Automatic assembling and integrating device and method suitable for solar wing

Abstract

The invention relates to an automatic assembling and integrating device and method suitable for a solar wing. The omnidirectional mobile chassis enables the whole device to be capable of parking at any required position with high precision under the driving action of a wheel train. After the omni-directional moving chassis moves to a designated position, the angle of the assembling platform is adjusted through a turnover mechanism, closed-loop feedback is formed through an angle detection sensor, the assembling platform is adjusted to be in a horizontal state, a solar wing plate is fixed through a pressing seat, and manual solar wing assembling is started. After the solar wing is assembled, the omni-directional moving chassis carries the solar wing to move to the position below the unfolding frame, the solar wing is accurately stopped at a designated position by means of an early-stage calibration result, the solar wing is overturned to be in a vertical state through the overturning mechanism, closed-loop feedback is formed through an angle detection sensor, and meanwhile the center height of the solar wing is adjusted through the jacking mechanism. Therefore, the solar wing can meet the hanging requirement. After hanging of the solar wing is completed, the overturning mechanism overturns the assembling platform to the horizontal state, the omni-directional moving platform moves to the designated position, and next-time assembling is started.

Description

Technical Field

[0001] The present invention belongs to the field of spacecraft assembly and integration, and specifically relates to an automated assembly and integration device and method suitable for solar wings, which is suitable for all spacecraft products with solar wing assembly requirements. Background Art

[0002] Spacecraft solar panels are assembled from more than one solar panel, inter-panel hinges, connecting rods, root hinges, cables, tensioning mechanisms and other parts. During the solar panel assembly process, it is necessary to ensure that the solar panels are coplanar to ensure that the connecting hinges are not subject to other deflection loads outside the design. After the solar panel is assembled, it is usually necessary to conduct an expansion test. Only after the test is qualified can it be delivered and continue the subsequent assembly process with the spacecraft.

[0003] The solar wing deployment test needs to be carried out with the help of special deployment equipment. The weight of the wing is balanced by the deployment equipment hanging mechanism to ensure that the solar wing is as close to the zero-gravity working environment in space as possible when it is deployed. When hanging the solar wing, the center height of the wing needs to be controlled by adjusting the length of the hanging mechanism to meet the requirements of the spacecraft assembly height.

[0004] Traditional solar wing assembly is often carried out in a hanging manner, by hanging a single solar wing panel under the deployment equipment, and completing the assembly of connecting rods, root hinges, cables, tensioning mechanisms and other parts in a vertical hanging state. In this process, since the hanging mechanism is flexible, the solar wing cannot be fixed, so all assembly work requires more than two people to complete, and it is impossible to ensure that the assembled solar wing panels are coplanar. After the final assembly is completed, the length of each hanging mechanism needs to be repeatedly adjusted to ensure that its gravity is fully balanced and the central high requirements of the deployment test are met. In addition, since the aforementioned final assembly and adjustment processes are all carried out under the deployment equipment, the equipment utilization rate is low, and it is impossible to achieve parallel assembly of solar wing processes and deployment tests, which affects the work efficiency of spacecraft assembly. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and, in view of the shortcomings of the current status of traditional solar wing assembly and integration processes, to provide an automated assembly and integration device and method suitable for solar wings, to control the quality and consistency of solar wing assembly, to save human resources, to reduce the labor intensity of operators, to improve work efficiency, and to enhance the adaptability of the device, specifically involving the assembly and deployment test processes of solar wings.

[0006] The solution to the technical problem of the present invention is: an automated assembly integrated device suitable for solar wings, the device comprising an omnidirectional mobile chassis, an assembly platform, and a flip limit structure;

[0007] An assembly platform, located above the flip limit mechanism, is used to carry the solar panels to be assembled;

[0008] Flip the limit mechanism to flip the assembly platform to a horizontal or vertical state and fix it in a limited position;

[0009] The lifting mechanism is used for preliminary leveling of the assembly platform and height adjustment of the solar wing hanging center;

[0010] The omnidirectional mobile chassis provides a connecting bracket for the flip mechanism and the assembly platform, provides omnidirectional movement and navigation and positioning functions for the entire device, and the walking wheel system is equipped with a shock absorption function.

