Satellite automatic assembly system architecture and automatic assembly method

Abstract

This invention relates to a satellite automated assembly system architecture and method, comprising an assembly execution module, a heat conduction module, a satellite attitude control module, a quality inspection module, and an automatic control module; the assembly execution module, heat conduction module, satellite attitude control module, and quality inspection module are all connected to the automatic control module. The advantages are: the satellite automated assembly system architecture provided by this invention replaces manual labor, realizing fully automated assembly of onboard products from picking, positioning, installation, tightening to quality inspection, improving assembly efficiency and ensuring assembly quality.

Description

Technical Field

[0001] This invention relates to the field of satellite assembly technology, and more specifically, to an automatic satellite assembly system architecture and an automatic assembly method. Background Technology

[0002] Traditional satellite assembly in China primarily employs a fixed-station, manual production model. This involves assembling electromechanical and thermal components and integrating the entire satellite at fixed workstations according to predetermined processes and procedures. In recent years, the satellite industry has developed rapidly, exhibiting trends towards mass production and low-cost commercialization. Faced with the large-scale demand for satellite products, the traditional satellite assembly model cannot meet the ever-increasing batch production needs due to the following shortcomings.

[0003] 1. Low assembly efficiency and slow production cycle: Satellite assembly is generally carried out in a closed cleanroom, using traditional manual operation methods. To ensure assembly quality and safety, the working hours of personnel should not be too long, and due to the limited space of the satellite, it is difficult to achieve parallel assembly by multiple people and multiple jobs.

[0004] 2. Poor consistency and stability of assembly quality: Under the traditional manual operation mode, for the mass production of satellites, due to the large number of participants and the different levels of personnel quality, the assembly quality of different satellites in the same batch is poor and the stability is poor.

[0005] 3. Slow response speed to different assembly tasks; Traditional manual operation mode requires replanning assembly scenarios, tooling equipment, process flow and quality control when facing different satellite assembly tasks. The planning and design cycle is long and cannot match the rapid response requirements of different models.

[0006] The preceding description is intended to provide general background information and does not necessarily constitute prior art. Summary of the Invention

[0007] The purpose of this invention is to provide a satellite automatic assembly system architecture and automatic assembly method. This satellite automatic assembly system architecture replaces manual labor and realizes the fully automatic assembly of on-board products from picking, positioning, installation, tightening to quality inspection, thereby improving assembly efficiency and ensuring assembly quality.

[0008] This invention provides an automated satellite assembly system, comprising an assembly execution module, a heat conduction module, a satellite attitude control module, a quality inspection module, and an automatic control module; the assembly execution module, the heat conduction module, the satellite attitude control module, and the quality inspection module are all connected to the automatic control module.

[0009] By adopting the above technical solution, the satellite automatic assembly system replaces manual labor, realizing the fully automated assembly of on-board products from picking, positioning, installation, tightening to quality inspection, thereby improving assembly efficiency and ensuring assembly quality.

[0010] Furthermore, the assembly execution module includes a truss submodule, a single-machine assembly submodule, and a fastener assembly submodule; the truss submodule includes columns, beams, connecting rods, and a traveling mechanism, with two connecting rods fixedly connected between two parallel beams to form a square frame, and columns vertically connected at each of the four corners of the square frame; the traveling mechanism is slidably connected to the two parallel beams; the single-machine assembly submodule includes a first robotic arm and a clamping mechanism, the first robotic arm being mounted on the traveling mechanism, and the other end of the first robotic arm being connected to the clamping mechanism; the fastener assembly submodule includes a second robotic arm, an execution mechanism, and a dispensing mechanism, the second robotic arm being mounted on the traveling mechanism, the other end of the second robotic arm being connected to the execution mechanism, and the dispensing mechanism being located below the square frame and in front of the execution mechanism.

[0011] Using the above technical solution, during the assembly task execution, under automatic program control, the traveling mechanism on the truss can achieve two degrees of freedom translation in the plane, meeting the installation position requirements of different single units on different envelope satellites; under automatic program control, the first robotic arm located on the traveling mechanism moves in coordination with the traveling mechanism, achieving six degrees of freedom motion at different spatial positions within the workstation area; the clamping mechanism on the first robotic arm has two degrees of freedom translation function, enabling the gripping, fixing, and releasing of satellite products of different envelope sizes, thereby realizing the functions of picking up, moving, positioning, and placing different satellite products, meeting the needs of different postures and position changes during product installation; the second robotic arm located on the traveling mechanism moves in coordination with the traveling mechanism, achieving six degrees of freedom motion at different spatial positions within the workstation area; the actuator on the second robotic arm generates suction through air compression to pick up screws, and can achieve screw tightening and torque acquisition under predetermined torque conditions; the dispensing mechanism can store and squeeze thread-locking adhesive, and work with the actuator to complete the application of thread-locking adhesive. This enables the fastener assembly submodule to automatically pick up screws at different locations on the satellite, apply anti-loosening adhesive, install and tighten them under automatic program control, and automatically collect the tightening torque.

[0012] Furthermore, the single-machine assembly submodule also includes a force sensor and a displacement sensor; both the force sensor and the displacement sensor are mounted on the clamping mechanism.

