Fixed-wing unmanned aerial vehicle assembly equipment easy to quickly assemble and production method

Abstract

The invention provides fixed-wing unmanned aerial vehicle assembly equipment easy to assemble quickly and a production method, and belongs to the technical field of unmanned aerial vehicle production. The driving mechanism comprises a bearing plate and a transmission rod installed on the bearing plate through a bearing, the transmission rod is horizontally arranged in the left-right direction, and a driving motor used for driving the transmission rod to rotate is further fixedly installed on the bearing plate; the driving mechanism is arranged to drive the two screw mounting mechanisms to operate synchronously, so that the two symmetrical bolt connecting point positions have good consistency, on one hand, two screws can be assembled at a time in the assembling stage, and the assembling time is shortened; and on the other hand, in the quality inspection stage, only the screws on one side of the unmanned aerial vehicle need to be detected, the quality inspection time is shortened, and therefore the production process of the fixed-wing unmanned aerial vehicle is optimized, and the production efficiency of the fixed-wing unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle production, and in particular to an assembly device and a production method for a fixed-wing unmanned aerial vehicle that is easy to assemble quickly. Background Art

[0002] The main feature of fixed-wing drones is that they use fixed-wing design, similar to traditional aircraft. Unlike rotary-wing drones, fixed-wing drones rely on the lift generated by the wings to maintain flight and provide forward momentum through the propulsion system. This design gives fixed-wing drones obvious advantages in flight speed, range and endurance.

[0003] In terms of production and assembly, fixed-wing UAVs have more independent parts, such as wings, tail wings, landing gear, etc. The production and assembly of fixed-wing UAVs requires higher precision and is more complicated.

[0004] During the production process of fixed-wing UAVs, a large number of screw connectors are used, such as the connection between the upper and lower shells of the fuselage, the connection of the wings, the connection of the propellers, etc. This requires ensuring the firmness and consistency of each connection point to prevent damage caused by loose or over-tightened screws. Loose screws can easily lead to unstable connections between components, while over-tightened screws may damage threaded holes and components.

[0005] At present, in the assembly process, the corresponding parts to be connected are first fixed on the assembly table by manual or mechanical arms. The assembly table has a positioning structure to ensure the accurate installation position of the parts. Then, the screw installation mechanism is used. After the screw installation mechanism grabs the screws from the screw feeding mechanism, the screw installation mechanism moves to the top of the assembly table and installs the screws in turn. A torque sensor is installed inside the screw installation mechanism to control the error within a certain range.

[0006] The above assembly method can basically ensure the firmness and consistency of the screws at the connection points, but some problems were also found during the production process.

[0007] First, due to the large number of screws to be installed, the screws are assembled one by one, resulting in a relatively low efficiency of the assembly process. In order to solve this problem, there is also a method in the prior art to improve the assembly efficiency by increasing the number of screw installation mechanisms. However, during the test process, it was found that the screw installation mechanism contains many parts such as displacement components, drive components, sensors, etc. Although the same components have the same model, there are certain errors, resulting in different precision deviations in the use of two or more groups of screw installation mechanisms, so they need to be calibrated one by one. In addition, in order to ensure the consistency of each mechanism, the subsequent calibration frequency is also relatively high.

[0008] Secondly, in order to reduce the problem of screw firmness and consistency, as well as the possible error of the torque sensor, each screw of the fuselage will be checked in the subsequent quality inspection step. This quality inspection step alone will waste a lot of time, which will reduce the overall assembly efficiency of the drone. Summary of the invention

[0009] The present invention provides a fixed-wing unmanned aerial vehicle assembly device and a production method that are easy to assemble quickly, so as to solve the technical problems in the prior art.

[0010] In order to solve the above problems, the fixed-wing UAV assembly equipment provided by the present invention that is easy to assemble quickly adopts the following technical solutions:

[0011] Includes load-bearing frame;

[0012] A driving mechanism, the driving mechanism comprising a load-bearing plate and a transmission rod mounted on the load-bearing plate through a bearing, the transmission rod being arranged horizontally in the left-right direction, and a driving motor for driving the transmission rod to rotate being fixedly mounted on the load-bearing plate;

