Method for assembling TR components on an active phased array radar antenna

Abstract

The application belongs to the technical field of TR component assembly on active phased array radar antenna, and particularly relates to a TR component assembly method on active phased array radar antenna, which is implemented based on a TR component assembly grabbing and positioning mechanism on active phased array radar antenna, and can realize the assembly of the TR component on the array surface of the active phased array radar antenna without a guide structure, the process is automatic, has very high accuracy, and can timely find and correct potential quality problems, effectively avoid damage of components, and record assembly process data, facilitating subsequent quality analysis.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of TR assembly assembly on active phased array radar antenna, and particularly relates to a TR assembly assembly method on active phased array radar antenna. BACKGROUND

[0002] The TR assembly is one of the core components of the active phased array radar antenna, and is numerous. When assembled on the antenna array surface, the radio frequency interface located at the lower end surface is connected with the radio frequency interface on the antenna array surface through the KK connector, and the fixed multi-core connector located at the lower end surface is connected with the floating multi-core connector on the antenna array surface. After assembly, each TR assembly is vertically arranged on each cold plate on the antenna array surface and located between two ribs on the cold plate, and is limited by the ribs.

[0003] Currently, the TR assembly is assembled on the antenna array surface by using a mechanical clamp, a flexible jaw or a vacuum chuck to grab and position the TR assembly.

[0004] The TR assembly is grabbed and positioned by the mechanical clamp, and the TR assembly is clamped from both sides. The structure size is large, and the space between adjacent TR assemblies and their cold plates on the antenna array surface is small, which is prone to interference problems. In addition, there is a lack of corresponding safety protection measures, which can easily cause damage to the TR assembly and its corresponding contact components.

[0005] The TR assembly is grabbed and positioned by the flexible jaw, and the TR assembly is clamped from both sides. The structure size is also large, and in the case that the space between adjacent TR assemblies and their cold plates on the antenna array surface is small, interference problems are prone to occur. In addition, the vertical state of the TR assembly cannot be ensured during assembly, reliable positioning of the TR assembly is difficult to achieve, and there is a lack of corresponding safety protection measures, which can easily cause damage to the TR assembly and its corresponding contact components.

[0006] The TR assembly is grabbed and positioned by the vacuum chuck, and the thickness of the TR assembly is small. The top end surface lacks a large size plane for the vacuum chuck to adsorb, and it is difficult to grab and position the TR assembly. In addition, there is a lack of corresponding safety protection measures, which can easily cause damage to the TR assembly and its corresponding contact components.

[0007] The present application is proposed in view of the above technical defects.

[0008] It should be noted that the disclosure of the above background art is only used to assist in understanding the inventive concept and technical solutions of the present application, and it does not necessarily belong to the prior art of the present patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of the present application, the above background art should not be used to evaluate the novelty and inventiveness of the present application. SUMMARY

[0009] The purpose of the present application is to provide an active phased array radar antenna TR assembly assembly method to overcome or alleviate at least one aspect of the known technical defects.

[0010] The technical solution of the present application is:

[0011] An active phased array radar antenna TR assembly assembly method is implemented based on an active phased array radar antenna TR assembly assembly grabbing positioning mechanism, the active phased array radar antenna TR assembly assembly grabbing positioning mechanism comprises:

[0012] A support plate is connected to a mechanical arm.

[0013] A vertical support plate is connected to the support plate, and a limiting protrusion is provided on the vertical support plate.

[0014] A vertical sliding block is slidingly connected to the vertical support plate.

[0015] A vertical sliding plate is connected to the vertical sliding block.

[0016] A spring is connected between the support plate and the vertical sliding plate, and the vertical sliding plate is kept against the limiting protrusion by the elastic force of the spring.

[0017] A vertical drive cylinder is connected to the vertical sliding plate.

[0018] A horizontal adapter plate is connected to the piston rod of the vertical drive cylinder.

[0019] A vertical adapter plate is slidingly connected between the horizontal adapter plate and the cylinder body of the vertical drive cylinder.

[0020] A vertical backing plate is connected to the vertical adapter plate.

[0021] A horizontal support plate is connected to the vertical backing plate.