[0011] Preferably, the omnidirectional mobile chassis comprises a chassis frame, an omnidirectional traveling wheel system, and a chassis shell;

[0012] The omnidirectional travel wheel system is installed at the bottom of the chassis frame; the chassis shell is covered outside the chassis frame, and the omnidirectional travel wheel system is used to realize the omnidirectional movement of the device while providing a shock absorption function for the device.

[0013] Preferably, the assembly platform comprises an assembly platform skeleton, M assembly platform mounting plates and N sets of assembly platform support structures, where M and N are greater than or equal to 1;

[0014] The assembly platform mounting plate is installed on the assembly platform frame and spliced ​​into the shape of the solar wing to be assembled;

[0015] N groups of assembly platform support structures jointly support the assembly platform frame to ensure the rigidity of the assembly platform frame in a horizontal state.

[0016] Preferably, a plurality of fixed pressing seats and a plurality of floating pressing seats are arranged on the mounting plate of the assembly platform;

[0017] The fixed pressing seat is used to cooperate with the pressing holes of the inner plate of the solar wing to realize the positioning of the pressing holes at the same position on each solar wing base plate, and press the solar wing onto the mounting plate of the assembly platform;

[0018] The floating clamping seat is connected to the assembly platform mounting plate through a cross slide, reserving freedom in two directions. It cooperates with the clamping holes at different positions on the solar wing base plate to achieve the positioning of solar wing inner panels of different models.

[0019] Preferably, the fixed pressing seat comprises a fixed pressing seat mounting base, a fixed pressing seat supporting pad, a fixed pressing seat conductor rod, and a fixed pressing seat pressing head;

[0020] A fixed pressing seat installation base, a fixed pressing seat support pad, a fixed pressing seat conductor rod, and a fixed pressing seat pressing head;

[0021] The fixed pressing seat installation base has one end used to be fixedly connected to the assembly platform mounting plate, and the other end is fixedly connected to the fixed pressing seat support pad. The fixed pressing seat support pad is connected to the fixed pressing seat wire rod. The fixed pressing seat support pad and the pressing hole on the solar wing substrate realize precise positioning of the axial hole. The fixed pressing seat wire rod cooperates with the fixed pressing seat pressing head to realize quick clamping or removal through the quick release mechanism, and the pressing head realizes the pressing and fixing of the substrate.

[0022] Preferably, the floating pressing seat comprises a floating pressing seat mounting base, a floating pressing seat X-axis adjustment module, a linear guide module, a floating pressing seat support pad, a floating pressing seat conductor rod, and a floating pressing seat pressing head;

[0023] One end of the floating pressing seat mounting base is used to be fixedly connected to the assembly platform mounting plate, and the other end is connected to the floating pressing seat X-axis adjustment module, the floating pressing seat X-axis adjustment module is connected to the linear guide module, the linear guide module is fixedly connected to the floating pressing seat support pad, the floating pressing seat support pad is fixedly connected to the floating pressing seat conductor rod; the floating pressing seat conductor rod cooperates with the floating pressing seat clamping head, and a quick release mechanism is used to realize rapid clamping or removal, and the clamping head is used to clamp and fix the solar wing panel;

[0024] The support pad and the clamping hole on the solar wing base plate realize precise positioning of the shaft hole. The floating clamping seat X-axis adjustment module and the support pad have adaptive adjustment amounts with appropriate stiffness in the X and Y directions.

[0025] Preferably, the fixed clamping seat conductor rod and the fixed clamping seat clamping head, the floating clamping seat conductor rod and the floating clamping seat clamping head are positioned through an annular slide groove, inserted and rotated 90 degrees to achieve clamping, and the slide groove has a certain slope to achieve preload.

[0026] Preferably, the flip mechanism comprises a flip driving mechanism, a flip translation slider, a flip hinge and a connecting rod;

[0027] One end of the connecting rod is connected to the edge of the long side of the chassis frame through a flip hinge, and the other end is connected to the middle part of the supporting platform frame through a flip hinge;

[0028] One side of the assembly platform frame is also connected to a flip translation slider through a flip hinge, and the flip drive mechanism drives the flip translation slider to translate along the short side of the chassis frame to achieve flip switching of the assembly platform frame from a horizontal state to a vertical state.

[0029] Preferably, the flip driving mechanism includes a servo motor and a ball screw;

[0030] The servo motor drives the ball screw to rotate, and the ball screw drives the flip and translation slider to move.