[0013] Two sets of screw mounting mechanisms, the screw mounting mechanisms include mounting boxes, a worm arranged in the left and right directions is mounted in the mounting box through a bearing, the worm is a hollow structure, the worm is sleeved on the transmission rod so that the worm can slide along the length direction of the transmission rod, the transmission rod is provided with a slide groove extending along its length direction, and the inner side wall of the worm is provided with a rotation-stopping block cooperating with the slide groove;

[0014] A transmission shaft arranged in the up-down direction is also installed in the installation box through a bearing, a turbine meshing with the worm is fixedly installed on the transmission shaft, the transmission shaft extends downward out of the installation box and is fixedly connected to the torque sensor, a screwdriver is fixedly connected below the torque sensor, and a magnetic sleeve is provided on the outside of the screwdriver for providing magnetic force to the screwdriver;

[0015] A translation mechanism, which is installed on the load-bearing plate, and is used to drive the two screw installation mechanisms to move;

[0016] The lifting mechanism is fixedly installed on the load-bearing plate, and the lifting mechanism is fixedly connected to the load-bearing plate.

[0017] As a further improvement, a protective tube is further provided on the outside of the screwdriver, the top of the protective tube is fixedly connected to the installation box, and the bottom of the protective tube is fixedly connected to the magnetic sleeve.

[0018] As a further improvement, the translation mechanism includes a protective shell fixedly mounted on the load-bearing plate, a bidirectional lead screw arranged along the left and right directions is installed in the protective shell through a bearing, a nut block is threadedly connected to the bidirectional lead screw, the nut block is fixedly connected to the corresponding screw mounting mechanism through a connecting block, and the protective shell is provided with a through hole for the connecting block to pass through.

[0019] As a further improvement, a transverse guide rail is fixedly mounted on the protective shell, and the transverse guide rail is slidably connected to the connecting block.

[0020] As a further improvement, a simulation installation mechanism is further provided between the two screw installation mechanisms, the structure of the simulation installation mechanism is the same as that of the screw installation mechanism, the screwdriver length of the simulation installation mechanism is shorter than that of the screwdriver of the screw installation mechanism, and a test screw is fixedly connected to the bottom of the screwdriver of the simulation installation mechanism;

[0021] A pressure detection mechanism for testing the screw pressure is provided below the simulated installation mechanism.

[0022] As a further improvement, the pressure detection mechanism includes a detection structure and a compensation structure fixedly installed under the load-bearing plate for adjusting the position of the detection structure. The detection structure includes a test block, which is provided with a threaded hole that cooperates with the test screw, and the threaded hole is provided with an annular pressure sensor for detecting the pressure of the test screw.

[0023] As a further improvement, a connecting plate is detachably connected above the test block, the connecting plate is detachably connected to the compensation structure, an avoidance hole is opened on the connecting plate for the test screw to pass through, the annular pressure sensor is arranged in the avoidance hole, and an annular gasket is provided above the annular pressure sensor.

[0024] As a further improvement, the compensation structure is a telescopic electric cylinder.

[0025] The present invention also provides a method for producing a fixed-wing UAV that is easy to assemble quickly, using the above-mentioned fixed-wing UAV assembly equipment that is easy to assemble quickly, comprising the following steps:

[0026] S1. Install the vertical take-off and landing assembly, fuselage and wing on the external assembly table manually or by a robotic arm, and perform preliminary fixation of the above components by means of a rotary clamping cylinder on the assembly table;

[0027] S2, the external sliding mechanism drives the load-bearing frame to move above the external screw feeding mechanism, the lifting mechanism drives the screw installation mechanism to descend to grab the screws, the sliding mechanism drives the load-bearing frame to reset to above the assembly table, the lifting mechanism drives the screw installation mechanism to descend to the corresponding connection point, the driving mechanism drives the worm gear to rotate, drives the screwdriver to rotate, and at the same time the lifting mechanism drives the screw installation mechanism to continue to descend to assemble the screws; when the torque sensor detects that the torque reaches the set value, the driving mechanism stops rotating;

[0028] S3, while the screws are being assembled, the driving mechanism drives the simulated installation mechanism to operate, and the test screws are assembled into the test block of the detection structure. When the driving mechanism stops operating, the external control system records the pressure value of the annular pressure sensor;

[0029] S4, the lifting mechanism drives the screw installation mechanism to rise, and the screwdriver is separated from the screw. At the same time, the compensation structure drives the detection structure to rise, and the rising stroke of the lifting mechanism is the same as the rising stroke of the compensation structure;

[0030] S5, the driving mechanism drives the worm to rotate in the opposite direction, and at the same time the lifting mechanism continues to drive the load-bearing plate to rise, so that the test screw is separated from the test block;

[0031] S6. Repeat steps S2-S5, and adjust the spacing between the two sets of screw installation mechanisms, the lowering height of the lifting mechanism and the compensation height of the compensation structure through the translation mechanism according to the position of the connection point, until all the screws are installed.

