Satellite full-automatic assembling and detecting device

Abstract

The application discloses a satellite full-automatic assembling and detecting device, which comprises a conveying trolley for conveying a semi-finished satellite, a robot for transferring the semi-finished satellite and a rotary assembling table arranged on one side of the robot, the robot transfers the semi-finished satellite from the conveying trolley to the rotary assembling table through a clamp, and a positioning frame for positioning the conveying trolley is arranged on the ground on the side of the robot, and the application relates to the technical field of precise instrument assembling and detecting. The satellite full-automatic assembling and detecting device can realize the whole operation from conveying to assembling through the conveying trolley conveying the semi-finished satellite and the robot cooperating with the clamp to clamp, take a photo and then place the semi-finished satellite on the rotary assembling table for assembling, and the automatic operation saves time and effort; meanwhile, the positioning frame can realize the accurate positioning of the conveying trolley, and the magnetic resistance deceleration and buffering can be used during the movement of the conveying trolley to the specified position, so that the problems of satellite movement and part misplacement caused by collision can be avoided.

Description

Technical Field

[0001] This invention relates to the field of precision instrument assembly and testing technology, specifically a fully automated satellite assembly and testing device. Background Technology

[0002] Existing satellite assembly processes typically require transferring unassembled satellites to an assembly station for assembly. This is usually done using a trolley to transport the satellite to a designated location. However, it is difficult to guarantee the precise stopping position of the trolley when it stops, requiring adjustments. If a positioning frame is used to limit movement, collisions may occur, causing the satellite or internal parts to shift, which in turn will affect subsequent clamping and assembly operations. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a fully automated satellite assembly and testing device. It solves the problem that when the trolley transporting the satellite stops, it is difficult to ensure the accuracy of the stopping position, which requires adjustment. Furthermore, if a positioning frame is set to limit the movement, collisions may occur, causing the satellite or internal parts to shift, which in turn affects subsequent clamping and assembly operations.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solution: a fully automated satellite assembly and testing device, comprising a transport trolley for transporting semi-finished satellites, a robot for transferring semi-finished satellites, and a rotating assembly platform set on one side thereof. The robot transfers the semi-finished satellites from the transport trolley to the rotating assembly platform using a clamp. A positioning frame for positioning the transport trolley is fixedly set on the ground on one side of the robot. The transport trolley includes a frame and movable wheels fixedly connected to the four corners of its bottom. Several movable magnetic blocks are set on the crossbeams on both sides of the frame.

[0005] The positioning frame includes side frames fixedly connected to the left and right sides of the ground, and a rear beam fixedly connected to the rear side of the side frame. A buffer rubber sleeve is fitted on the rear beam. A magnetic resistance structure that repels the moving magnetic block is provided on the inner side of the side frame. A guide positioning structure is provided on the top of the side frame.

[0006] Preferably, the guiding and positioning structure includes several rotatably arranged rubber rollers, and the rubber rollers at the front end of the side frames on both sides are spread out to both sides.

[0007] Preferably, the magnetoresistive structure includes a mounting bracket fixedly connected to the inside of the side frame, and a number of fixed magnetic blocks that repel the movable magnetic blocks are fixedly connected at intervals along the length direction on the side of the mounting bracket away from the side frame.

[0008] Preferably, the fixed magnetic block is divided into at least two layers, and a rubber wheel is rotatably connected between the upper and lower fixed magnetic blocks, the rubber wheel extending beyond the side of the fixed magnetic block away from the side frame.

[0009] Preferably, the rotating and assembling table comprises a linear track and a rotating table slidingly arranged thereon, the linear track comprises a track frame and first sliding rails fixedly connected to the top of the track frame, and a rack is fixedly connected to the inner side of the track frame.

[0010] Preferably, the rotating table comprises a base slidingly arranged on the first sliding rail, a first motor is fixedly connected to the base, and a gear meshing with the rack is fixedly connected to the output end of the first motor.

[0011] Preferably, a turntable is rotatably connected to the top of the base, a second motor driving the rotation of the turntable is fixedly connected to the base, two groups of mounting tables are symmetrically slidingly connected to the top of the turntable through second sliding rails, and two groups of linear modules driving the relative movement of the two groups of mounting tables through a screw rod are symmetrically fixedly connected to the bottom of the turntable.

[0012] Preferably, a steel structure frame is arranged above the rotating and assembling table and is mounted on the ground, and a tightening tool is slidingly arranged on the top beam of the steel structure frame.