[0031] Preferably, there are three lifting mechanisms, which are located at the bottom of the device chassis and are arranged in an isosceles right triangle;

[0032] The lifting mechanisms work together to achieve the synchronous lifting and lowering adjustment of the omnidirectional mobile chassis frame under the unified control of the control program, thereby meeting the requirements for adjusting the center height when the solar wing is suspended.

[0033] Preferably, the above-mentioned automated assembly integrated device suitable for solar wings also includes an angle detection sensor for measuring the tilt angle of the assembly platform frame.

[0034] Another technical solution of the present invention is: an automated assembly and integration method applicable to solar wings, the method comprising the following steps:

[0035] S1. High-precision parking at a specific location under the action of the omnidirectional travel wheel system;

[0036] S2. After the automated assembly integrated device moves to the designated position, the horizontal flip is completed by controlling the flip driving mechanism and cooperating with the flip limit structure, the flip translation slider, the flip hinge, and the connecting rod;

[0037] S3, the automated assembly integrated device in a horizontal state manually places the solar wing to be assembled on the platform, and then manually operates the fixed pressing seat and the floating pressing seat to complete the pressing of the solar wing, and starts the manual assembly of the solar wing;

[0038] S4: After the solar wing is assembled, it moves to the next station with the omnidirectional walking wheel system;

[0039] S5, using the control system to make the assembly platform frame carrying the assembly platform mounting plate complete a 0-90 degree flip;

[0040] S6, after the device is turned over, the solar wing is lifted and lowered in the vertical direction by controlling the lifting mechanism to meet the needs of subsequent processes;

[0041] S7, after all the processes are completed, the flipping driving mechanism is controlled to flip the assembly platform frame by 90° to 0°;

[0042] S8. Move to the designated position under the action of the omnidirectional travel wheel system and start the next process.

[0043] The beneficial effects of the present invention compared with the prior art are:

[0044] (1) The lifting mechanism of the present invention is driven by a servo motor and supports the ground with a flange connected by a ball joint. Through the synchronous control of three groups of lifting mechanisms, the flatness adjustment function of the device can be achieved. At the same time, the synchronous lifting function of the device can be achieved, saving the time of adjusting the hanging structure when hanging the solar wing.

[0045] (2) The present invention provides an assembly platform support structure suitable for an automated assembly integrated device for solar wings. The assembly platform support structure is supported by multiple points to ensure the self-rigidity of the assembly platform when it is in a horizontal state, thereby ensuring the assembly quality and consistency of the solar wings.

[0046] (3) The present invention provides a flip limit structure suitable for an automated assembly integrated device for solar wings. The flip limit structure can ensure that the entire assembly platform is fixed after flipping, thereby providing precise positioning for subsequent solar wing hanging.

[0047] (4) The present invention provides an assembly platform mounting plate suitable for an automated assembly integrated device for solar wings. The assembly platform mounting plate is processed with a variety of clamping seat mounting structures to meet the assembly requirements of different types of solar wings.

[0048] (5) The present invention provides a fixed pressing seat suitable for an automated assembly integrated device for solar wings. The fixed pressing seat is custom designed according to the pressing hole interface of the solar wing, can perfectly fit the pressing hole of the solar wing and provide a positioning reference for the assembly process.

[0049] (6) The present invention provides a floating clamping seat suitable for an automated assembly integrated device for solar wings. The floating clamping seat is custom designed according to the clamping hole interface of the solar wing, and has reserved adaptive adjustment amounts of appropriate stiffness in the X and Y directions. It can meet the functional requirements of plane fine-tuning during solar wing assembly, reduce the labor intensity of operators, and shorten the assembly time of the solar wing.

[0050] (7) The present invention has a reasonable and compact structure, high efficiency, and is easy to assemble and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of an automated assembly integrated device (vertical) suitable for solar wings according to an embodiment of the present invention.

[0052] Figure 2 It is a schematic diagram of an automated assembly integrated device (horizontal) suitable for solar wings according to an embodiment of the present invention.

[0053] Figure 3 It is a schematic diagram of a fixed pressing seat according to an embodiment of the present invention.

[0054] Figure 4 It is a schematic diagram of a floating pressing seat according to an embodiment of the present invention.