[0022] An angle plate is connected between the vertical backing plate and the horizontal support plate.

[0023] A horizontal drive cylinder is connected to the horizontal support plate.

[0024] A vertical connecting plate is connected to the piston rod of the horizontal drive cylinder.

[0025] A horizontal sliding plate is connected to the vertical connecting plate and slidingly connected to the cylinder body of the horizontal drive cylinder.

[0026] A horizontal backing plate is connected to the horizontal sliding plate.

[0027] A grabbing handle is connected to the horizontal backing plate, and two horizontal positioning columns are provided on the grabbing handle; the two horizontal positioning columns are clamped into two positioning holes in the top side wall of the TR assembly and are in clearance fit with the two positioning holes.

[0028] A vertical positioning plate connected to the vertical sliding plate;

[0029] A horizontal positioning plate connected to the vertical positioning plate, and having positioning protrusions thereon; the positioning protrusions are pressed against the top end surface of the TR assembly;

[0030] The mechanical arm is provided with a three-way pressure sensor, a vision device, and an auxiliary vision device, and a controller is arranged; the controller is connected to the mechanical arm, the three-way pressure sensor, the vision device, the auxiliary vision device, the vertical driving cylinder, and the horizontal driving cylinder, and can control the mechanical arm, the three-way pressure sensor, the vision device, the auxiliary vision device, the vertical driving cylinder, and the horizontal driving cylinder;

[0031] The TR assembly assembling method of the active phased array radar antenna includes the following steps:

[0032] Step 1: controlling the mechanical arm to move the vision device to position the TR assembly;

[0033] Step 2: controlling the mechanical arm to make the positioning protrusions on the horizontal positioning plate abut against the top end surface of the TR assembly;

[0034] Step 3: controlling the horizontal driving cylinder to make the two horizontal positioning columns on the grabbing handle be clamped into the two positioning holes in the top side wall of the TR assembly;

[0035] Step 4: controlling the vertical driving cylinder to drive the TR assembly to move upward, so that the top end surface of the TR assembly abuts against the positioning protrusions on the horizontal positioning plate, and the TR assembly is vertically fixed;

[0036] Step 5: controlling the mechanical arm to position the position of the radio frequency interface on the lower end surface of the TR assembly by using the auxiliary vision device;

[0037] Step 6: controlling the mechanical arm to make the radio frequency interface on the lower end surface of the TR assembly be connected to the upper end of the KK connector;

[0038] Step 7: controlling the mechanical arm to detect the coaxiality of the radio frequency interface on the lower end surface of the TR assembly and the KK connector by using the auxiliary vision device; if the coaxiality meets the requirements, step 8 is performed;

[0039] Step 8: controlling the mechanical arm to move the vision device to position the positions of the cold plate and the ribs thereon on the antenna array surface;

[0040] Step 9: controlling the mechanical arm to make the TR assembly deviate from the cold plate by a certain distance in the horizontal direction, and to be inserted downward between the two ribs;

[0041] Step ten, control the mechanical arm to make the TR assembly move in horizontal direction to stick to the surface of the cold plate, if the three-way pressure sensor detects that the pressure reaches the horizontal pressure limit value, control the mechanical arm to stop horizontal action;

[0042] Step eleven, control the mechanical arm to make the TR assembly insert downward, make the KK connector lower end connect to the RF interface on the antenna array surface, make the RF interface on the lower end surface of the TR assembly butt joint with the RF interface on the antenna array surface, and make the fixed multi-core connector on the lower end surface of the TR assembly butt joint with the floating multi-core connector on the antenna array surface.