[0013] By adopting the above technical solution, force sensors and displacement sensors can automatically collect the motion displacement and clamping force during the execution of the clamping mechanism, realize the control of the movement of the clamping mechanism, and ensure the accuracy and safety of product clamping.

[0014] Furthermore, the heat conduction treatment module includes a third robotic arm, an application execution submodule, and a cleaning submodule; the third robotic arm is located between the application execution submodule and the cleaning submodule, and a steel mesh clamping mechanism is installed at the end of the third robotic arm; the application execution submodule includes a steel mesh magazine, a clamping mechanism, an adhesive extrusion mechanism, and a brushing execution mechanism.

[0015] Using the above technical solution, the third robotic arm has six degrees of freedom of motion. The steel mesh clamping mechanism at its end effector enables the installation, replacement, and movement of steel meshes of different specifications for single-machine mounting surfaces of varying sizes. The steel mesh is used to control the thickness of the thermal grease application. Steel meshes of different sizes are stored in a steel mesh library to match the size requirements of different single-machine mounting surfaces. The clamping mechanism is used to clamp the steel mesh and also for positioning and identification of the contact between the single machine and the steel mesh. The extrusion mechanism is used for storing and extruding thermal grease, possessing bidirectional translational motion to meet the thermal grease extrusion requirements of steel meshes of different sizes. The printing execution mechanism uses printing to evenly apply the thermal grease from the steel mesh onto the single-machine mounting surface through the mesh openings. Furthermore, the cleaning submodule is mainly used to wipe away residual thermal grease from the steel mesh with gauze, ensuring the cleanliness of the steel mesh and facilitating reuse.

[0016] Furthermore, the satellite attitude control module includes an active rotation module and a passive rotation module, which are symmetrically arranged at intervals. Each active and passive rotation module includes a base, a support, and a satellite mounting platform. The support is slidably connected to the base, and the support is perpendicular to the plane of the base. The satellite mounting platform is slidably connected to the support, and a satellite fixing mechanism is provided on the satellite mounting platform. A servo motor is also provided on the satellite mounting platform of the active rotation module, and the servo motor is used to drive the satellite fixing mechanism to rotate.

[0017] Using the above technical solution, during the automatic assembly process, in order to better cooperate with the assembly execution module and complete the installation of products at different satellite positions, the satellite needs to rotate in different attitudes. The satellite is fixed on the satellite fixing mechanism of the active rotation module and the driven rotation module. Under the automatic program control, the servo motor drives the satellite to rotate at a set speed to a set angle and remains locked. The driven rotation submodule provides support during the rotation process, reduces tooling and satellite deformation, and ensures rotation safety.

[0018] Furthermore, the quality inspection module includes an image submodule, a visual guidance submodule, and a torque sensor submodule; the image submodule and the visual guidance submodule are both mounted on the first robotic arm, and the torque sensor submodule is mounted in the fastener assembly submodule.

[0019] Using the above technical solution, the imaging submodule can be a process camera. Multiple process cameras can be arranged around the first robotic arm and workstation in the assembly execution module to record the entire assembly process. Simultaneously, the cameras can scan satellite and onboard product information and take photos of the specified installation status and position according to process design requirements and under automatic program control. The vision guidance submodule is mainly equipped on the first robotic arm of the assembly execution module. Its main function is to identify the features of the product to be assembled and guide the first robotic arm to grasp the product. The torque sensor submodule can be a torque sensor, equipped in the fastener assembly submodule, which can detect and record the tightening torque of all fasteners. Therefore, the quality inspection module can replace manual labor in tracking and collecting quality information during the satellite assembly process. Based on traditional satellite assembly quality control requirements, the automatic assembly system detects and controls the quality and safety of foreign objects, product assembly position status, tightening torque, and assembly system mechanism movement during satellite assembly, thereby completing the collection of relevant quality data.

[0020] Furthermore, the automatic control module includes a PLC central control system and a host computer system. The PLC central control system uses Profinet bus communication, and the host computer system interfaces with the PLC central control system, the imaging submodule, and the MES system. The PLC central control system uses Profinet bus communication, enabling stable and high-speed data transmission. The system integrates with all mechanisms in the assembly execution module, heat dissipation module, satellite attitude control module, and quality inspection module to achieve motion control. The PLC central control system receives task order data from the MES system, sends task information to the PLC, and uploads the PLC register status to the MES in real time. The imaging submodule receives working status photos and barcode information transmitted from each camera system via FTP, classifies, judges, archives, and uploads them to the MES system. The MES system interfaces with task information, material pallet information, empty pallet start-up information, and feedback information on normal and abnormal automation execution.

[0021] Furthermore, during the operation of the automatic assembly system of the present invention, the automatic control module mainly performs the following core functions:

[0022] Automatic Data Interaction Function: The automatic control module automatically interacts with the MES system via the host computer system to exchange production information. Before production, the MES system transmits production task information, including task orders, product information, process information, quality inspection information, and program information, to the automatic control module so that it can perform automatic assembly operations according to the set parameters. During production, the automatic control module feeds back product material information, installation status, quality images, system motion execution parameters, process execution status, working hours statistics, and anomaly information to the MES system so that the MES system can statistically evaluate the final assembly task and quality. After production stops, the automatic control module feeds back information such as the automatic assembly system's task completion status and system shutdown status to the MES system so that the MES system can formulate an appropriate production plan.