[0055] Figure numbers: 1, 101 omnidirectional mobile chassis frame; 102, omnidirectional walking wheel system; 103, jacking mechanism; 104, omnidirectional mobile chassis shell; 105, assembly platform support structure; 106, flip limit structure; 201, flip drive mechanism; 202, flip translation slider; 203, flip hinge; 204, connecting rod; 301, assembly platform frame; 302, assembly platform mounting plate; 303, fixed clamping seat; 303-1, fixed clamping seat mounting base Seat; 303-2, fixed pressing seat support pad; 303-3, fixed pressing seat wire rod; 303-4, fixed pressing seat clamping head; 304, floating pressing seat; 304-1, floating pressing seat mounting base; 303-2, floating pressing seat X-axis adjustment module; 304-3, linear guide module; 304-4 floating pressing seat support pad; 303-5, floating pressing seat wire rod; 303-6, floating pressing seat clamping head; 305, angle detection sensor. DETAILED DESCRIPTION

[0056] The present invention will be further described below in conjunction with the embodiments.

[0057] like Figure 1 , Figure 2 As shown, the present invention provides an automated assembly integrated device suitable for solar wings, the device comprising an omnidirectional mobile chassis, an assembly platform, and a flip limit structure;

[0058] An assembly platform, located above the flip limit mechanism, is used to carry the solar panels to be assembled;

[0059] The flip limit mechanism flips the assembly platform to a horizontal state or a vertical state and performs limit fixation, the purpose of which is to ensure the position accuracy and safety of the assembly platform when it is flipped to a vertical state.

[0060] The lifting mechanism is used for preliminary leveling of the assembly platform and height adjustment of the solar wing hanging center;

[0061] The omnidirectional mobile chassis provides a connecting bracket for the flip mechanism and the assembly platform, provides omnidirectional movement and navigation and positioning functions for the entire device, and the running wheel system is equipped with a shock absorption function to ensure that various needs in actual production are met.

[0062] Preferably, the omnidirectional mobile chassis includes a chassis frame 101, an omnidirectional traveling wheel system 102, and a chassis shell 104;

[0063] The omnidirectional running wheel train 102 is installed at the bottom of the chassis frame 101; the chassis shell 104 covers the outside of the chassis frame 101, and the omnidirectional running wheel train 102 is used to realize the omnidirectional movement of the device and provide a shock absorbing function for the device.

[0064] Preferably, the assembly platform comprises an assembly platform skeleton 301, M assembly platform mounting plates 302 and N sets of assembly platform support structures 105, where M and N are greater than or equal to 1;

[0065] The assembly platform mounting plate 302 is installed on the assembly platform frame 301 and spliced ​​into the shape of the solar wing to be assembled;

[0066] The N groups of assembly platform support structures 105 jointly support the assembly platform skeleton 301 to ensure the rigidity of the assembly platform skeleton 301 in a horizontal state.

[0067] The purpose of the assembly platform mounting plate is to provide an installation base for the solar wing mounting seat and to provide multiple installation interfaces to ensure that the device can adapt to the assembly requirements of solar wings of various specifications.

[0068] Preferably, a plurality of fixed pressing seats 303 and a plurality of floating pressing seats 304 are arranged on the assembly platform mounting plate 302;

[0069] The fixed pressing seat 303 is used to cooperate with the pressing holes of the inner plate of the solar wing to realize the positioning of the pressing holes at the same position on each solar wing base plate, press the solar wing onto the assembly platform mounting plate 302, and provide fixed position support for the solar wing assembly.

[0070] The floating clamping seat 304 also provides support for the assembly of the solar wing, and reserves adaptive adjustment amounts of appropriate stiffness in the X and Y directions to meet the functional requirements of plane fine-tuning during the assembly of the solar wing. The floating clamping seat 304 is connected to the assembly platform mounting plate 302 through a cross slide, and reserves two degrees of freedom in two directions to cooperate with the clamping holes at different positions on the solar wing substrate to achieve the positioning of different models of solar wing inner panels. The floating clamping seat 304 takes into account the clamping hole errors and the different clamping hole positions of different models. The remaining clamping seats reserve two degrees of freedom in two directions for fine-tuning and coordination with the remaining clamping holes of the inner plate and the clamping holes of the middle plate and outer plate, thereby achieving the positioning of the solar wing substrate on the assembly platform.