[0043] According to at least one embodiment of the present application, in the TR assembly assembly method of the active phased array radar antenna mentioned above, in step eleven, if the RF interface on the lower end surface of the TR assembly and the RF interface on the antenna array surface, and the fixed multi-core connector on the lower end surface of the TR assembly and the floating multi-core connector on the antenna array surface butt joint during the butt joint process, the three-way pressure sensor detects that the pressure reaches the vertical pressure limit value, control the mechanical arm to stop downward insertion action, control the mechanical arm to make the TR assembly move upward, make the RF interface on the lower end surface of the TR assembly and the RF interface on the antenna array surface, and the fixed multi-core connector on the lower end surface of the TR assembly and the floating multi-core connector on the antenna array surface keep weak contact, control the vertical driving cylinder to make the two horizontal positioning columns on the upper two lifting handles loosen in the two positioning holes on the top side wall of the TR assembly, release the vertical fixation of the TR assembly, make the TR assembly adjust the angle adaptively under the action of weak contact force, make the RF interface on the lower end surface of the TR assembly slide to the RF interface on the antenna array surface, and the fixed multi-core connector on the lower end surface of the TR assembly slide to the floating multi-core connector on the antenna array surface, control the mechanical arm to push the TR assembly to insert downward, make the RF interface on the lower end surface of the TR assembly and the RF interface on the antenna array surface, and the fixed multi-core connector on the lower end surface of the TR assembly and the floating multi-core connector on the antenna array surface butt joint in place;

[0044] According to at least one embodiment of the present application, in the TR assembly assembly method of the active phased array radar antenna described above, in step eleven, if the pressure detected by the three-way pressure sensor reaches the vertical pressure limit value during the re-docking process of the radio frequency interface on the lower end face of the TR assembly and the radio frequency interface on the antenna array surface, the fixed multi-core connector on the lower end face of the TR assembly and the floating multi-core connector on the antenna array surface, the control arm stops the downward insertion action, and the TR assembly is moved upward, so that the radio frequency interface on the lower end face of the TR assembly and the radio frequency interface on the antenna array surface, the fixed multi-core connector on the lower end face of the TR assembly and the floating multi-core connector on the antenna array surface are separated, the vertical drive cylinder is controlled to drive the TR assembly to move upward, so that the top end face of the TR assembly abuts against the upper positioning protrusion of the horizontal positioning plate, the TR assembly is vertically fixed, the control arm is moved, and the vision device is used to check the coaxiality between the radio frequency interface on the lower end face of the TR assembly and the KK connector. If the coaxiality meets the requirements, return to step eight.

[0045] The present application has at least the following beneficial technical effects:

[0046] The present application provides a TR assembly assembly method for an active phased array radar antenna, which is implemented based on a TR assembly assembly grabbing and positioning mechanism for the active phased array radar antenna. The TR assembly can be assembled on the antenna array surface of the active phased array radar antenna without a guide structure. The process is automatic, has high accuracy, can discover and correct potential quality problems in time, effectively avoids damage to components, and can record assembly process data for subsequent quality analysis. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 FIG. 1 is a schematic diagram of a TR assembly assembly grabbing and positioning mechanism for an active phased array radar antenna provided by an embodiment of the present application;

[0048] Figure 2 FIG. 2 is a schematic diagram of a TR assembly assembly grabbing and positioning mechanism provided by an embodiment of the present application, which fixes the TR assembly in a downward clamping manner;

[0049] Figure 3 FIG. 3 is a schematic diagram of a TR assembly assembly method for an active phased array radar antenna provided by an embodiment of the present application;

[0050] Figure 4 FIG. 4 is a schematic diagram of a radio frequency interface provided by an embodiment of the present application;

[0051] Figure 5 FIG. 5 is a schematic diagram of a KK connector provided by an embodiment of the present application;

[0052] Figure 6 FIG. 6 is a schematic diagram of a floating multi-core connector provided by an embodiment of the present application;

[0053] wherein:

[0054] 1-support plate; 2-vertical support plate; 3-vertical slider; 4-vertical slide plate; 5-spring; 6-vertical drive cylinder; 7-horizontal adapter plate; 8-vertical adapter plate; 9-vertical backing plate; 10-horizontal support plate; 11-corner plate; 12-horizontal drive cylinder; 13-vertical connecting plate; 14-horizontal slide plate; 15-horizontal backing plate; 16-grabbing handle; 17-TR assembly; 18-vertical positioning plate; 19-horizontal positioning plate; 20-antenna array; 21-KK connector.