[0023] Assembly path planning function: Based on the satellite's 3D assembly model, assembly process flow, and mechanism parameters configured by the automated assembly system, the function rationally plans the product assembly movement path to ensure assembly efficiency and safety, and generates effective motion parameters.

[0024] Assembly execution control function: Based on the motion parameters of the assembly path planning, the system controls various actuators to operate according to predetermined parameters and perform assembly tasks. Simultaneously, the system collects various images and sensor parameters to guide and provide feedback on the movement of the control mechanisms, ensuring product quality and safety during the assembly process.

[0025] Assembly system self-check function: Before executing a task, the automated assembly system must perform a self-check of itself and the pre-assembly preparations to ensure that the system functions normally and the final assembly conditions are met. The self-check mainly uses a set automatic program to check and confirm the individual mechanisms, safety protection, system zero position, and incoming material status.

[0026] Fault diagnosis and handling function: The automated assembly system is a complex integrated system consisting of multiple functional units, actuators, and control software. The automatic control module has a built-in system fault tree, which can automatically diagnose and report various fault modes of the system's electrical interfaces, communication interfaces, mechanism movements, and sensors. The module supports subsequent manual expansion of the fault knowledge base.

[0027] Other operational support functions mainly include data storage, operation logs, and automatic report generation.

[0028] The present invention also provides an automatic assembly method, which is applied to the above-mentioned satellite automatic assembly system architecture.

[0029] Furthermore, the automated assembly method includes the following steps:

[0030] S1: The host computer system of the automatic control module receives the final assembly task issued by the MES system;

[0031] S2: The automatic control module plans the assembly path based on the received assembly task information;

[0032] S3: The automatic control module sets the mechanism motion parameters according to the assembly path and the principles of shortest distance and safety;

[0033] S4: Input the motion parameters from step S3 into the PLC control system of the automatic control module, start the automatic assembly system, and the system performs self-check according to the custom program;

[0034] S5: According to the positioning interface reserved in the main structure, the main and slave rotation modules slowly move towards each other along the rotation axis according to the set motion parameters. The displacement sensor collects the movement distance. When the distance reaches the predetermined value, the movement stops, completing the positioning and installation of the satellite main structure and the satellite attitude control module.

[0035] S6: The assembly execution module completes the picking of the product to be assembled;

[0036] S7: Under the control of the automatic control module, the thermal grease application of the product to be installed is completed by the thermal treatment module.

[0037] S8: Under the control of the automatic control module, the assembly execution module performs the positioning and installation of the product to be assembled and the installation of the fasteners of the product to be assembled;

[0038] S9: Under the control of the automatic control module, the installation status of the product to be installed is confirmed.

[0039] S10: The host computer system of the automatic control module will feed back the installation task completion status and the automatic assembly system shutdown status to the MES system.

[0040] Furthermore, step S3 also includes setting quality inspection and tightening torque assembly control parameters based on the information input from the MES system.

[0041] The satellite automated assembly system architecture provided by this invention replaces manual labor, realizing fully automated assembly of onboard products from picking, positioning, installation, tightening to quality inspection, improving assembly efficiency and ensuring assembly quality. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the architecture of the satellite automatic assembly system provided in an embodiment of the present invention.

[0043] Figure 2 for Figure 1 A plan view of the architecture of the China Satellite Automated Assembly System.

[0044] Figure 3 for Figure 1 A schematic diagram of the modules of the China Satellite Automated Assembly System architecture.

[0045] Figure 4 for Figure 1 A structural diagram of the truss submodule of the China Satellite Automatic Assembly System architecture.

[0046] Figure 5 for Figure 1 A plan view of a single-machine assembly submodule of the China Satellite Automated Assembly System architecture.

[0047] Figure 6 for Figure 1 A schematic diagram of the single-machine assembly submodule of the China Satellite Automated Assembly System architecture.

[0048] Figure 7 for Figure 1 A schematic diagram of the fastener assembly submodule of the China Satellite Automatic Assembly System architecture.

[0049] Figure 8 for Figure 1 A schematic diagram of the heat treatment module in the architecture of the China Satellite Automatic Assembly System.

[0050] Figure 9 for Figure 1 A schematic diagram of the satellite attitude control module in the architecture of the China Satellite Automatic Assembly System.

[0051] Figure 10 for Figure 1 A schematic diagram of the quality inspection module in the China Satellite automated assembly system architecture.

[0052] Figure 11 for Figure 1 A schematic diagram of the automatic control module of the China Satellite Automatic Assembly System architecture.

[0053] Figure 12 This is a flowchart illustrating the automatic assembly method provided in an embodiment of the present invention.

[0054] The reference numerals and components involved in the accompanying drawings are shown below:

[0055] 1. MES system 2. Assembly execution module 21. Truss sub-module

[0056] 211. Column; 212. Horizontal beam; 213. Connecting rod

[0057] 214. Walking mechanism; 22. Single-machine assembly sub-module; 221. First robotic arm

[0058] 222. Clamping mechanism; 223. Force sensor; 224. Displacement sensor

[0059] 231. Second robotic arm; 23. Fastener assembly submodule; 232. Actuator

[0060] 233. Dispensing mechanism; 3. Heat treatment module; 31. Third robotic arm

[0061] 311. Steel mesh clamping mechanism; 32. Coating execution submodule; 321. Steel mesh library.