[0071] like Figure 3 As shown, the fixed pressing seat 303 includes a fixed pressing seat mounting base 303-1, a fixed pressing seat support pad 303-2, a fixed pressing seat conductor rod 303-3, and a fixed pressing seat pressing head 303-4;

[0072] A fixed pressing seat installation base 303-1, a fixed pressing seat support pad 303-2, a fixed pressing seat conductor rod 303-3, and a fixed pressing seat pressing head 303-4;

[0073] The fixed pressing seat mounting base 303-1 has one end fixedly connected to the assembly platform mounting plate 302, and the other end fixedly connected to the fixed pressing seat support pad 303-2. The fixed pressing seat support pad 303-2 is connected to the fixed pressing seat wire rod 303-3. The fixed pressing seat support pad and the pressing hole on the solar wing substrate realize precise positioning of the axial hole. The fixed pressing seat wire rod 303-3 cooperates with the fixed pressing seat pressing head 303-4 to realize quick clamping or removal through the quick release mechanism, and the pressing head realizes the pressing and fixing of the substrate.

[0074] like Figure 4 As shown, the floating pressing seat 304 includes a floating pressing seat mounting base 304-1, a floating pressing seat X-axis adjustment module 303-2, a linear guide module 304-3, a floating pressing seat support pad 304-4, a floating pressing seat wire rod 303-5, and a floating pressing seat pressing head 303-6;

[0075] One end of the floating pressing seat mounting base 304-1 is used to be fixedly connected to the assembly platform mounting plate 302, and the other end is connected to the floating pressing seat X-axis adjustment module 303-2, the floating pressing seat X-axis adjustment module 303-2 is connected to the linear guide module 304-3, the linear guide module 304-3 is fixedly connected to the floating pressing seat support pad 304-4, the floating pressing seat support pad 304-4 is fixedly connected to the floating pressing seat wire rod 303-5; the floating pressing seat wire rod 303-5 cooperates with the floating pressing seat clamping head 303-6, and realizes rapid clamping or removal through a quick release mechanism, and the clamping head is used to clamp and fix the solar wing panel;

[0076] The floating clamping seat X-adjustment module realizes flexible floating under the action of the guide rail and the spring. The floating clamping seat X-adjustment module 303-2 and the supporting pad 304-4 have adaptive adjustment amounts with appropriate stiffness in the X and Y directions, which can meet the needs of planar micro-adjustment when the solar wing is assembled and integrated in the horizontal state.

[0077] The assembly platform mounting plate 302 is processed with multiple sets of mounting interfaces in combination with the position and size of the clamping holes of solar wings of different specifications. The automated assembly integration requirements of solar wings of different specifications can be met by replacing the positions of the mounting base 303-1 of the fixed clamping seat 303 and the mounting base 304-1 of the floating clamping seat 304.

[0078] Preferably, the fixed clamping seat conductor rod 303-3 and the fixed clamping seat clamping head 303-4, the floating clamping seat conductor rod 303-5 and the floating clamping seat clamping head 303-6 are positioned through an annular slide groove, inserted and rotated 90 degrees to achieve clamping. The slide groove has a certain slope to achieve pre-loaded force. At the same time, the guide rod and the clamping head can be quickly disassembled, which can greatly shorten the time for fixing and disassembling the solar wing and improve the efficiency of assembly and integration.

[0079] The fixed hold-down mounting base provides a standard interface consistent with the floating hold-down base.

[0080] Preferably, the flipping mechanism includes a flipping drive mechanism 201, a flipping translation slider 202, a flipping hinge 203 and a connecting rod 204. The purpose of the flipping mechanism is to drive the crank slider mechanism through a servo motor to achieve the flipping adjustment function requirement of the assembly platform from a horizontal state to a vertical state.

[0081] One end of the connecting rod 204 is connected to the edge of the long side of the chassis frame through the flip hinge 203, and the other end is connected to the middle of the supporting platform frame 301 through the flip hinge 203;

[0082] The purpose of the assembly platform skeleton is to provide a connecting bracket for the solar wing assembly. It is connected to the omnidirectional mobile platform through flip hinges and connecting rods to provide a foundation for the solar wing installation.

