A precision automatic assembly device for a radiation unit

Abstract

The application provides a slot line radiation unit precision automatic assembly device, which maximally reduces the dependence of slot line radiation unit assembly on worker skills and realizes complete automatic assembly of the slot line radiation unit with a large number of radio frequency connectors. An electrical system in the device monitors key parameters such as local pressing force and local pressing displacement in the radiation unit assembly process in real time, discovers, feeds back and processes quality problems in the assembly process in time, and improves the first assembly qualified rate. The application has the advantages of simple structure, convenient operation, high safety and reliability, stable assembly process, and significantly improved slot line radiation unit assembly efficiency and assembly quality.

Description

Technical Field

[0001] The present invention belongs to the field of radar, and in particular relates to a precise automatic assembly device for a radiation unit. Background Art

[0002] Phased array radar has been widely used in various radar systems due to its unparalleled comprehensive performance. The radiating unit, as the basic unit of the phased array radar antenna, is responsible for radiating or receiving radio waves and is one of the core components of the phased array radar antenna. The radiating unit has a complex structure and requires high assembly accuracy and reliability, especially for Figure 1 The slotline radiator shown in the figure is interconnected with the antenna array through a large number of high-precision RF connectors. If even one RF connector is not properly assembled (such as with crooked or shrunken pins), the radiator will fail the electrical performance test, leading to a large amount of troubleshooting and rework, which not only increases costs but also affects production schedules.

[0003] Up to now, radiation units are still mainly assembled manually, and there is a lack of special automated assembly equipment or tools. Not only is the assembly efficiency low, but the assembly is also difficult, with many uncertain factors, making it difficult to guarantee a one-time assembly success rate. In addition, there is little research on the automated assembly of radiation units in publicly released literature. The Chinese invention patent with publication number CN108039579A discloses a rapid assembly method for special-shaped cavity radiation units. This invention is only for the special-shaped cavity radiation unit and cannot be applied to the automated assembly of slotted radiation units. The Chinese invention patent with publication number CN111702456A discloses an electric press-fitting device for auxiliary slotted radiation units. This invention only realizes the automation of the last press-fitting action, and manual assistance is still required for the loading before press-fitting. Moreover, due to limited sensing capabilities, it is not suitable for press-fitting of radiation units with a large number of RF connectors. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention proposes a precise automated assembly device for slotted radiation units, which minimizes the dependence of slotted radiation unit assembly on worker skills and realizes fully automated assembly of slotted radiation units with a large number of RF connectors. The electrical system contained in the device of the present invention monitors key parameters such as local pressing force and local pressing displacement during the assembly of the radiation unit in real time, promptly discovers, feedbacks, and handles quality problems in the assembly process, and improves the first-time assembly pass rate. The present invention has a simple structure, is easy to operate, has high safety and reliability, and a stable assembly process. The assembly efficiency and assembly quality of the slotted radiation units are significantly improved.