[0013] Preferably, the tightening tool comprises a sliding seat slidingly arranged on the beam, an adjustable telescopic pipe is fixedly connected to the bottom end of the sliding seat, an electric screwdriver is magnetically mounted at the bottom end of the adjustable telescopic pipe, and a visual detection assembly is fixedly connected to the side surface of the adjustable telescopic pipe.

[0014] Beneficial effects

[0015] The application provides a satellite full-automatic assembling and detecting device.

[0016] (1) The satellite full-automatic assembling and detecting device can realize the whole operation from transporting the goods to assembling through the setting of the conveying trolley conveying the semi-finished satellite, the cooperation of the robot and the clamp, the taking, the photographing, the placing on the rotating and assembling table and the assembling, the automatic operation saves time and labor, the setting of the positioning frame can realize the accurate positioning of the conveying trolley, the magnetic resistance deceleration and the buffer can be used during the movement of the conveying trolley to the specified position to avoid the problems of the collision of the satellite and the misplacement of the parts.

[0017] (2) The satellite full-automatic assembling and detecting device, the magnetic resistance structure is divided into two parts of magnetic blocks, which are respectively installed on the conveying trolley and the side frame, when the conveying trolley is pushed into the inner side of the side frame, repulsive force is generated to gradually slow down, and the protruding rubber wheels are arranged between the fixed magnetic blocks, which can avoid the damage of the conveying trolley to the fixed magnetic blocks and also play the auxiliary positioning and guiding effect.

[0018] (3), the satellite full-automatic assembly and detection device, the rotating table can place the satellite to carry out assembly operation, the adjustable mounting table on it can adjust the spacing to adapt to satellites of different specifications, improve the versatility, and the rotating table on the rotating table can drive the satellite to rotate, and then facilitate installation in different directions, operation is more convenient, and after installation is completed, it can also be moved to one side through the linear track to carry out discharging operation.

[0019] (4), the satellite full-automatic assembly and detection device, the tightening tool is suspended on the steel structure frame, the tightening tool can be pulled and moved thereon, the electric screwdriver is operated to tighten the bolt, and the visual detection component mounted thereon can also shoot during the tightening operation, visual detection is realized, the control points and visual monitoring in the whole process are displayed on the display screen, the MES system prewarns, modifies and verifies the production of this section to ensure 0 error flexible production. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is the front view of the overall structure of the application;

[0021] Figure 2 It is the side view of the transport trolley of the application;

[0022] Figure 3 It is a partial structure diagram of the positioning frame of the application;

[0023] Figure 4 It is a perspective view of the partial structure of the magnetoresistance structure of the application;

[0024] Figure 5 It is a perspective view of the rotating assembly table of the application;

[0025] Figure 6 It is a side view of the rotating assembly table of the application;

[0026] Figure 7 It is the front view of the tightening tool of the application.

[0027] In the figure: 1-transport trolley, 11-carriage, 12-moving wheel, 13-moving magnetic block, 2-robot, 3-rotating assembly table, 31-linear track, 311-track frame, 312-first sliding rail, 313-rack, 32-rotating table, 321-base, 322-first motor, 323-gear, 324-rotating disc, 325-second motor, 326-second sliding rail, 327-mounting table, 328-linear module, 4-positioning frame, 41-side frame, 42-post, 43-cushion rubber sleeve, 44-magnetoresistance structure, 441-mounting frame, 442-fixed magnetic block, 443-rubber wheel, 45-rubber roller, 5-steel structure frame, 6-tightening tool, 61-sliding seat, 62-adjustable telescopic pipe, 63-electric screwdriver, 64-visual detection component, 7-clamp. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0029] The present application provides two technical solutions:

[0030] Figures 1-2 The first embodiment is shown: a satellite full-automatic assembly and detection device, including a conveying trolley 1 conveying a semi-finished satellite, a robot 2 transferring the semi-finished satellite and a rotating assembly table 3 arranged on one side of the robot 2, the robot 2 transfers the semi-finished satellite from the conveying trolley 1 to the rotating assembly table 3 through the clamp 7 with a built-in camera, and the robot 2 performs clamping movement and assembly operation, which is not a mature technology, and is not described in detail. The robot 2 is fixedly arranged on the ground on one side and provided with a positioning frame 4 positioning the conveying trolley 1, and the conveying trolley 1 includes a frame 11 and four moving wheels 12 fixedly connected at the bottom of the frame 11, and a plurality of moving magnetic blocks 13 are arranged on the two side beams of the frame 11.