[0083] One side of the assembly platform frame 301 is also connected to the flip translation slider 202 through a flip hinge 203. The flip drive mechanism 201 drives the flip translation slider 202 to translate along the short side of the chassis frame to achieve flip switching of the assembly platform frame 301 from a horizontal state to a vertical state.

[0084] Preferably, the flip driving mechanism 201 includes a servo motor and a ball screw;

[0085] The servo motor drives the ball screw to rotate, and the ball screw drives the flipping and translating slider 202 to move.

[0086] The flip limit structure 106 can provide mechanical limit when the flip translation slider 202 moves horizontally to the extreme position, ensuring that the assembly platform frame 301 flips to a 90° vertical state and is locked in the current position, thereby meeting the solar wing hoisting requirements and providing installation guarantees for the hanging process.

[0087] The flip drive mechanism 201 uses a servo motor to drive the ball screw to rotate, driving the flip translation slider 202 to move horizontally, and through the cooperation of the flip hinge 203 and the connecting rod 204, jointly push the assembly platform frame 301 to flip, thereby realizing the posture change of the solar wing from a horizontal state to a vertical state.

[0088] The purpose of the jacking mechanism is to achieve the functional requirements of preliminary leveling of the assembly platform in a horizontal state and adjustment of the height of the solar wing hanging center. Preferably, there are three jacking mechanisms 103, which are located at the bottom of the device chassis and are arranged in an isosceles right triangle;

[0089] The lifting mechanism 103 cooperates with each other to realize the synchronous lifting and lowering adjustment of the omnidirectional mobile chassis frame 101 under the unified control of the control program, thereby realizing the adjustment requirement of the center height when the solar wing is hung.

[0090] Through the coordinated cooperation of three or more lifting mechanisms 103, the leveling of the omnidirectional mobile chassis skeleton 101 can be achieved under the unified control of the control program, so that the support pad 303-2 of the fixed clamping seat 303 and the support pad 304-4 of the floating clamping seat 304 are in the same plane in a horizontal state, so as to ensure the assembly accuracy requirements of the solar wing.

[0091] Through the coordinated cooperation of three or more lifting mechanisms 103, the synchronous lifting and lowering adjustment of the omnidirectional mobile chassis frame 101 can be achieved under the unified control of the control program, thereby realizing the adjustment requirement of the center height when the solar wing is suspended.

[0092] By using three or more assembly platform support structures 105 to jointly support the assembly platform skeleton 301, its rigidity in a horizontal state can be ensured, thereby ensuring the requirements for solar wing assembly accuracy and consistency.

[0093] Preferably, the above-mentioned automated assembly integrated device suitable for solar wings further includes an angle detection sensor 302 for measuring the tilt angle of the assembly platform skeleton 301 .

[0094] Another technical solution of the present invention is: an automated assembly integration method applicable to solar wings, the method comprising the following steps:

[0095] S1. High-precision parking is performed at a specific position under the action of the omnidirectional running wheel system 102;

[0096] S2, after the automated assembly integrated device moves to the designated position, the horizontal flip is completed by controlling the flip driving mechanism 201 and with the cooperation of the flip limiting structure 106, the flip translation slider 202, the flip hinge 203, the connecting rod 204, etc.;

[0097] S3, the automated assembly integrated device in a horizontal state manually places the solar wing to be assembled on the platform, and then manually operates the fixed pressing seat 303 and the floating pressing seat 305 to complete the pressing of the solar wing, and starts the manual assembly of the solar wing;

[0098] S4, the assembled solar wing is moved to the next station with the omnidirectional travel wheel system 102;

[0099] S5, the assembly platform frame 301 carrying the assembly platform mounting plate 302 is turned over by 0-90 degrees through the control system;

[0100] S6, after the device is turned over, the lifting mechanism 103 is controlled to make the solar wing rise and fall in the vertical direction to meet the needs of subsequent processes;

[0101] S7, after all the processes are completed, control the flip driving mechanism 201 to flip the assembly platform frame 301 by 90° to 0°;

[0102] S8. Move to the designated position under the action of the omnidirectional running wheel train 102 to start the next process.