[0032] The beneficial effects of the above technical solution of the present invention are as follows:

[0033] 1. The present invention drives two screw installation mechanisms to operate synchronously by setting a driving mechanism, so that the two symmetrical bolt connection points have good consistency. On the one hand, in the assembly stage, two screws can be assembled at one time, shortening the assembly time; on the other hand, in the quality inspection stage, only the screws on one side of the UAV need to be inspected, shortening the quality inspection time, thereby optimizing the production process of the fixed-wing UAV and improving the production efficiency of the fixed-wing UAV.

[0034] 2. The present invention provides a simulated installation mechanism and a pressure detection mechanism. The simulated installation mechanism can ensure that the feeding depth, force and other data of the test screws are consistent with those of ordinary screws. The detection structure is provided with an annular pressure sensor. When the pressure value of the test screw is measured, the installation tightness of the corresponding two screws can be determined.

[0035] The torque sensor and the annular pressure sensor are used together to determine whether the screw installation is qualified, thereby improving the yield rate of screw assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0037] Figure 1 This is a schematic diagram of the structure of the fixed-wing UAV of the present invention;

[0038] Figure 2This is a schematic diagram of the structure of the fixed-wing UAV assembly equipment that is easy to assemble quickly according to the present invention;

[0039] Figure 3 It is a schematic diagram of the structure of the driving mechanism of the fixed-wing UAV assembly equipment that is easy to assemble quickly according to the present invention;

[0040] Figure 4 It is a structural schematic diagram of the translation mechanism of the fixed-wing UAV assembly equipment that is easy to assemble quickly and easily according to the present invention;

[0041] Figure 5 It is a schematic diagram of the main structure inside the installation box of the fixed-wing UAV assembly equipment that is easy to assemble quickly according to the present invention;

[0042] Figure 6 It is a schematic diagram of the top view of the structure inside the installation box of the fixed-wing UAV assembly equipment that is easy to assemble quickly according to the present invention;

[0043] Figure 7 It is a structural schematic diagram of a screw installation mechanism of a fixed-wing UAV assembly device that is easy to assemble quickly and easily according to the present invention;

[0044] Figure 8 A cross-sectional view of a transmission rod of an assembly device for a fixed-wing UAV that is easy to assemble quickly according to the present invention;

[0045] Fig. 9 The present invention is a schematic structural diagram of a pressure detection mechanism of an easy and quick-assembled fixed-wing UAV assembly device.

[0046] Description of reference numerals:

[0047] 100, load-bearing frame; 110, vertical guide rail; 200, driving mechanism; 210, driving motor; 220, load-bearing plate; 230, transmission rod; 300, translation mechanism; 310, translation motor; 320, protective shell; 330, transverse guide rail; 340, connecting block; 350, bidirectional lead screw; 360, nut block; 400, lifting mechanism; 500, screw installation mechanism; 510, transmission structure; 511, installation box; 512, worm; 5 13. Worm gear; 514. Drive shaft; 515. Stop block; 520. Protective sleeve; 530. Magnetic sleeve; 540. Screwdriver; 550. Torque sensor; 600. Simulation installation mechanism; 610. Test screw; 700. Pressure detection mechanism; 710. Compensation structure; 720. Detection structure; 721. Test block; 722. Threaded hole; 723. Connecting plate; 724. Mounting slot; 725. Annular pressure sensor; 726. Annular gasket. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Those skilled in the art should know that the embodiments described below are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0049] In the prior art, during the final assembly of the fixed-wing UAV, the screws are installed one by one in a diagonal installation manner, that is, the screws are installed starting from two diagonal angles and then all the screws are installed in sequence. This installation method is relatively simple and stable, but since the screws are installed one by one, the installation efficiency is relatively low.