[0055] In order to better illustrate the embodiments, some components in the drawings can be omitted, enlarged or reduced, and do not represent the actual size of the product. In addition, the drawings are only used for illustrative description and cannot be understood as a limitation of the patent. DETAILED DESCRIPTION

[0056] In order to make the technical solutions of the present application and its advantages clearer, the technical solutions of the present application will be further clearly and completely described in detail below in combination with the drawings. It should be understood that the specific embodiments described herein are only part of the embodiments of the present application, which are only used to explain the present application, but not to limit the present application. It should be noted that, for the purpose of description, only parts related to the present application are shown in the drawings, and other related parts can be referred to the general design. In the case of no conflict, the embodiments in the present application and the technical features in the embodiments can be combined to obtain new embodiments.

[0057] In addition, unless otherwise defined, the technical terms or scientific terms used in the description of the present application should be the general meaning understood by the general technical personnel in the field to which the present application belongs. The words indicating the relative direction or position relationship, such as "upper", "lower", "left", "right", "center", "vertical", "horizontal", "inner", "outer" and the like used in the description of the present application, are only used to indicate the relative direction or position relationship, and not to imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and the relative position relationship may also change accordingly when the absolute position of the described object changes, therefore it cannot be understood as a limitation of the present application. The "first", "second", "third" and similar terms used in the description of the present application are only for the purpose of description, to distinguish different components, and cannot be understood as indicating or implying relative importance. The "one", "an" or "the" and similar terms used in the description of the present application should not be understood as an absolute limitation on the quantity, but should be understood as the existence of at least one. The "include" or "contain" and similar terms used in the description of the present application mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, and do not exclude other elements or objects.

[0058] In addition, it needs to be explained that, unless otherwise explicitly specified and limited, the similar words such as'mount', 'connect', 'connect' and the like used in the description of the present application should be understood in a broad sense, for example, the connection can be fixed connection, or detachable connection, or integral connection; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium, or the internal communication of two elements, and the person skilled in the art can understand the specific meaning of the present application according to the specific circumstances.

[0059] The accompanying drawings are incorporated in and constitute a part of this specification and will be understood by those skilled in the art. Figures 1 to 6 The present application is further described in detail.

[0060] The present application provides a kind of active phased array radar antenna TR component assembly method, based on active phased array radar antenna TR component assembly grabbing positioning mechanism implementation.

[0061] Active phased array radar antenna TR component assembly grabbing positioning mechanism, as shown in Figure 1, it includes: Figure 1

[0062] Support plate 1, connect mechanical arm;

[0063] Vertical support plate 2 is connected on support plate 1, it has limit protrusion on it;

[0064] Vertical sliding block 3 is slidably connected on vertical support plate 2;

[0065] Vertical sliding plate 4 is connected on vertical sliding block 3;

[0066] Spring 5 is connected between support plate 1 and vertical sliding plate 4, and vertical sliding plate 4 is kept against limit protrusion by the elastic force of spring 5;

[0067] Vertical drive cylinder 6, its cylinder is connected on vertical sliding plate 4;

[0068] Horizontal adapter plate 7 is connected on the piston rod of vertical drive cylinder 6;

[0069] Vertical adapter plate 8 is connected on horizontal adapter plate 7, and is slidably connected between vertical drive cylinder 6 cylinder;

[0070] Vertical backing plate 9 is connected on vertical adapter plate 8;

[0071] Horizontal support plate 10 is connected on vertical backing plate 9;

[0072] Corner plate 11 is connected between vertical backing plate 9 and horizontal support plate 10;

[0073] Horizontal drive cylinder 12, its cylinder is connected on horizontal support plate 10;

[0074] ​A vertical connecting plate 13 is connected to the piston rod of the horizontal driving cylinder 12;

[0075] The horizontal slide plate 14 is connected to the vertical connecting plate 13 and is slidably connected to the cylinder of the horizontal driving cylinder 12;

[0076] A horizontal pad 15 connected to the horizontal slide 14;

[0077] The grab handle 16 is connected to the horizontal pad 15 and has two horizontal positioning posts. The two horizontal positioning posts are snapped into the two positioning holes on the top side wall of the TR assembly 17.