[0031] The positioning frame 4 includes side frames 41 fixedly connected to the ground on the left and right sides, and a rear beam 42 fixedly connected to the rear side of the side frame 41, and a buffer rubber sleeve 43 sleeved on the rear beam 42, and a magnetic resistance structure 44 repelling the moving magnetic block 13 is arranged on the inner side of the side frame 41, and a guide positioning structure is arranged on the top of the side frame 41, and the guide positioning structure includes a plurality of rubber rollers 45 rotatably arranged, and the rubber rollers 45 at the front end of the two side frames 41 are arranged open to both sides.

[0032] The conveying trolley 1 is arranged to convey the semi-finished satellite, and the robot 2 cooperates with the clamp 7 to clamp and take the photograph and then place it on the rotating assembly table 3 for installation, so that the whole operation from transportation to assembly can be realized, and the automatic operation saves time and effort. At the same time, the positioning frame 4 can realize accurate positioning of the conveying trolley 1, and can slow down and buffer through magnetic resistance during movement of the conveying trolley 1 to the specified position, so as to avoid the problems of satellite movement and part misplacement caused by collision.

[0033] Figure 1 and 3-4 shows the second embodiment, the main difference with the first embodiment is that the magnetic resistance structure 44 includes a mounting rack 441 fixedly connected inside the side frame 41, and a plurality of groups of fixed magnetic blocks 442 repelling the moving magnetic block 13 are fixedly connected on the side of the mounting rack 441 away from the side frame 41 along the length direction, the fixed magnetic blocks 442 are divided into at least two layers, and the rubber wheels 443 are rotatably connected between the upper and lower fixed magnetic blocks 442, and the rubber wheels 443 protrude beyond the side of the fixed magnetic blocks 442 away from the side frame 41.

[0034] The magnetic resistance structure 44 is divided into two parts of magnetic blocks, which are respectively installed on the conveying trolley 1 and the side frame 41, and when the conveying trolley 1 is pushed into the inside of the side frame 41, repulsive force is generated to gradually slow down, and the protruding rubber wheels 443 arranged between the fixed magnetic blocks 442 can avoid the conveying trolley 1 from colliding with the fixed magnetic blocks 442 to cause damage, and also play an auxiliary positioning and guiding effect.

[0035] Figure 1 And 5 -6 shows the third embodiment, the main difference with the second embodiment is that the rotating assembly table 3 includes a linear rail 31 and a rotating table 32 slidingly arranged thereon, the linear rail 31 includes a rail frame 311 and first sliding rails 312 fixedly connected on both sides of the top of the rail frame 311, and a rack 313 is fixedly connected inside the rail frame 311.

[0036] The rotating table 32 includes a base 321 slidingly arranged on the first sliding rails 312, a first motor 322 is fixedly connected on the base 321, a gear 323 engaged with the rack 313 is fixedly connected to the output end of the first motor 322, a turntable 324 is rotatably connected to the top of the base 321, a second motor 325 is fixedly connected on the base 321 to drive the rotation of the turntable 324, and two groups of mounting tables 327 are symmetrically slidingly connected to the top of the turntable 324 through second sliding rails 326, and two groups of linear modules 328 are symmetrically fixedly connected to the bottom of the turntable 324 to drive the relative movement of the two groups of mounting tables 327.

[0037] The rotating table 32 can place the satellite for assembly operation, and the adjustable mounting tables 327 thereon can adjust the spacing to adapt to satellites of different specifications, improving the versatility, and the turntable 324 on the rotating table 32 can drive the satellite to rotate, thereby facilitating installation in different directions, and the operation is more convenient. After the installation is completed, it can also be moved to one side through the linear rail 31 for unloading operation.

[0038] Figure 1 And 7The fourth embodiment is shown, and the main difference with the third embodiment is that a steel structure frame 5 is arranged above the rotating and assembling table 3, and a tightening tool 6 is slidably arranged on the top beam of the steel structure frame 5, the tightening tool 6 comprises a sliding seat 61 slidably arranged on the beam, and the bottom end of the sliding seat 61 is fixedly connected with an adjustable telescopic pipe 62, the bottom end of the adjustable telescopic pipe 62 is magnetically installed with an electric screwdriver 63, and the side surface of the adjustable telescopic pipe 62 is fixedly connected with a visual detection assembly 64.