[0103] In summary, the present invention provides an automated assembly integration device suitable for solar wings. Through the reasonable design and layout of the omnidirectional mobile chassis, the flip mechanism, and the assembly platform, the assembly process of the solar wing can be completed in a horizontal fixed state, ensuring that the solar wing assembly can be completed by a single person and the flatness of each wing panel meets the requirements. The flip mechanism can adjust the assembled solar wing from a horizontal state to a vertical state, and at the same time adjust the height through the lifting mechanism of the omnidirectional mobile chassis to match the deployment and hanging height requirements, so as to achieve rapid hanging. In addition, the device allows the assembly and integration of the solar wing to be free from the restrictions of the deployment equipment, and can realize the parallel assembly of the solar wing and the deployment test, thereby improving work efficiency. In summary, the device has the advantages of saving manpower, shortening working hours, and improving equipment utilization, and the device has a reasonable structure and high safety, and has important significance and application prospects.

[0104] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. An automated assembly integrated device suitable for solar wings, characterized in that Including omnidirectional mobile chassis, assembly platform, and flip limit structure; An assembly platform, located above the flip limit mechanism, is used to carry the solar panels to be assembled; Flip the limit mechanism to flip the assembly platform to a horizontal or vertical state and fix it in a limited position; The lifting mechanism is used for preliminary leveling of the assembly platform and height adjustment of the solar wing hanging center; The omnidirectional mobile chassis provides a connecting bracket for the flip mechanism and the assembly platform, provides omnidirectional movement and navigation and positioning functions for the entire device, and the walking wheel system is equipped with a shock absorption function.

2. The automatic assembly integrated device for solar panels according to claim 1, characterized in that: The omnidirectional mobile chassis comprises a chassis frame (101), an omnidirectional running wheel system (102), and a chassis shell (104); The omnidirectional running wheel train (102) is installed at the bottom of the chassis frame (101); the chassis shell (104) is covered outside the chassis frame (101); the omnidirectional running wheel train (102) is used to realize omnidirectional movement of the device and provide a shock absorption function for the device.

3. The automatic assembly integrated device for solar panels according to claim 1, characterized in that: The assembly platform comprises an assembly platform skeleton (301), M assembly platform mounting plates (302) and N groups of assembly platform support structures (105), where M and N are greater than or equal to 1; The assembly platform mounting plate (302) is mounted on the assembly platform frame (301) and assembled into the shape of the solar wing to be assembled; N groups of assembly platform support structures (105) jointly support the assembly platform frame (301) to ensure the rigidity of the assembly platform frame (301) in a horizontal state.

4. The automatic assembly integrated device for solar panels according to claim 1, characterized in that: A plurality of fixed pressing seats (303) and a plurality of floating pressing seats (304) are arranged on the assembly platform mounting plate (302); A fixed pressing seat (303) is used to cooperate with the pressing holes of the inner plate of the solar wing to realize the positioning of the pressing holes at the same position on each solar wing base plate, and to press the solar wing onto the assembly platform mounting plate (302); The floating clamping seat (304) is connected to the assembly platform mounting plate (302) via a cross slide, and two degrees of freedom are reserved. It cooperates with clamping holes at different positions on the solar wing base plate to achieve the positioning of solar wing inner plates of different models.

5. The automatic assembly integrated device for solar panels according to claim 1, characterized in that: The fixed pressing seat (303) comprises a fixed pressing seat mounting base (303-1), a fixed pressing seat supporting cushion block (303-2), a fixed pressing seat conductor rod (303-3), and a fixed pressing seat pressing head (303-4); A fixed pressing seat installation base (303-1), a fixed pressing seat support pad (303-2), a fixed pressing seat conductor rod (303-3), and a fixed pressing seat pressing head (303-4); The fixed pressing seat mounting base (303-1) has one end fixedly connected to the assembly platform mounting plate (302), and the other end fixedly connected to the fixed pressing seat support pad (303-2), the fixed pressing seat support pad (303-2) is connected to the fixed pressing seat conductor rod (303-3), the fixed pressing seat support pad and the clamping hole on the solar wing substrate realize precise positioning of the shaft hole, the fixed pressing seat conductor rod (303-3) cooperates with the fixed pressing seat clamping head (303-4), and realizes rapid clamping or removal through a quick release mechanism, and the clamping head realizes clamping and fixing of the substrate.