[0078] A vertical positioning plate 18 is connected to the vertical slide 4;

[0079] The horizontal positioning plate 19 is connected to the vertical positioning plate 18 and has a positioning protrusion thereon; the positioning protrusion is pressed against the top end surface of the TR component 17.

[0080] The TR assembly grabbing and positioning mechanism on the active phased array radar antenna disclosed in the above embodiment is designed to utilize two horizontal positioning columns to be inserted into the two positioning holes on the top side wall of the TR assembly 17, and to use the positioning protrusion to press against the top end surface of the TR assembly 17, thereby reliably fixing the TR assembly 17 in a vertical clamping manner. Figure 2 As shown, the positioning is accurate, and the TR components can be easily assembled when the space between adjacent TR components and their cold plates on the antenna array surface is narrow, avoiding interference, and during the assembly process, the TR component 17 can be kept in a vertical state to avoid shaking, thereby ensuring the smooth completion of the assembly process. In addition, when the TR component 17 is assembled on the antenna array surface 20 and is inserted downward and subjected to a large vertical force, it can overcome the elastic force of the spring 5 and push the horizontal positioning plate 19, the vertical positioning plate 18, the vertical slide plate 4, and the vertical slider 3 to move upward as a whole, thereby releasing the stress on the TR component 17, providing safety protection for the TR component 17, and avoiding damage to the TR component and its corresponding contact parts.

[0081] In the TR assembly grasping and positioning mechanism for assembling the active phased array radar antenna disclosed in the above embodiment, the sliding connection may specifically be a guide rail connection.

[0082] The intermediate overhanging plate design, such as the horizontal adapter plate 7, the vertical adapter plate 8, the vertical backing plate 9, the horizontal support plate 10, the corner plate 11, the vertical connecting plate 13, the horizontal sliding plate 14, and the horizontal backing plate 15, in the active phased array radar antenna upper TR assembly assembly grabbing positioning mechanism disclosed in the above embodiments, is designed to facilitate disassembly, replacement, avoid external interference components, provide mounting space for the arrangement of external components, or provide reinforcement, support, and guidance. The shape, size, and application of the above components can be designed and selected by relevant technical personnel when applying the technical solutions disclosed in the present application. Therefore, no more detailed description is given here.

[0083] In the active phased array radar antenna upper TR assembly assembly grabbing positioning mechanism disclosed in the above embodiments, a three-way pressure sensor, a vision device, and an auxiliary vision device can be configured on the mechanical arm, and a controller is provided, which is connected to the mechanical arm, the three-way pressure sensor, the vision device, the auxiliary vision device, and the vertical drive cylinder 6 and the horizontal drive cylinder 12 for control. In addition, the two horizontal positioning columns on the grabbing handle 16 are designed to form a clearance fit with the two positioning holes on the top side wall of the TR assembly 17.

[0084] The active phased array radar antenna upper TR assembly assembly method is as shown in the following steps: Figure 3

[0085] Step one: control the mechanical arm to move the vision device to position the TR assembly 17.

[0086] Step two: control the mechanical arm to make the positioning protrusions on the horizontal positioning plate 19 rest on the top end face of the TR assembly 17.

[0087] Step three: control the horizontal drive cylinder 12 to make the two horizontal positioning columns on the grabbing handle 16 fit into the two positioning holes on the top side wall of the TR assembly 17.

[0088] Step four: control the vertical drive cylinder 6 to move the TR assembly 17 upward so that the top end face of the TR assembly 17 tightly abuts against the positioning protrusions on the horizontal positioning plate 19 to vertically fix the TR assembly 17.

[0089] Step five: control the mechanical arm with the auxiliary vision device to position the position of the radio frequency interface on the lower end face of the TR assembly 17.

[0090] Step six: control the mechanical arm to make the radio frequency interface on the lower end face of the TR assembly 17 connected to the upper end of the KK connector 21, and the KK connector 21 is transmitted and placed to a specific position one by one by the transmission device.