[0005] The present invention provides a precise automatic assembly device for a radiation unit, comprising a support frame (1), an antenna array to be installed (2), an antenna trolley (3), a fixed claw (4), a limiting mechanism (5), an electrical cabinet (6), a feeding mechanism (7), a multifunctional mechanical arm (9), a No. 1 mobile module (10), and a laser ranging sensor (11); the support frame (1), the limiting mechanism (5), and the electrical cabinet (6) are fixed in relative position; a roller (13) is installed inside the limiting mechanism (5) to guide the antenna trolley (3) in movement and roughly position it left and right; and the limiting mechanism (13) is installed inside the limiting mechanism (5) to guide the antenna trolley (3) in movement and roughly position it left and right. A stopper (12) and a drive motor (14) are provided at one end of the positioning mechanism (5) to achieve front and rear position positioning of the antenna trolley (3); the laser distance measuring sensor (11) is mounted on the support frame (1) and is located directly above the antenna array surface mounting plate (32) on the antenna array surface (2) to be mounted on the antenna trolley (3); four laser distance measuring sensors (11) are provided to achieve tilt angle measurement of the antenna array surface mounting plate (32); the fixing claw (4) is mounted on the support frame (1), and a plurality of screws (15) are provided on the fixing claw (4) to adjust the antenna array surface mounting plate (32). The antenna array surface mounting plate (32) on the trolley (3) is supported, and the screw rod (15) cooperates with the laser ranging sensor (11) to adjust and control the tilt angle and flatness of the antenna array surface mounting plate (32), thereby realizing the adjustment and control of the tilt angle and flatness of the antenna array surface (2) to be installed; the feeding mechanism (7) includes a slide rail (16), a slider (17), a No. 2 mobile module (18), a right profiling splint (19), a left profiling splint (20), a radio frequency connector (21) and a profiling notch (22), and the feeding mechanism (7) is connected to the antenna array surface mounting plate (32) by the laser ranging sensor (11). The slide rail (16) and the slider (17) are fixed on the electrical cabinet (6), and the left profiling splint (20) and the right profiling splint (19) are used to clamp and release the radiation unit (8) to be installed through the No. 2 mobile module (18). The left profiling splint (20) and the right profiling splint (19) are provided with profiling notches (22) on the inner sides. The number and mutual spacing of the profiling notches (22) correspond to the radio frequency connectors (21) on the radiation unit (8) to be installed, so as to realize the correction of the verticality and position of all radio frequency connectors (21) on the radiation unit (8) to be installed;The multifunctional mechanical arm (9) is moved left and right on the support frame (1) by the No. 1 mobile module (10). The multifunctional mechanical arm (9) comprises a No. 3 mobile module (23), a No. 4 mobile module (24), a floating device (25), a clamping mechanism (26), a pressure sensor (27), a No. 5 mobile module (28), a visual system (29), a screw tightening system (30) and a contact displacement sensor (31). The clamping mechanism (26) is used to realize the radiation unit (8) to be installed. ), the No. 3 mobile module (23) realizes the vertical movement of the clamping mechanism (26), the No. 4 mobile module (24) realizes the front-back movement of the clamping mechanism (26), and the clamping mechanism (26) realizes the grabbing of the radiation unit (8) to be installed on the feeding mechanism (7) and the positioning of the radiation unit (8) to be installed on the antenna array surface (2) to be installed, and the blind insertion pressing on the antenna array surface (2) to be installed through the coordinated work of the No. 1 mobile module (10), the No. 3 mobile module (23), and the No. 4 mobile module (24). The screw tightening system (30) is fixed on the multifunctional manipulator (9) through the No. 5 mobile module (28). The screw tightening system (30) realizes the screw tightening of the radiation unit (8) on the antenna array surface (2) to be installed. The pressure sensor (27) detects the local pressing force of different parts of the radiation unit (8) to be installed in real time during the assembly process. When the pressure sensor (27) detects that the pressing force exceeds the set floating start value, the floating device (25) is activated, so that the multifunctional manipulator (9) has a certain flexibility, so that the radio frequency connector (21) can be adjusted along with its mounting hole guide, avoiding pure rigid assembly causing scratches on the surface of the radio frequency connector (21) or damage due to excessive pressing force; the visual system (29) takes pictures of the radio frequency connector (21) mounting holes at corresponding positions on the antenna array surface (2) to be installed before the radiation unit (8) to be installed is assembled; the contact displacement sensor (31) detects the local pressing displacement of different parts of the radiation unit (8) to be installed in real time during the assembly process.

[0006] Furthermore, the visual system (29) analyzes and obtains the precise positional relationship between the radiation unit (8) to be installed and the assembly position, and guides the movement of the clamping mechanism (26) through this precise positional relationship to achieve precise positioning of the radiation unit (8) to be installed on the antenna array surface (2) to be installed.

[0007] Furthermore, the pressure sensor (27) detects in real time the local pressing force of different parts of the radiation unit (8) to be installed during the assembly process, and when the local pressing force reaches a set upper limit of the safety pressing force, the assembly process stops; the local pressing forces of different pressure sensors (27) are calculated in real time by the background to obtain the maximum local pressing force difference between them, and when the maximum local pressing force difference reaches a set upper limit of the safety pressing force difference, the assembly process stops.

[0008] Furthermore, the contact displacement sensor (31) detects in real time the local press-fit displacements of different parts of the radiation unit (8) to be installed during the assembly process, and the local press-fit displacements of different contact displacement sensors (31) are calculated in real time by the background to obtain the maximum local displacement difference between them. When the maximum local displacement difference reaches the set upper limit of the safe displacement difference, the assembly process stops.