[0062] 322. Clamping mechanism; 323. Glue extrusion mechanism; 324. Brush actuator.

[0063] 33. Cleaning submodule 4. Satellite attitude control module 412. Support bracket

[0064] 411, Base; 41, Active Rotation Module; 413, Satellite Mounting Platform

[0065] 414. Servo motor; 42. Driven rotation module; 5. Quality inspection module

[0066] 6. Automatic control module Detailed Implementation

[0067] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0068] The terms "first," "second," "third," "fourth," etc., used in the specification and claims of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0069] Example 1

[0070] Figure 1 This is a schematic diagram of the architecture of the satellite automatic assembly system provided in an embodiment of the present invention. Figure 2 for Figure 1 A plan view of the architecture of the China Satellite automated assembly system. Figure 3 for Figure 1 A schematic diagram of the modular architecture of the China Satellite Automated Assembly System. Please refer to... Figure 1 , Figure 2 , Figure 3 The satellite automatic assembly system architecture provided in this embodiment of the invention includes an assembly execution module 2, a heat conduction treatment module 3, a satellite attitude control module 4, a quality inspection module 5, and an automatic control module 6; the assembly execution module 2, the heat conduction treatment module 3, the satellite attitude control module 4, and the quality inspection module 5 are all connected to the automatic control module 6.

[0071] It should be noted that the automatic control module 6 is connected to the MES system 1; the MES system 1 sends the final assembly task to the automatic control module 6, the automatic control module 6 plans the installation path, sets the system operating parameters, performs self-testing of the assembly system, controls the satellite attitude control module 4 to fix the satellite's parking attitude, controls the assembly execution module 2 to pick up the product to be assembled, locate and install the product to be assembled, install the fasteners of the product to be assembled, controls the heat treatment module 3 to apply thermal grease to the product to be assembled, controls the quality inspection module 5 to confirm the installation status of the product to be assembled, and feeds back the assembly system status to the MES system 1.

[0072] It should be noted that MES system 1 is a production management system equipped for satellite factories. The satellite automatic assembly system architecture of this invention replaces manual labor, realizes the fully automatic assembly of on-board products from picking, positioning, installation, tightening to quality inspection, improves assembly efficiency and ensures assembly quality.

[0073] Figure 4 for Figure 1 A structural diagram of the truss submodule of the China Satellite automated assembly system architecture. Figure 5 for Figure 1 A plan view of a single-machine assembly submodule of the China Satellite automated assembly system architecture. Figure 6 for Figure 1 A schematic diagram of the single-machine assembly submodule of the China Satellite Automated Assembly System architecture. Figure 7 for Figure 1 A structural diagram of the fastener assembly submodule in the Zhongwei Satellite Automated Assembly System architecture. Please refer to... Figure 4 , Figure 5 , Figure 6 , Figure 7The assembly execution module 2 of the present invention includes a truss submodule 21, a single-machine assembly submodule 22, and a fastener assembly submodule 23; the truss submodule 21 includes columns 211, crossbeams 212, connecting rods 213, and a traveling mechanism 214. Two connecting rods 213 are fixedly connected between two parallel crossbeams 212 to form a square frame, and columns 211 are vertically connected at the four corners of the square frame; the traveling mechanism 214 is slidably connected to the two parallel crossbeams 212; the single-machine assembly submodule 22 includes a truss submodule 211, a single-machine assembly submodule 22, and a fastener assembly submodule 23. The system includes a robotic arm 221 and a clamping mechanism 222. The first robotic arm 221 is mounted on the walking mechanism 214, and the other end of the first robotic arm 221 is connected to the clamping mechanism 222. The fastener assembly submodule 23 includes a second robotic arm 231, an actuator 232, and a dispensing mechanism 233. The second robotic arm 231 is mounted on the walking mechanism 214, and the other end of the second robotic arm 231 is connected to the actuator 232. The dispensing mechanism 233 is located below the square frame and in front of the actuator 232.

[0074] It should be noted that during the assembly task execution, under automatic program control, the traveling mechanism 214 on the truss can achieve two degrees of freedom translation in the plane, meeting the installation position requirements of different single units on satellites with different envelope sizes. Under automatic program control, the first robotic arm 221 located on the traveling mechanism 214 moves in coordination with the traveling mechanism 214, achieving six degrees of freedom movement at different spatial positions within the workstation area. The clamping mechanism 222 on the first robotic arm 221 has two degrees of freedom translation, enabling the gripping, fixing, and releasing of satellite products with different envelope sizes, thus achieving different... The satellite-mounted product pickup, movement, positioning, and placement functions meet the needs of different postures and position changes during product installation. The second robotic arm 231, located on the walking mechanism 214, moves in conjunction with the walking mechanism 214, enabling six-degree-of-freedom movement at different spatial positions within the workstation area. The actuator 232 on the second robotic arm 231 generates suction through air compression to pick up screws, and can tighten screws and collect torque under predetermined torque conditions. The dispensing mechanism 233 stores and compresses thread-locking adhesive, and works with the actuator 232 to apply the thread-locking adhesive. This allows the fastener assembly submodule 23, under automatic program control, to pick up screws at different positions on the satellite, apply thread-locking adhesive, install and tighten them, and automatically collect tightening torque.