[0050] Subsequently, we designed two sets of independent screw installation mechanisms to cooperate with the assembly screws, which significantly improved the assembly efficiency, but also created new problems. Although the two sets of screw installation mechanisms used the same parts model, there were precision errors in the parts and sensors, and the equipment calibration was relatively more frequent, and the consistency of the screws in each position was difficult to ensure.

[0051] For example, if any screw installation mechanism has an accuracy error, resulting in a screw position offset or angle offset, it is easy to cause the screw to be installed at an angle. At this time, the tightening force applied by the screw installation mechanism will be decomposed into two forces: one along the axis of the screw and the other perpendicular to the axis of the screw. Only the force along the axis of the screw will produce an effective preload on the screw, while the vertical force component will cause the screw to be subjected to lateral force, increasing the friction resistance but not increasing the preload. Therefore, the actual effective torque achieved will be smaller than expected. At this time, the torque sensor will show that the screw torque has reached the set torque, but the screw has not been effectively installed at the corresponding connection point.

[0052] In view of the above problems, the present invention has made the following improvements.

[0053] The inventive concept of the present invention is: First, we noticed that in the final assembly stage of the fixed-wing UAV, the main screw connection points are symmetrically distributed, so we assemble the screws by synchronously installing them on both sides of the UAV, and use a bidirectional lead screw to ensure the precise adjustment of the spacing between the two screw installation mechanisms.

[0054] Secondly, the screw installation mechanism is adjusted to share a power system, and the screwdriver rotation parameters of the two sets of screw installation mechanisms remain consistent. While improving the assembly efficiency, it ensures that the two symmetrical connection points have good consistency. In this way, in the quality inspection process, only the connection points on one side of the fixed-wing UAV need to be tested, thereby shortening the time for both the assembly and quality inspection processes.

[0055] Finally, a simulation installation mechanism is set between the two sets of screw installation mechanisms. Both the simulation installation mechanism and the screw installation mechanism are powered by a driving mechanism, and the position of the test block is adjusted through a compensation structure so that the spacing between the simulation installation mechanism and the test block corresponds to the spacing between the screw installation mechanism and the corresponding connection point, so that the test screw of the simulation installation mechanism can simulate the state of an ordinary screw. When the torque sensor detects that the torque reaches the set value, the annular pressure sensor records the pressure of the test screw. If the detected pressure value exceeds the set interval, it indicates that there may be a problem with the screw installation. In this way, the torque sensor and the annular pressure sensor are used to jointly determine whether the screw is installed in place, thereby improving the yield rate of screw installation in assembly.

[0056] The basic principle of the present invention is:

[0057] The load-bearing frame is installed on the external sliding mechanism, which can drive the load-bearing frame to move forward and backward. When assembling the fixed-wing UAV, the load-bearing frame moves to the top of the external screw feeding mechanism. After grabbing the screws, the load-bearing frame moves to the top of the external assembly table. At the same time, the translation mechanism adjusts the distance between the two screw installation mechanisms so that the screwdriver is located directly above the corresponding connection point. The lifting mechanism and the driving mechanism cooperate to drive the screw installation mechanism to install the screws. During the screw assembly process, the power and stroke of the simulated installation mechanism are the same as those of the screw installation mechanism. By testing the screws, the pressure data of the corresponding bolts can be obtained, and then the situation of each connection point can be comprehensively judged.

[0058] After introducing the basic principle of the present invention, various non-limiting embodiments of the present invention are described in detail below. The number of any element in the drawings is for illustration and not for limitation, and any naming is only for distinction and does not have any limiting meaning.

[0059] The principle and spirit of the present invention are explained in detail below with reference to several representative embodiments of the present invention.

[0060] Embodiment 1 of the fixed-wing UAV assembly equipment provided by the present invention that is easy to assemble quickly:

[0061] like Figure 1-Figure 9 As shown, it includes a load-bearing frame 100, a driving mechanism 200 installed on the load-bearing frame 100, two sets of screw installation mechanisms 500 for assembling screws, a translation mechanism 300 for adjusting the positions of the two screw installation mechanisms 500, and a lifting mechanism 400 for controlling the overall lifting of the screw installation mechanisms 500;

[0062] The load-bearing frame 100 is installed on an external sliding mechanism, and is mainly used to install mechanisms or components such as a lifting mechanism 400 and a driving mechanism 200.