[0009] Furthermore, when the local press-fitting displacement detected in real time by the contact displacement sensor (31) increases by a certain value, the assembly process stops when the corresponding local press-fitting force increase value detected in real time by the pressure sensor (27) closest to it is greater than the set upper limit of the safety press-fitting force increase value.

[0010] Furthermore, the number of the pressure sensors (27) and contact displacement sensors (31) can be adjusted as needed, with the ability to detect and identify assembly abnormalities of a single radio frequency connector (21) as a standard.

[0011] Furthermore, when the local press-fitting displacements detected by all the contact displacement sensors (31) reach the theoretical assembly displacement, if the assembly process does not stop, it is determined that the blind insertion assembly of the radiation unit (8) to be installed is qualified.

[0012] The beneficial effects of the present invention are

[0013] 1. The present invention can realize the precise and automated assembly of slot-line radiation units containing a large number of radio frequency connectors, thereby reducing the operating intensity of workers and liberating labor.

[0014] 2. The present invention realizes the positioning and state adjustment of the antenna array before the radiation unit is assembled through the design of the limiting mechanism and the laser ranging sensor, thereby improving the subsequent radiation unit assembly qualification rate.

[0015] 3. The present invention presets a RF connector profiling notch in the feeding mechanism to achieve high-precision correction of the verticality and mutual position relationship of the RF connector before assembly of the radiation unit, thereby greatly improving the assembly qualification rate.

[0016] 4. The present invention realizes secondary precise positioning during the assembly of the radiation unit through the design of the visual system, greatly improving the assembly qualification rate.

[0017] 5. The present invention can realize real-time monitoring of key parameters such as local press-fitting force and local press-fitting displacement at different parts during the assembly process of a slotted radiation unit containing a large number of RF connectors. By analyzing and processing key parameters such as local press-fitting force and local press-fitting displacement, assembly quality problems can be discovered and alarms can be issued in a timely manner to avoid damage to the radiation unit. At the same time, it can also effectively avoid some subsequent troubleshooting and rework work, thereby reducing the assembly cost of the radiation unit.

[0018] 6. The use of the present application for the press fitting of slot-line radiating units, which significantly improves the assembly efficiency and quality compared to manual assembly.

[0019] 7. The present application has simple structure, convenient operation, high safety and reliability, and stable assembly process. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a schematic diagram of a slot-line radiating unit.

[0021] Figure 2 It is a schematic diagram of the overall precision automatic assembly device for radiating units.

[0022] Figure 3 It is a schematic diagram of a limiting mechanism.

[0023] Figure 4 It is a schematic diagram of a fixing claw.

[0024] Figure 5 It is a schematic diagram of a feeding mechanism.

[0025] Figure 6 It is a partial view of the feeding mechanism.

[0026] Figure 7 It is a front view of a multifunctional mechanical arm.

[0027] Figure 8 It is a back view of a multifunctional mechanical arm.

[0028] Figure 9 It is a schematic diagram of the installation of an antenna array on an antenna trolley.

[0029] Wherein, 1. support frame, 2. antenna array to be assembled, 3. antenna trolley, 4. fixing claw, 5. limiting mechanism, 6. electrical cabinet, 7. feeding mechanism, 8. radiating unit to be assembled, 9. multifunctional mechanical arm, 10. No. 1 moving module, 11. laser ranging sensor, 12. stop block, 13. roller, 14. driving motor, 15. screw rod, 16. slide rail, 17. sliding block, 18. No. 2 moving module, 19. right profiling clamp plate, 20. left profiling clamp plate, 21. radio frequency connector, 22. profiling notch, 23. No. 3 moving module, 24. No. 4 moving module, 25. floating device, 26. clamping mechanism, 27. pressure sensor, 28. No. 5 moving module, 29. vision system, 30. screw tightening system, 31. contact displacement sensor, 32. antenna array mounting plate. DETAILED DESCRIPTION