[0075] Furthermore, the stand-alone assembly submodule 22 of the present invention also includes a force sensor 223 and a displacement sensor 224; both the force sensor 223 and the displacement sensor 224 are mounted on the clamping mechanism 222. The force sensor 223 and the displacement sensor 224 can automatically collect the motion displacement and clamping force of the clamping mechanism 222 during execution, realize the control of the movement of the clamping mechanism 222, and ensure the accuracy and safety of product clamping.

[0076] Figure 8 for Figure 1 A schematic diagram of the heat dissipation module in the automated assembly system architecture of China Satellite. (Further reference...) Figure 8 The heat conduction treatment module 3 of the present invention includes a third robotic arm 31, an application execution submodule 32, and a cleaning submodule 33; the third robotic arm 31 is located between the application execution submodule 32 and the cleaning submodule 33, and a steel mesh clamping mechanism 311 is installed at the end of the third robotic arm 31; the application execution submodule 32 includes a steel mesh magazine 321, a clamping mechanism 322, an extrusion mechanism 323, and a brush execution mechanism 324.

[0077] It should be noted that the third robotic arm 31 has six degrees of freedom of motion. The steel mesh clamping mechanism 311 installed at the end of the arm enables the installation, replacement, and movement of steel meshes of different specifications for single-machine mounting surfaces of different areas. The steel mesh is used to control the thickness of the thermal grease application. Steel meshes of different sizes are stored in the steel mesh library 321 to match the size requirements of different single-machine mounting surfaces. The clamping mechanism 322 is used to clamp the steel mesh and also for positioning and identification of the contact between the single machine and the steel mesh. The extrusion mechanism 323 is used for storing and extruding thermal grease, and has a bidirectional translational function to meet the thermal grease extrusion requirements of steel meshes of different areas. The printing execution mechanism 324 applies the thermal grease on the steel mesh evenly to the single-machine mounting surface through the mesh openings by printing. In addition, the cleaning submodule 33 is mainly used to wipe the residual thermal grease on the steel mesh with gauze to ensure the cleanliness of the steel mesh and facilitate reuse.

[0078] Figure 9 for Figure 1 A schematic diagram of the satellite attitude control module in the China Satellite Automatic Assembly System architecture. Further reference... Figure 9The satellite attitude control module 4 of the present invention includes an active rotation module 41 and a driven rotation module 42, which are symmetrically arranged at intervals. Each of the active rotation module 41 and the driven rotation module 42 includes a base 411, a bracket 412, and a satellite mounting platform 413. The bracket 412 is slidably connected to the base 411, and the bracket 412 is perpendicular to the plane of the base 411. The satellite mounting platform 413 is slidably connected to the bracket 412, and a satellite fixing mechanism is provided on the satellite mounting platform 413. A servo motor 414 is also provided on the satellite mounting platform 413 of the active rotation module 41, and the servo motor 414 is used to drive the satellite fixing mechanism to rotate.

[0079] It should be noted that during the automatic assembly process, in order to better cooperate with the assembly execution module 2 and complete the installation of products at different satellite positions, the satellite needs to rotate in different attitudes. The satellite is fixed on the satellite fixing mechanism of the active rotation module 41 and the driven rotation module 42. Under the automatic program control, the servo motor 414 drives the satellite to rotate at a set speed to a set angle and keeps it locked. The driven rotation submodule provides support during the rotation process, reduces the deformation of the tooling and the satellite, and ensures rotation safety.

[0080] Figure 10 for Figure 1 A structural diagram of the quality inspection module in the Zhongwei Satellite automated assembly system architecture. (Further reference...) Figure 10 The quality inspection module 5 of the present invention includes an image submodule, a visual guidance submodule, and a torque sensor submodule; the image submodule and the visual guidance submodule are both mounted on the first robotic arm 221, and the torque sensor submodule is mounted in the fastener assembly submodule 23.

[0081] It should be noted that the imaging submodule can be a process camera. Multiple process cameras can be arranged around the first robotic arm 221 and the workstation in the assembly execution module 2 to record the entire assembly process. At the same time, the cameras can scan the satellite and on-board product information and take pictures of the specified installation status and position according to the process design requirements and under the control of the automatic program. The vision guidance submodule is mainly equipped on the first robotic arm 221 of the assembly execution module 2. Its main function is to identify the features of the product to be assembled and guide the first robotic arm 221 to grasp the product. The torque sensor submodule can be a torque sensor. The torque sensor is equipped in the fastener assembly submodule 23 and can realize the detection and recording of the tightening torque of all fasteners. Therefore, the quality inspection module 5 can replace manual tracking and collection of quality information in the satellite assembly process. Based on the traditional satellite assembly quality control requirements, the automatic assembly system detects and controls the quality and safety of foreign objects, product assembly position status, tightening torque and assembly system mechanism movement during the satellite assembly process, thereby completing the collection of relevant quality data.

[0082] Figure 11 for Figure 1 A schematic diagram of the automatic control module in the China Satellite automated assembly system architecture. (Further reference...) Figure 11 The automatic control module 6 of the present invention includes a PLC central control system and a host computer system. The PLC central control system adopts the Profinet bus communication method, and the host computer system is used to interface with the PLC central control system, the image sub-module and the MES system 1.