[0039] By suspending the tightening tool 6 on the steel structure frame 5, the tightening tool 6 can be pulled and moved thereon, facilitating the operation of the electric screwdriver 63 to screw the bolt with the change of the orientation, and the visual detection assembly 64 installed thereon can also shoot during the tightening operation, realizing visual detection, and the control points and visual monitoring during the whole process will be displayed on the display screen, and the MES system can prewarn, modify and verify the production of this section to ensure zero-failure flexible production.

[0040] Meanwhile, the contents not described in detail in the specification all belong to the prior art known by those skilled in the art, and the model parameters of various electrical appliances are not specifically limited, and conventional equipment can be used.

[0041] In use, the semi-finished satellite is placed on the conveying trolley 1 to adjust the position, and is transported into the positioning frame 4 through the conveying trolley 1, and the conveying trolley 1 is guided by the rubber roller 45 to accurately enter, and the resistance of the fixed magnetic block 442 to the moving magnetic block 13 makes the conveying trolley 1 gradually slow down until the conveying trolley 1 contacts the buffer rubber sleeve 43 to stop buffering, so that the positioning is completed, then the robot 2 drives the clamp 7 to move above the satellite, the camera shoots, and then the clamp 7 clamps the satellite, and then flips and is placed on the turntable 324, and the robot 2 operates the electric screwdriver 63 to tighten the bolt, and the visual detection assembly 64 shoots during this process, and the shooting picture is the same as the picture shot by the camera before, and both will be displayed on the display screen, and the MES system can prewarn, modify and verify the production of this section.

[0042] It should be noted that, in the present document, the terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0043] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A fully automated satellite assembly and testing device, comprising a transport trolley for transporting semi-finished satellites, a robot for transferring semi-finished satellites, and a rotating assembly platform disposed on one side thereof, wherein the robot transfers the semi-finished satellites from the transport trolley to the rotating assembly platform using a clamp, characterized in that: The positioning frame is fixedly connected with the ground on the side of the robot, and the conveying trolley comprises a frame and four moving wheels fixedly connected to the bottom of the frame. The positioning frame comprises left and right side frames fixedly connected to the ground, and a rear beam fixedly connected to the rear side of the side frames, wherein a buffer rubber sleeve is sleeved on the rear beam, the inner side of the side frames is provided with a magnetic resistance structure repelling the moving magnetic blocks, and the top of the side frames is provided with a guide positioning structure. The guide positioning structure comprises a plurality of rubber rollers rotatably arranged, and the rubber rollers at the front ends of the side frames are arranged to be spread apart to the sides. The magnetic resistance structure comprises a mounting frame fixedly connected to the inner side of the side frames, and a plurality of groups of fixed magnetic blocks repelling the moving magnetic blocks are fixedly connected to the side of the mounting frame away from the side frames along the length direction at intervals.

2. The satellite full-automatic assembling and detecting device according to claim 1, characterized in that: The fixed magnetic blocks are divided into at least two layers, and a rubber wheel is rotatably connected between the upper and lower fixed magnetic blocks, and the rubber wheel exceeds the side of the fixed magnetic blocks away from the side frames.

3. The satellite full-automatic assembling and detecting device according to claim 1, characterized in that: The rotating and assembling table comprises a linear track and a rotating table slidingly arranged on the linear track, and the linear track comprises a track frame and first sliding rails fixedly connected to the top of the track frame, and a rack is fixedly connected to the inner side of the track frame.

4. The satellite full-automatic assembling and detecting device according to claim 3, characterized in that: The rotating table comprises a base slidingly arranged on the first sliding rails, and a first motor is fixedly connected to the base, and a gear wheel meshing with the rack is fixedly connected to the output end of the first motor.

5. The apparatus according to claim 4, wherein: A turntable is rotatably connected to the top of the base, and a second motor driving the rotation of the turntable is fixedly connected to the base, and two groups of mounting tables are symmetrically slidingly connected to the top of the turntable through second sliding rails, and two groups of linear modules driving the relative movement of the two groups of mounting tables through screws are symmetrically fixedly connected to the bottom of the turntable.

6. The satellite full-automatic assembling and detecting device according to claim 1, characterized in that: A steel structure frame is arranged above the rotating and assembling table and fixedly connected to the ground, and a tightening tool is slidingly arranged on the top beam of the steel structure frame.

7. The apparatus according to claim 6, wherein: The tightening tool comprises a sliding seat slidingly arranged on the beam, and an adjustable telescopic pipe is fixedly connected to the bottom end of the sliding seat, and an electric screwdriver is magnetically installed at the bottom end of the adjustable telescopic pipe, and a visual detection assembly is fixedly connected to the side of the adjustable telescopic pipe.

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