[0030] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0031] like Figure 2-9As shown, a precision automated assembly device for radiating units according to the present invention includes a support frame 1, an antenna trolley 3, a fixing claw 4, a limiting mechanism 5, an electrical cabinet 6, a loading mechanism 7, a multifunctional robotic arm 9, a first mobile module 10, a laser ranging sensor 11, and related electrical control equipment. The support frame 1, limiting mechanism 5, and electrical cabinet 6 are fixed relative to each other. A roller 13 is mounted on the inner side of the limiting mechanism 5 to guide the movement and roughly position the antenna trolley 3 left and right. A stopper 12 and a drive motor 14 are provided at one end of the limiting mechanism 5 to achieve front-to-back positioning of the antenna trolley 3. The laser ranging sensor 11 is mounted on the support frame 1 directly above the antenna array mounting plate 32 of the antenna trolley 3. Four laser ranging sensors 11 are provided to measure the tilt angle of the antenna array mounting plate 32. The fixing claw 4 is mounted on the support frame 1 and is provided with multiple screws 15 to support the antenna array mounting plate 32 on the antenna trolley 3. The screw 15 cooperates with the laser ranging sensor 11 to adjust and control the tilt angle and flatness of the antenna array mounting plate 32, thereby achieving adjustment and control of the tilt angle and flatness of the antenna array 2 to be installed. The loading mechanism 7 is fixed to the electrical cabinet 6 via the slide rail 16 and the slider 17. The loading mechanism 7 uses the No. 2 movable module 18 to clamp and release the left and right profiling clamps 20 and 19 on the radiating unit 8 to be installed. The left and right profiling clamps 20 and 19 are provided with profiling notches 22 on the inner sides. The number and spacing of the profiling notches 22 correspond to the RF connectors 21 on the radiating unit 8 to be installed, achieving high-precision correction of the verticality and position of all RF connectors 21 on the radiating unit 8 to be installed. The multifunctional robotic arm 9 realizes the overall left and right movement on the support frame 1 through the mobile module No. 1 10. The multifunctional robotic arm 9 includes the mobile module No. 3 23, the mobile module No. 4 24, the floating device 25, the clamping mechanism 26, the pressure sensor 27, the mobile module No. 5 28, the visual system 29, the screw tightening system 30, the contact displacement sensor 31 and related structural parts. The clamping mechanism 26 realizes the clamping and fixation of the radiation unit 8 to be installed. The mobile module No. 3 23 realizes the up and down movement of the clamping mechanism 26. The mobile module No. 4 24 realizes the front and back movement of the clamping mechanism 26. The clamping mechanism 26 works together with the mobile module No. 10, the mobile module No. 3 23 and the mobile module No. 4 24 to realize the grasping of the radiation unit 8 to be installed on the loading mechanism 7, the positioning and blind insertion and pressing on the antenna array surface 2 to be installed. The screw tightening system 30 is fixed on the multifunctional mechanical arm 9 through the No. 5 mobile module 28, and the screw tightening system 30 realizes the screw tightening of the radiation unit 8 on the antenna array surface 2 to be installed.

[0032] Before assembling the radiating unit 8 to be installed, the visual system 29 photographs and identifies the mounting holes of the RF connector 21 at corresponding positions on the antenna array surface 2 to be installed, and analyzes the precise positional relationship between the radiating unit 8 to be installed and the assembly position. This precise positional relationship guides the movement of the clamping mechanism 26 to achieve precise positioning of the radiating unit 8 to be installed on the antenna array surface 2 to be installed.

[0033] The pressure sensors 27 detect in real time the local press-fitting forces of different parts of the radiating element 8 to be installed during the assembly process. When the local press-fitting forces reach a set upper limit for safe press-fitting forces, the assembly process is abruptly stopped, thereby providing protection against damage to the radiating element 8 to be installed and the antenna array 2 to be installed in the event of an abnormal assembly process. The local press-fitting forces of different pressure sensors 27 are calculated in real time by the background to obtain the maximum local press-fitting force difference between them. When the maximum local press-fitting force difference reaches a set upper limit for safe press-fitting force difference, the assembly process is abruptly stopped, thereby providing protection against damage to the radiating element 8 to be installed and the antenna array 2 to be installed in the event of an abnormal assembly process.

[0034] The contact displacement sensor 31 detects in real time the local press-fit displacement of different parts of the radiation unit 8 to be installed during the assembly process. The local press-fit displacements of different contact displacement sensors 31 are calculated in real time by the background to obtain the maximum local displacement difference between them. When the maximum local displacement difference reaches the set upper limit of the safety displacement difference, the assembly process is stopped abruptly, thereby realizing an anti-damage protection for the radiation unit 8 to be installed and the antenna array surface 2 to be installed when the assembly process is abnormal.