[0083] It should be noted that the PLC central control system uses Profinet bus communication, enabling stable and high-speed data transmission. The system integrates with all mechanisms in assembly execution module 2, heat dissipation module 3, satellite attitude control module 4, and quality inspection module 5 to achieve motion control. The PLC central control system receives task order data from the MES system, sends task information to the PLC, and uploads the PLC's register status to the MES in real time. The imaging submodule receives working status photos and barcode information transmitted from each camera system via FTP, classifies, judges, archives, and uploads them to the MES system. The MES system handles task information, material pallet information, empty pallet start-up information, and feedback on normal and abnormal automation execution.

[0084] Furthermore, during the operation of the automatic assembly system of the present invention, the automatic control module 6 mainly performs the following core functions:

[0085] Automatic Data Interaction Function: The automatic control module 6 automatically interacts with the MES system 1 through the host computer system to exchange production information. Before production, the MES system 1 transmits production task information, including task orders, product information, process information, quality inspection information, and program information, to the automatic control module 6 so that it can perform automatic assembly operations according to the set parameters. During production, the automatic control module 6 feeds back product material information, installation status, quality images, system motion execution parameters, process execution status, working hours statistics, and abnormal information to the MES system 1 so that the MES system 1 can statistically evaluate the final assembly task and quality. After production stops, the automatic control module feeds back information such as the completion status of the automatic assembly system tasks and the system shutdown status to the MES system 1 so that the MES system 1 can formulate a reasonable production plan.

[0086] Assembly path planning function: Based on the satellite's 3D assembly model, assembly process flow, and mechanism parameters configured by the automated assembly system, the function rationally plans the product assembly movement path to ensure assembly efficiency and safety, and generates effective motion parameters.

[0087] Assembly execution control function: Based on the motion parameters of the assembly path planning, the system controls various actuators to operate according to predetermined parameters and perform assembly tasks. Simultaneously, the system collects various images and sensor parameters to guide and provide feedback on the movement of the control mechanisms, ensuring product quality and safety during the assembly process.

[0088] Assembly system self-check function: Before executing a task, the automated assembly system must perform a self-check of itself and the pre-assembly preparations to ensure that the system functions normally and the final assembly conditions are met. The self-check mainly uses a set automatic program to check and confirm the individual mechanisms, safety protection, system zero position, and incoming material status.

[0089] Fault diagnosis and handling function: The automated assembly system is a complex integrated system consisting of multiple functional units, actuators, and control software. Automatic control module 6 has a built-in system fault tree, enabling automatic diagnosis and reporting of various fault modes related to system electrical interfaces, communication interfaces, mechanism motion, and sensors. The module also supports manual expansion of the fault knowledge base later.

[0090] Other operational support functions mainly include data storage, operation logs, and automatic report generation.

[0091] Example 2

[0092] Figure 12 This is a flowchart illustrating the automatic assembly control method provided in an embodiment of the present invention. Further reference... Figure 12 The present invention also provides an automatic assembly control method, applied to the aforementioned satellite automatic assembly system architecture. The automatic assembly control method of the present invention includes the following steps:

[0093] S1: The host computer system of automatic control module 6 receives the final assembly task issued by MES system 1;

[0094] S2: Automatic control module 6 performs assembly path planning based on the received assembly task information;

[0095] S3: Automatic control module 6 sets the mechanism motion parameters according to the assembly path and the principles of shortest distance and safety; at the same time, it sets the quality inspection and tightening torque assembly control parameters according to the information input from MES system 1.

[0096] S4: Input the motion parameters from step S3 into the PLC control system of automatic control module 6, start the automatic assembly system, and the system performs self-test according to the custom program.

[0097] S5: According to the positioning interface reserved in the main structure, the main and slave rotation modules 42 slowly move towards each other along the rotation axis according to the set motion parameters. The displacement sensor 224 collects the movement distance. When the distance reaches the predetermined value, the movement stops, and the positioning and installation of the satellite main structure and the satellite attitude control module 4 are completed.

[0098] S6: Assembly execution module 2 completes the picking of the product to be assembled;

[0099] S7: Under the control of the automatic control module 6, the thermal grease application of the product to be installed is completed by the thermal treatment module 3.

[0100] S8: Under the control of the automatic control module 6, the assembly execution module 2 performs the positioning and installation of the product to be assembled and the installation of the fasteners of the product to be assembled;

[0101] S9: Under the control of the quality inspection module 5 and the automatic control module 6, the installation status of the product to be installed is confirmed.

[0102] S10: The host computer system of the automatic control module 6 will feed back the installation task completion status and the automatic assembly system shutdown status to the MES system 1.

[0103] This embodiment uses the installation process of two single units of a certain model as an example to illustrate the assembly method implementation process of the present invention; for example, the product to be installed includes the satellite main structure, single unit A, and single unit B. Single unit A is installed inside the satellite cabin, and single unit B is installed at the bottom of the satellite main structure. Both single units A and B have assembly process holes for single unit pickup. The specific installation implementation process is as follows:

[0104] Prepare the aforementioned automated satellite assembly system.

[0105] The system receives the final assembly task: The task is sent from the MES system to the host computer system. The information sent includes the task number, information of individual units A and B, assembly drawings, 3D models and process information, etc.