[0091] ​Step seven, control the mechanical arm to assist the vision equipment to detect the radio frequency interface on the lower end face of the TR assembly 17, the coaxiality of the KK connector 21, if the coaxiality meets the requirements, then proceed to step eight, if the coaxiality does not meet the requirements, then control the mechanical arm to send the TR assembly 17 and the KK connector 21 to the recycling tray, and then manually recycle;

[0092] Step eight, control the mechanical arm to move the vision equipment to position the position of the cold plate 22 and the rib strip 23 on the antenna array surface 20;

[0093] Step nine, control the mechanical arm to make the TR assembly 17 deviate from the cold plate 22 by a certain distance in the horizontal direction, which can be 2mm, and insert downward between the two rib strips 23, so as to avoid direct contact with the cold plate 22 and cause friction damage in the process of downward insertion, as shown in Figure 3

[0094] Step ten, control the mechanical arm to make the TR assembly 17 move in the horizontal direction and abut to the surface of the cold plate 22, in the process, if the three-way pressure sensor detects that the pressure reaches the horizontal pressure limit value, it is considered that the TR assembly 17 has abutted to the surface of the cold plate 22 in place, and then can be bonded or fixed to the surface of the cold plate 22 through bolts and other components, and control the mechanical arm to stop horizontal action to avoid causing the TR assembly 17 to be damaged by greater stress;

[0095] Step eleven, control the mechanical arm to make the TR assembly 17 downwardly insert, make the lower end of the KK connector 21 connected to the radio frequency interface on the antenna array surface 20, make the radio frequency interface on the lower end face of the TR assembly 17 butt joint with the radio frequency interface on the antenna array surface 20, and make the fixed multi-core connector on the lower end face of the TR assembly 17 butt joint with the floating multi-core connector on the antenna array surface 20, whether butt joint in place can be judged by the displacement distance of downward insertion;

[0096] ​If the three-way pressure sensor detects that the pressure reaches the vertical pressure limit value during the docking process of the radio frequency interface on the lower end face of the TR component 17 and the radio frequency interface on the antenna array surface 20, the fixed multi-core connector on the lower end face of the TR component 17 and the floating multi-core connector on the antenna array surface, the control arm stops the downward insertion action to avoid causing the TR component 17 to be damaged by a larger stress, and controls the mechanical arm to move the TR component 17 upward to keep the radio frequency interface on the lower end face of the TR component 17 and the radio frequency interface on the antenna array surface 20, the fixed multi-core connector on the lower end face of the TR component 17 and the floating multi-core connector on the antenna array surface in weak contact, that is, in an incomplete loosening state, controls the vertical drive cylinder 6 to make the two horizontal positioning columns on the grabbing handle 16 loose in the two positioning holes on the top side wall of the TR component 17 due to the gap fit, releases the vertical fixation of the TR component 17, and enables the TR component 17 to adaptively adjust the angle under the action of the weak contact force, so that the radio frequency interface on the lower end face of the TR component 17 slides to the radio frequency interface on the antenna array surface 20, the fixed multi-core connector on the lower end face of the TR component 17 slides to the floating multi-core connector on the antenna array surface, that is, has the same inclination angle between each other, controls the mechanical arm to push the TR component 17 downward to make the radio frequency interface on the lower end face of the TR component 17 and the radio frequency interface on the antenna array surface 20, the fixed multi-core connector on the lower end face of the TR component 17 and the floating multi-core connector on the antenna array surface docked in place.

[0097] If the three-way pressure sensor detects that the pressure reaches the vertical pressure limit value again during the re-docking process of the radio frequency interface on the lower end face of the TR component 17 and the radio frequency interface on the antenna array surface 20, the fixed multi-core connector on the lower end face of the TR component 17 and the floating multi-core connector on the antenna array surface, the control arm stops the downward insertion action, and moves the TR component 17 upward to make the radio frequency interface on the lower end face of the TR component 17 and the radio frequency interface on the antenna array surface 20, the fixed multi-core connector on the lower end face of the TR component 17 and the floating multi-core connector on the antenna array surface disengage, controls the vertical drive cylinder 6 to move the TR component 17 upward to make its top end face abut against the positioning protrusion on the horizontal positioning plate 19, vertically fixes the TR component 17, controls the mechanical arm to move the vision device to check the coaxiality between the radio frequency interface on the lower end face of the TR component 17 and the KK connector 21, if the coaxiality meets the requirements, returns to step eight, if the coaxiality does not meet the requirements, controls the mechanical arm to send the TR component 17 and the KK connector 21 to the recycling tray for subsequent manual recycling, and returns to step one until all the TR components 17 are assembled on the active phased array radar antenna array surface 20.