6. The automatic assembly integrated device for solar panels according to claim 1, characterized in that: The floating pressing seat (304) comprises a floating pressing seat mounting base (304-1), a floating pressing seat X-axis adjustment module (303-2), a linear guide module (304-3), a floating pressing seat support pad (304-4), a floating pressing seat conductor rod (303-5), and a floating pressing seat pressing head (303-6); One end of the floating pressing seat mounting base (304-1) is used for fixed connection with the assembly platform mounting plate (302), and the other end is connected with the floating pressing seat X-direction adjustment module (303-2), the floating pressing seat X-direction adjustment module (303-2) is connected with the linear guide module (304-3), the linear guide module (304-3) is fixedly connected with the floating pressing seat support pad (304-4), and the floating pressing seat support pad (304-4) is fixedly connected with the floating pressing seat conductor rod (303-5); the floating pressing seat conductor rod (303-5) cooperates with the floating pressing seat clamping head (303-6) to realize rapid clamping or removal through a quick release mechanism, and the clamping head is used to clamp and fix the solar wing panel; The support pad and the clamping hole on the solar wing base plate realize precise positioning of the shaft hole, and the floating clamping seat X-direction adjustment module (303-2) and the support pad (304-4) have adaptive adjustment amounts with appropriate rigidity in the X and Y directions.

7. The automatic assembly integrated device for solar panels according to claim 1, characterized in that: The fixed pressing seat conductor rod (303-3) and the fixed pressing seat clamping head (303-4), the floating pressing seat conductor rod (303-5) and the floating pressing seat clamping head (303-6) are positioned through an annular slide groove, inserted and rotated 90 degrees to achieve clamping, and the slide groove has a certain slope to achieve preload.

8. The automatic assembly integrated device for solar panels according to claim 1, characterized in that: The flip mechanism comprises a flip driving mechanism (201), a flip translation slider (202), a flip hinge (203) and a connecting rod (204); One end of the connecting rod (204) is connected to the edge of the long side of the chassis frame through a flip hinge (203), and the other end is connected to the middle of the supporting platform frame (301) through a flip hinge (203); One of the side edges of the assembly platform frame (301) is also connected to a flip translation slider (202) via a flip hinge (203), and the flip driving mechanism (201) drives the flip translation slider (202) to translate along the short side of the chassis frame, thereby realizing the flip switching of the assembly platform frame (301) from a horizontal state to a vertical state.

9. The automatic assembly integrated device for solar panels according to claim 2, characterized in that: The flipping drive mechanism (201) comprises a servo motor and a ball screw; The servo motor drives the ball screw to rotate, and the ball screw drives the flipping and translating slider (202) to move.

10. The automatic assembly integrated device for solar panels according to claim 1, characterized in that: There are three lifting mechanisms (103), which are located at the bottom of the device chassis and are arranged in an isosceles right triangle. The lifting mechanism (103) cooperates with each other to realize the synchronous lifting and lowering adjustment of the omnidirectional mobile chassis frame (101) under the unified control of the control program, thereby realizing the adjustment requirement of the center height when the solar wing is suspended.

11. The automatic assembly integrated device for solar panels according to claim 1, characterized in that: It also includes an angle detection sensor (302) for measuring the tilt angle of the assembly platform frame (301).

12. The automated assembly integration process applicable to solar panels according to claim 1, characterized in that: The steps include: S1, parking the vehicle at a specific position with high precision under the action of the omnidirectional running wheel system (102); S2, after the automated assembly integrated device moves to a designated position, the assembly platform frame (301) is horizontally flipped by controlling the flip driving mechanism (201); S3, the automated assembly integrated device in a horizontal state manually places the solar wing to be assembled on the platform, then completes the pressing of the solar wing, and starts the manual assembly of the solar wing; S4, the assembled solar wing is moved to the next workstation with the omnidirectional walking wheel system (102); S5, using the control system to make the assembly platform frame (301) carrying the assembly platform mounting plate (302) complete a 0-90 degree flip; S6, after the device is turned over, the lifting mechanism (103) is controlled to make the solar wing rise and fall in the vertical direction to meet the requirements of subsequent processes; S7, after all the processes are completed, controlling the flipping driving mechanism (201) to flip the assembly platform frame (301) by 90° to 0°; S8. Move to a designated position under the action of the omnidirectional running wheel train (102) to start the next process.

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