[0035] Whenever the local press-fitting displacement detected in real time by the contact displacement sensor 31 increases by a certain value, and the corresponding local press-fitting force increase detected in real time by the pressure sensor 27 closest to it is greater than the set upper limit of the safety press-fitting force increase, the assembly process is abruptly stopped, thereby realizing a damage prevention protection for the radiation unit 8 and the antenna array surface 2 to be installed when the assembly process is abnormal.

[0036] When the pressure sensor 27 detects that the press-fitting force exceeds the set floating start value, the floating device 25 is activated, making the multifunctional robotic arm 9 flexible to a certain extent, so that the RF connector 21 can be adjusted along the guide of its mounting hole, avoiding purely rigid assembly causing scratches on the surface of the RF connector 21 or damage due to excessive press-fitting force.

[0037] The number of the pressure sensors 27 and the contact displacement sensors 31 can be adjusted so as to be able to detect and identify assembly abnormalities of a single RF connector 21 .

[0038] When the local press-fitting displacements detected by all the contact displacement sensors 31 reach the theoretical assembly displacement and if no sudden stop of the assembly process occurs, it is determined that the blind insertion assembly of the radiation unit 8 to be installed is qualified.

[0039] The precise automated assembly of slot line radiation units using the device of the present invention specifically includes the following steps:

[0040] 1) Fix the antenna array 2 to be installed on the antenna array mounting plate 32 in the antenna trolley 3 by means of bolts.

[0041] 2) Push the antenna trolley 3 into the limiting mechanism 5 so that one end of the antenna trolley 3 fits into the stopper 12, thereby achieving the positioning of the antenna trolley.

[0042] 3) Start the fixing claw 4, which is lifted up and supported under the antenna array mounting plate 32.

[0043] 4) Start the laser ranging sensor 11, which measures the distances of the four corners of the antenna array mounting plate 32. Based on the measurement results, manually adjust the screw 15 in the fixing claw 4 until the four laser ranging sensors measure the same distance, thereby indirectly achieving the leveling of the antenna array 3 to be installed.

[0044] 5) Start the No. 2 moving module 18 to drive the left profiling splint 20 away from the right profiling splint 19.

[0045] 6) Place the radiation unit 8 to be installed into the loading mechanism 7 close to the right contoured clamping plate 19, ensuring that all RF connectors 21 on the radiation unit 8 to be installed are fully embedded in the contoured notches 22 of the right contoured clamping plate 19.

[0046] 7) Start the No. 2 mobile module, drive the left contour clamping plate 20, and the loading mechanism 7 clamps the radiation unit 8 to be installed, thereby achieving the loading of the radiation unit 8 to be installed and the correction of the RF connector 21.

[0047] 8) In the radiation unit precision automated assembly device system, parameters such as press-fitting speed, safety press-fitting force upper limit, safety press-fitting force difference upper limit, safety displacement difference upper limit, safety press-fitting force increase upper limit, floating start value, theoretical assembly displacement value, and press-fitting displacement increment value are set.

[0048] 9) The radiation unit precision automatic assembly device is started, and the clamping mechanism 26 moves to the top of the radiation unit 8 to be installed and clamps the radiation unit 8 to be installed.

[0049] 10) The left profiling plate 20 and the right profiling plate 19 in the feeding mechanism 7 are automatically released.

[0050] 11) The clamping mechanism 26 automatically grabs the radiation unit 8 to be installed and moves it to the corresponding position on the antenna array surface 2 to be installed according to the preset program, thereby achieving rough positioning of the radiation unit 8 to be installed.

[0051] 12) The visual system 29 automatically identifies the mounting holes of the RF connector 21 on the antenna array surface 2 to be installed, and obtains the positioning deviation of the radiating unit 8 to be installed.

[0052] 13) The clamping mechanism 26 automatically adjusts the position of the radiation unit 8 to be installed according to the positioning deviation in step 12), thereby completing the precise positioning of the radiation unit 8 to be installed.

[0053] 14) The multifunctional robotic arm 9 automatically presses down the radiation unit 8 to be installed. The following situations may occur at this time:

[0054] ① When the press-fit displacement reaches the set theoretical assembly displacement value, the press-fitting is completed, and the process directly jumps to step 18);

[0055] ② During the press-fitting process, if the local press-fitting force detected in real time by the pressure sensor 27 reaches the set upper limit of the safety press-fitting force, the radiation unit precision automatic assembly device stops suddenly, and step 15 is continued at this time.