[0098] The TR component assembly method of the active phased array radar antenna disclosed in the above embodiment can realize the assembly of the TR component 17 on the active phased array radar antenna array surface 20 in the case of no guide structure, the process is automatic, has very high accuracy, and can discover and correct potential quality problems in time, effectively avoid damage of the components, and record the assembly process data, facilitating subsequent quality analysis.

[0099] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be mutually referred to.

[0100] So far, the technical solution of the application has been described in combination with the preferred embodiments shown in the drawings. It should be understood by those skilled in the art that the protection scope of the application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without deviating from the principles of the application. The technical solutions after the changes or replacements will fall within the protection scope of the application.

Claims

1. An assembly method for a TRU assembly on an active phased array radar antenna, characterized in that, The application discloses a TR component assembly grabbing and positioning mechanism based on an active phased array radar antenna. The support plate (1) is connected with a mechanical arm. The vertical support plate (2) is connected with the support plate (1) and is provided with a limiting protrusion. The vertical sliding block (3) is slidably connected with the vertical support plate (2). The vertical sliding plate (4) is connected with the vertical sliding block (3). The spring (5) is connected between the support plate (1) and the vertical sliding plate (4) and keeps the vertical sliding plate (4) against the limiting protrusion by the elastic force. The vertical driving cylinder (6) is connected with the vertical sliding plate (4). The horizontal adapter plate (7) is connected with the piston rod of the vertical driving cylinder (6). The vertical adapter plate (8) is connected with the horizontal adapter plate (7) and is slidably connected with the cylinder body of the vertical driving cylinder (6). The vertical backing plate (9) is connected with the vertical adapter plate (8). The horizontal support plate (10) is connected with the vertical backing plate (9). The angle plate (11) is connected between the vertical backing plate (9) and the horizontal support plate (10). The horizontal driving cylinder (12) is connected with the horizontal support plate (10). The vertical connecting plate (13) is connected with the piston rod of the horizontal driving cylinder (12). The horizontal sliding plate (14) is connected with the vertical connecting plate (13) and is slidably connected with the cylinder body of the horizontal driving cylinder (12). The horizontal backing plate (15) is connected with the horizontal sliding plate (14). The grabbing handle (16) is connected with the horizontal backing plate (15) and is provided with two horizontal positioning columns. The vertical positioning plate (18) is connected with the vertical sliding plate (4). The horizontal positioning plate (19) is connected with the vertical positioning plate (18) and is provided with a positioning protrusion. The three-way pressure sensor, the visual equipment and the auxiliary visual equipment are arranged on the mechanical arm, and a controller is arranged and connected with the mechanical arm, the three-way pressure sensor, the visual equipment, the auxiliary visual equipment, the vertical driving cylinder (6) and the horizontal driving cylinder (12), so that the controller can control the mechanical arm, the three-way pressure sensor, the visual equipment, the auxiliary visual equipment, the vertical driving cylinder (6) and the horizontal driving cylinder (12). The TR component assembly method based on the active phased array radar antenna comprises the following steps. In the first step, the mechanical arm is controlled to move the visual equipment and position the TR component (17). In the second step, the mechanical arm is controlled to make the positioning protrusion on the horizontal positioning plate (19) abut against the top end face of the TR component (17). In the third step, the horizontal driving cylinder (12) is controlled to make the two horizontal positioning columns on the grabbing handle (16) be clamped into the two positioning holes in the top side wall of the TR component (17). In the fourth step, the vertical driving cylinder (6) is controlled to drive the TR component (17) to move upwards and make the top end face of the TR component (17) abut against the positioning protrusion on the horizontal positioning plate (19) to vertically fix the TR component (17). Step five, control the mechanical arm to assist the vision equipment to position the position of the radio frequency interface on the lower end face of the TR assembly (17); Step six, control the mechanical arm to make the radio frequency interface on the lower end face of the TR assembly (17) connected to the upper end of the KK connector (21); Step seven, control the mechanical arm to assist the vision equipment to detect the coaxiality of the radio frequency interface on the lower end face of the TR assembly (17) and the KK connector (21), if the coaxiality meets the requirements, then proceed to step eight; Step eight, control the mechanical arm to move the vision equipment to position the position of the cold plate (22) and the rib (23) thereon on the antenna array surface (20); Step nine, control the mechanical arm to make the TR assembly (17) deviate from the cold plate (22) by a certain distance in the horizontal direction, and insert downward between the two ribs (23); Step ten, control the mechanical arm to move the TR assembly (17) in the horizontal direction to abut against the surface of the cold plate (22), if the pressure detected by the three-way pressure sensor reaches the horizontal pressure limit value, then control the mechanical arm to stop the horizontal action; Step eleven, control the mechanical arm to make the TR assembly (17) lower to make the lower end of the KK connector (21) connected to the radio frequency interface on the antenna array surface (20), make the radio frequency interface on the lower end face of the TR assembly (17) butted with the radio frequency interface on the antenna array surface (20), and make the fixed multi-core connector on the lower end face of the TR assembly (17) butted with the floating multi-core connector on the antenna array surface (20).