[0106] Based on the received assembly task information, the assembly path planning for individual units A and B is performed in five steps: First, install the satellite main structure to the satellite attitude control module, keeping the mounting surface of unit A horizontal and upward; Second, install unit A; Third, the satellite attitude control module rotates the main structure 180° along the horizontal axis, keeping the mounting surface of unit B horizontal and upward; Fourth, install unit B; Fifth, the satellite attitude control module rotates the main structure 180° in the opposite direction along the horizontal axis again, restoring the mounting surface of unit A to the horizontal and upward state, and the assembly task ends.

[0107] Based on the assembly path, and adhering to the principles of shortest distance and safety, set the motion parameters for various mechanisms. Simultaneously, based on information input from the MES system, set assembly control parameters such as quality inspection and tightening torque.

[0108] Input the parameters from step four into the PLC control system, start the automatic assembly system, and the system will perform self-checks on the electrical interface, communication interface, mechanism movement, and sensor status according to the pre-defined program. If the self-check is successful, the system will return to zero and start the assembly operation according to the input parameters.

[0109] According to the positioning interface reserved in the main structure, the satellite attitude control module moves slowly towards each other along the rotation axis according to the set motion parameters. The displacement sensor collects the movement distance, and stops when the distance reaches the predetermined value, thus completing the positioning and installation of the satellite main structure and the satellite attitude control module.

[0110] In the assembly execution module, the robotic arm and clamping mechanism of the single-machine assembly submodule, guided by a vision-guided camera and jointly controlled by displacement sensors, move to a position 80-100mm above single machine A according to set parameters. The imaging submodule on the robotic arm scans the product information and takes pictures of the surface quality, and feeds the information back to the MES system for confirmation. After confirmation, the automatic control module continues to drive the robotic arm and clamping mechanism according to set parameters, and completes the pickup of single machine A under the joint acquisition and feedback control of force and displacement sensors.

[0111] During the single-unit A pickup process, the thermal treatment module, under the control of the automatic control module, drives the robotic arm and clamping mechanism according to set parameters to select a matching steel mesh and clamp it in the application execution submodule. After clamping, the automatic control module drives the extrusion mechanism to complete the extrusion of thermal grease onto the surface of the steel mesh according to set parameters. After single-unit A is picked up, the automatic control module continues to drive the robotic arm in the single-unit assembly submodule according to set parameters to move and flip single-unit A, so that its mounting surface is in contact with the steel mesh. The force sensor feeds back the contact force to the automatic control module, and then the automatic control module drives the application execution mechanism to print back and forth three times on the surface of the steel mesh according to the set program to complete the application of thermal grease. After the application is completed, the automatic control module continues to drive the robotic arm in the single-unit assembly submodule according to set parameters to separate single-unit A from the steel mesh. The imaging submodule on the robotic arm takes a picture of the thermal grease application status and feeds the picture information back to the MES system. The single-unit installation submodule then continues to execute the single-unit A installation action. Meanwhile, the automatic control module drives the robotic arm and cleaning sub-module in the heat conduction module according to the set parameters to complete the cleaning and storage of the steel mesh.

[0112] The automatic control module continues to drive the robotic arm in the single-unit assembly submodule according to the set parameters, moving and flipping single unit A. With the cooperation of the vision-guided camera, force and displacement sensors, single unit A is placed in the corresponding installation position on the satellite main structure, aligning the mounting holes. The automatic control module continues to drive the clamping mechanism in the single-unit assembly submodule according to the set parameters, causing it to contact and separate from single unit A. After separation, the single-unit installation submodule proceeds to perform the installation action of single unit B.

[0113] In the fastener installation submodule, the robotic arm and actuator, driven by the automatic control module according to set parameters, pick up the mounting screws of unit A and move them below the dispensing mechanism. The dispensing mechanism then dispenses adhesive to the screw according to the set amount. After dispensing, the imaging submodule on the robotic arm takes a picture of the screw's dispensing status and sends the image information back to the MES system. Then, the automatic control module continues to drive the robotic arm and actuator according to set parameters to complete the screw installation and tighten it to the initial torque. The fastener installation submodule repeats the above screw installation actions to complete the initial installation of all fasteners in unit A. Then, the automatic control module continues to drive the robotic arm and actuator according to set parameters to complete the screw locking and torque detection of unit A according to the set sequence and tightening torque. The tightening torque is collected by a torque sensor and fed back to the MES system.

[0114] After all screws of Unit A are installed and tightened to the required torque, the automatic control module continues to drive the robotic arm in the fastener installation submodule according to the set parameters, so that its actuator is 80-100mm away from the outer surface of Unit A. With the assistance of the robotic arm, the imaging submodule takes a picture of the status of Unit A after installation and feeds the information back to the MES system.

[0115] After the photo is taken, the automatic control module drives the satellite attitude control module to rotate 180° according to the set parameters, so that the mounting surface of the single unit B is horizontal and facing upward.

[0116] Follow steps 7 to 11 of the standalone A installation process to complete the standalone B installation.

[0117] After the installation of Unit B is completed, the automatic control module drives the satellite attitude control module to rotate 180° in the opposite direction according to the set parameters, restoring the satellite structure to its horizontal, stationary position. After restoration, the automatic control module drives the satellite attitude control module to disconnect from the satellite structure according to the set parameters.