[0056] ③ During the press-fitting process, if the maximum local press-fitting force difference between different pressure sensors 27 reaches the set upper limit of the safe press-fitting force difference, the radiation unit precision automatic assembly device stops suddenly, and step 15 is continued at this time.

[0057] ④ During the press-fitting process, if the maximum local displacement difference between different contact displacement sensors 31 reaches the set upper limit of the safe displacement difference, the radiation unit precision automatic assembly device stops suddenly, and step 15 is continued at this time.

[0058] ⑤ During the press-fitting process, when the local press-fitting displacement detected in real time by the contact displacement sensor 31 increases by one press-fitting displacement increment, the corresponding local press-fitting force increase detected in real time by the pressure sensor 27 closest to it is greater than the set upper limit of the safety press-fitting force increase, the radiation unit precision automated assembly device stops suddenly, and step 15 is continued at this time).

[0059] 15) Start the multifunctional robotic arm 9, release the radiation unit 8 to be installed, and move the clamping mechanism 26 to the initial position.

[0060] 16) Manually check the press-fit quality of the radiation unit 8 to be installed, find the cause of the emergency stop and eliminate the fault.

[0061] 17) Adjust or replace the radiation unit 8 to be installed, and then jump back to step 5).

[0062] 18) The clamping mechanism 26 automatically releases the radiation unit to be installed.

[0063] 19) The screw tightening system 30 automatically aligns and tightens the fastening screws of the radiation unit 8 to be installed on the antenna array surface 2 to be installed.

[0064] 20) Assembly completed, the multifunctional robot arm 9 automatically moves to the initial position, if all the radiation units to be assembled are assembled, the power is turned off; if the assembly is to continue, jump back to step 5).

[0065] The present application is not limited to the above-described specific embodiments, and various modifications and changes can be made to the present application. Any modification, equivalent replacement, improvement, etc. made to the above embodiments in accordance with the technical essence of the present application shall be included in the protection scope of the present application.

Claims

1. A precision automated assembly device for a radiation unit, characterized by: The invention comprises a support frame (1), an antenna array to be installed (2), an antenna trolley (3), a fixing claw (4), a limiting mechanism (5), an electrical cabinet (6), a feeding mechanism (7), a multifunctional mechanical arm (9), a No. 1 mobile module (10), and a laser ranging sensor (11); the support frame (1), the limiting mechanism (5), and the electrical cabinet (6) are fixed in relative positions; a roller (13) is installed inside the limiting mechanism (5) to guide the antenna trolley (3) in movement and roughly position it left and right; a stopper (12) is provided at one end of the limiting mechanism (5) ) and a driving motor (14) to achieve front and rear position positioning of the antenna trolley (3); the laser ranging sensor (11) is installed on the support frame (1) and is located directly above the antenna array surface mounting plate (32) on the antenna array surface (2) to be installed on the antenna trolley (3); four laser ranging sensors (11) are provided to achieve tilt angle measurement of the antenna array surface mounting plate (32); the fixing claw (4) is installed on the support frame (1), and a plurality of screws (15) are provided on the fixing claw (4) to adjust the antenna array surface on the antenna trolley (3). The antenna array surface mounting plate (32) is supported, and the screw rod (15) cooperates with the laser ranging sensor (11) to adjust and control the tilt angle and flatness of the antenna array surface mounting plate (32), thereby realizing the adjustment and control of the tilt angle and flatness of the antenna array surface (2) to be installed; the feeding mechanism (7) includes a slide rail (16), a slider (17), a No. 2 mobile module (18), a right profiling splint (19), a left profiling splint (20), a radio frequency connector (21) and a profiling notch (22), and the feeding mechanism (7) is connected to the slide rail (16) by the slide rail (16). ), the slider (17) is fixed on the electrical cabinet (6), and the left profiling splint (20) and the right profiling splint (19) are clamped and loosened on the radiation unit (8) to be installed through the No. 2 mobile module (18), and the left profiling splint (20) and the right profiling splint (19) are provided with profiling notches (22) on the inner sides. The number and mutual spacing of the profiling notches (22) correspond to the radio frequency connectors (21) on the radiation unit (8) to be installed, so as to realize the correction of the verticality and position of all radio frequency connectors (21) on the radiation unit (8) to be installed;The multifunctional mechanical arm (9) is moved left and right on the support frame (1) by the No. 1 mobile module (10). The multifunctional mechanical arm (9) comprises a No. 3 mobile module (23), a No. 4 mobile module (24), a floating device (25), a clamping mechanism (26), a pressure sensor (27), a No. 5 mobile module (28), a visual system (29), a screw tightening system (30) and a contact displacement sensor (31). The clamping mechanism (26) is used to realize the radiation unit (8) to be installed. ), the No. 3 mobile module (23) realizes the vertical movement of the clamping mechanism (26), the No. 4 mobile module (24) realizes the front-back movement of the clamping mechanism (26), and the clamping mechanism (26) realizes the grabbing of the radiation unit (8) to be installed on the feeding mechanism (7) and the positioning of the radiation unit (8) to be installed on the antenna array surface (2) to be installed, and the blind insertion pressing on the antenna array surface (2) to be installed through the coordinated work of the No. 1 mobile module (10), the No. 3 mobile module (23), and the No. 4 mobile module (24). The screw tightening system (30) is fixed on the multifunctional manipulator (9) through the No. 5 mobile module (28). The screw tightening system (30) realizes the screw tightening of the radiation unit (8) on the antenna array surface (2) to be installed. The pressure sensor (27) detects the local pressing force of different parts of the radiation unit (8) to be installed in real time during the assembly process. When the pressure sensor (27) detects that the pressing force exceeds the set floating start value, the floating device (25) is activated, so that the multifunctional manipulator (9) has a certain flexibility, so that the radio frequency connector (21) can be adjusted along with its mounting hole guide, avoiding pure rigid assembly causing scratches on the surface of the radio frequency connector (21) or damage due to excessive pressing force; the visual system (29) takes pictures of the radio frequency connector (21) mounting holes at corresponding positions on the antenna array surface (2) to be installed before the radiation unit (8) to be installed is assembled; the contact displacement sensor (31) detects the local pressing displacement of different parts of the radiation unit (8) to be installed in real time during the assembly process.

