting protrusions.

9. The loading device according to claim 4, further characterized in that, The adjusting nut is a stepped shaft sleeve with internal threads, which is installed below the locking nut two via a threaded pair. The outer edge is designed with vertical grooves that allow for manual rotation, facilitating manual operation. The outer diameter of the narrow neck of the stepped shaft structure of the adjusting nut is slightly smaller than the inner diameter of the spring, and it has a smooth cylindrical surface. The spring sleeve is a three-stage hollow stepped shaft with smooth cylindrical surfaces inside and out, installed at the bottom of the spring, and the stud can slide up and down inside the spring sleeve.

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