2. The TR assembly assembling method on the active phased array radar antenna according to claim 1, wherein, in step eleven, if the pressure detected by the three-way pressure sensor reaches the vertical pressure limit value during the butting process of the radio frequency interface on the lower end face of the TR assembly (17) and the radio frequency interface on the antenna array surface (20), and the fixed multi-core connector on the lower end face of the TR assembly (17) and the floating multi-core connector on the antenna array surface (20), control the mechanical arm to stop the lower insertion action, control the mechanical arm to make the TR assembly (17) move upward, make the radio frequency interface on the lower end face of the TR assembly (17) and the radio frequency interface on the antenna array surface (20), and the fixed multi-core connector on the lower end face of the TR assembly (17) and the floating multi-core connector on the antenna array surface (20) keep weak contact, control the vertical driving air cylinder (6) to make the two horizontal positioning columns on the grabbing handle (16) loose in the two positioning holes on the top side wall of the TR assembly (17), release the vertical fixation of the TR assembly (17), make the TR assembly (17) adaptively adjust the angle under the action of the weak contact force, make the radio frequency interface on the lower end face of the TR assembly (17) slide to the radio frequency interface on the antenna array surface (20), and the fixed multi-core connector on the lower end face of the TR assembly (17) slide to the floating multi-core connector on the antenna array surface (20), control the mechanical arm to push the TR assembly (17) to lower, make the radio frequency interface on the lower end face of the TR assembly (17) and the radio frequency interface on the antenna array surface (20), and the fixed multi-core connector on the lower end face of the TR assembly (17) and the floating multi-core connector on the antenna array surface (20) butted in place. ​ 3. The active phased array radar antenna upper TR assembly assembling method according to claim 2, characterized in that, In step eleven, if the pressure detected by the three-way pressure sensor reaches the vertical pressure limit value during the re-docking of the radio frequency interface on the lower end face of the TR assembly (17) and the radio frequency interface on the antenna array (20), and the fixed multi-core connector on the lower end face of the TR assembly (17) and the floating multi-core connector on the antenna array, the mechanical arm stops the downward insertion action, the TR assembly (17) moves upward, the radio frequency interface on the lower end face of the TR assembly (17) and the radio frequency interface on the antenna array (20), and the fixed multi-core connector on the lower end face of the TR assembly (17) and the floating multi-core connector on the antenna array are disconnected, the vertical drive cylinder (6) is controlled to drive the TR assembly (17) to move upward, so that the top end face of the TR assembly (17) abuts against the positioning protrusion on the horizontal positioning plate (19), and the TR assembly (17) is vertically fixed, the mechanical arm is controlled to move the vision device to check the coaxiality between the radio frequency interface on the lower end face of the TR assembly (17) and the KK connector (21), and if the coaxiality meets the requirements, step eight is returned to.

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