2. The radiation unit precision automated assembly device according to claim 1, characterized in that: The visual system (29) analyzes and obtains the precise positional relationship between the radiation unit (8) to be installed and the assembly position, and guides the movement of the clamping mechanism (26) through this precise positional relationship to achieve precise positioning of the radiation unit (8) to be installed on the antenna array surface (2) to be installed.

3. The radiation unit precision automated assembly device according to claim 1, characterized in that: The pressure sensor (27) detects in real time the local pressing force of different parts of the radiation unit (8) to be installed during the assembly process. When the local pressing force reaches the set upper limit of the safety pressing force, the assembly process stops; the local pressing forces of different pressure sensors (27) are calculated in real time by the background to obtain the maximum local pressing force difference between them. When the maximum local pressing force difference reaches the set upper limit of the safety pressing force difference, the assembly process stops.

4. The radiation unit precision automated assembly device according to claim 1, characterized in that: The contact displacement sensor (31) detects in real time the local press-fit displacement of different parts of the radiation unit (8) to be installed during the assembly process. The local press-fit displacements of different contact displacement sensors (31) are calculated in real time by the background to obtain the maximum local displacement difference between them. When the maximum local displacement difference reaches a set upper limit of the safe displacement difference, the assembly process stops.

5. The radiation unit precision automated assembly device according to claim 4, characterized in that: When the local press-fitting displacement detected in real time by the contact displacement sensor (31) increases by a certain value, and the corresponding local press-fitting force increase detected in real time by the pressure sensor (27) closest to it exceeds the set upper limit of the safety press-fitting force increase, the assembly process stops.

6. The radiation unit precision automated assembly device according to any one of claims 1 to 5, characterized in that: The number of the pressure sensors (27) and contact displacement sensors (31) can be adjusted as needed, with the ability to detect and identify assembly abnormalities of a single radio frequency connector (21) as a standard.

7. The radiation unit precision automated assembly device according to any one of claims 1 to 5, characterized in that: When the local press-fitting displacements detected by all the contact displacement sensors (31) reach the theoretical assembly displacement, and if the assembly process does not stop, it is determined that the blind insertion assembly of the radiation unit (8) to be installed is qualified.

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