[0118] The host computer system will send the installation task completion status and the automatic assembly system shutdown status back to the MES system so that the MES system can issue the next assembly task.

[0119] As shown above, based on the established automated satellite assembly system, the automated assembly of individual satellite units can be completed by following the above steps, replacing the traditional manual assembly method and greatly improving assembly efficiency and quality.

[0120] As can be seen from the above description, the advantages of this invention are:

[0121] The satellite automatic assembly system architecture of this invention replaces manual labor and realizes fully automated assembly of on-board products from picking, positioning, installation, tightening to quality inspection, thereby improving assembly efficiency and ensuring assembly quality.

[0122] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automatic assembly method, characterized in that, Applied to satellite automated assembly system architecture, The satellite automatic assembly system architecture includes an assembly execution module (2), a heat conduction treatment module (3), a satellite attitude control module (4), a quality inspection module (5), and an automatic control module (6); The assembly execution module (2), the heat conduction module (3), the satellite attitude control module (4), and the quality detection module (5) are all connected to the automatic control module (6); The assembly execution module (2) includes a truss submodule (21), a single-machine assembly submodule (22), and a fastener assembly submodule (23). The truss submodule (21) includes columns (211), beams (212), connecting rods (213), and a traveling mechanism (214). Two connecting rods (213) are fixedly connected between two parallel beams (212) to form a square frame. The columns (211) are vertically connected at the four corners of the square frame. The traveling mechanism (214) is slidably connected to the two parallel beams (212). The single-machine assembly submodule (22) includes a first robotic arm (221) and a clamping mechanism (222). The first robotic arm (221) is mounted on the walking mechanism (214), and the other end of the first robotic arm (221) is connected to the clamping mechanism (222). The fastener assembly submodule (23) includes a second robotic arm (231), an actuator (232), and a dispensing mechanism (233). The second robotic arm (231) is mounted on the walking mechanism (214), and the other end of the second robotic arm (231) is connected to the actuator (232). The dispensing mechanism (233) is located below the square frame and in front of the actuator (232). The single-machine assembly submodule (22) further includes a force sensor (223) and a displacement sensor (224); both the force sensor (223) and the displacement sensor (224) are mounted on the clamping mechanism (222); The heat conduction module (3) includes a third robotic arm (31), a coating execution submodule (32), and a cleaning submodule (33); The third robotic arm (31) is located between the application execution submodule (32) and the cleaning submodule (33), and a steel mesh clamping mechanism (311) is installed at the end of the third robotic arm (31); the application execution submodule (32) includes a steel mesh magazine (321), a clamping mechanism (322), an extrusion mechanism (323), and a brush execution mechanism (324); The satellite attitude control module (4) includes an active rotation module (41) and a passive rotation module (42), which are symmetrically arranged at intervals. Both the active rotation module (41) and the driven rotation module (42) include a base (411), a bracket (412), and a satellite mounting platform (413). The bracket (412) is slidably connected to the base (411), and the bracket (412) is perpendicular to the plane of the base (411). The satellite mounting platform (413) is slidably connected to the bracket (412), and a satellite fixing mechanism is provided on the satellite mounting platform (413). A servo motor (414) is also provided on the satellite mounting platform (413) of the active rotation module (41), and the servo motor (414) is used to drive the satellite fixing mechanism to rotate. The quality detection module (5) includes an image submodule (51), a visual guidance submodule (52), and a torque sensor submodule (53); The image submodule (51) and the vision guidance submodule (52) are both mounted on the first robotic arm (221), and the torque sensor submodule (53) is mounted in the fastener assembly submodule (23); The automatic control module (6) includes a PLC central control system and a host computer system. The PLC central control system adopts Profinet bus communication mode, and the host computer system is used to interface with the PLC central control system, the image sub-module (51) and the MES system (1). The automatic assembly method includes the following steps: S1: The host computer system of the automatic control module (6) receives the assembly task issued by the MES system (1); S2: The automatic control module (6) performs assembly path planning based on the received assembly task information; S3: The automatic control module (6) sets the motion parameters of the mechanism according to the assembly path and the principles of shortest distance and safety; S4: Input the motion parameters in step S3 into the PLC control system of the automatic control module (6), start the automatic assembly system, and the system performs self-test according to the custom program; S5: The satellite attitude control module (4) moves slowly towards each other along the rotation axis according to the positioning interface reserved in the main structure and the set motion parameters. The displacement sensor (224) collects the motion distance. When the distance reaches the predetermined value, it stops, and the positioning and installation of the satellite main structure and the satellite attitude control module (4) are completed. S6: Assembly execution module (2) completes the picking of the product to be assembled; S7: The thermal treatment module (3) completes the application of thermal grease to the product to be installed under the control of the automatic control module (6); S8: The assembly execution module (2) performs the positioning and installation of the product to be installed and the fastener installation of the product to be installed under the control of the automatic control module (6); S9: Under the control of the quality inspection module (5) and the automatic control module (6), the installation status of the product to be installed is confirmed; S10: The host computer system of the automatic control module (6) will feed back the installation task completion status and the automatic assembly system shutdown status to the MES system (1).

2. The automatic assembly method according to claim 1, characterized in that, Step S3 also includes setting quality inspection and tightening torque assembly control parameters based on the information input from the MES system (1).

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