[0063] like Figure 2 and Figure 3As shown, the driving mechanism 200 includes a load-bearing plate 220 and a transmission rod 230 mounted on the load-bearing plate 220 through a bearing. The transmission rod 230 is horizontally arranged in the left-right direction. A driving motor 210 for driving the transmission rod 230 to rotate is also fixedly mounted on the load-bearing plate 220. In this embodiment, the driving motor 210 and the translation motor 310 described below are both servo motors, and the servo motor is connected to a servo motor reducer. Figure 8 As mentioned above, a sliding groove is also provided on the outer side of the transmission rod 230 along its length direction.

[0064] like Figure 2 , 3 As shown in Figures 5, 6 and 7, the screw installation mechanism 500 includes a mounting box 511, in which a worm 512 arranged along the left and right directions is installed through a bearing in the mounting box 511, and the worm 512 is a hollow structure. The worm 512 is sleeved on the transmission rod 230, so that the worm 512 can slide along the length direction of the transmission rod 230, and the inner side wall of the worm 512 is provided with a stop block 515 that cooperates with the slide groove; this structure can satisfy that two groups of screw installation mechanisms 500 share the driving mechanism 200, so that the installation states of the two symmetrical screws are consistent. While speeding up the assembly efficiency, it is only necessary to check the screws on one side of the fixed-wing UAV during quality inspection, which optimizes the quality inspection process and reduces the quality inspection time.

[0065] A transmission shaft 514 arranged in the up and down directions is also installed in the installation box 511 through a bearing, and a turbine meshing with the worm 512 is fixedly installed on the transmission shaft 514. The transmission shaft 514 extends downward from the installation box 511 and is fixedly connected to the torque sensor 550. A screwdriver 540 is fixedly connected below the torque sensor 550. A protective sleeve 520 is also provided on the outside of the screwdriver 540. The top of the protective sleeve 520 is fixedly connected to the installation box 511, and the bottom of the protective sleeve 520 is fixedly connected to the magnetic sleeve 530. The magnetic sleeve 530 is used to provide magnetic force for the screwdriver 540. In this embodiment, the magnetic sleeve 530 is an electromagnetic magnetic sleeve 530, which is convenient for controlling the magnetic force. In other embodiments, a permanent magnetic sleeve 530 can also be used.

[0066] The torque sensor 550, magnetic sleeve 530, screwdriver 540, etc. are existing technologies, and their structures are not described here. The principle of screw grabbing is that when grabbing the screw, the magnetic sleeve 530 is energized to generate magnetic force, and at the same time, the screwdriver 540 also generates magnetic force to attract the screw. After the screw is installed, the magnetic sleeve 530 is powered off and the magnetic force disappears.

[0067] like Figure 2-4 As shown, the translation mechanism 300 is installed on the load-bearing plate 220, and the translation mechanism 300 is used to drive the two screw installation mechanisms 500 to move;

[0068] The translation mechanism 300 includes a protective shell 320 fixedly mounted on the load-bearing plate 220, a bidirectional lead screw 350 arranged in the left and right directions is installed in the protective shell 320 through a bearing, a nut block 360 is threadedly connected to the bidirectional lead screw 350, and the nut block 360 is fixedly connected to the corresponding screw mounting mechanism 500 through the connecting block 340. The protective shell 320 is provided with a through hole for the connecting block 340 to pass through, and the through hole is a rectangular through hole. In this embodiment, the through hole is provided on the front side of the protective shell 320, and in other embodiments, the through hole can also be provided at the bottom of the protective shell 320.

[0069] like Figure 1 As shown, Figure 1 is a schematic diagram of a certain type of fixed-wing UAV. Figure 1 It can be seen that the connection points are mostly symmetrically arranged (the connection points are threaded holes on the fixed-wing UAV). Therefore, through the bidirectional lead screw 350 structure, the two screw mounting mechanisms 500 can be better controlled to move to the preset position.

[0070] A transverse guide rail 330 is also fixedly mounted on the protective shell 320, and the transverse guide rail 330 is slidably connected to the connecting block 340. The transverse guide rail 330 is mainly used to improve the displacement accuracy and reduce the error deviation of the screw installation mechanism 500.

[0071] like Figure 2 , 3 As shown in , 9, a simulation installation mechanism 600 is also provided between the two screw installation mechanisms 500. The structure of the simulation installation mechanism 600 is the same as that of the screw installation mechanism 500. The length of the screwdriver 540 of the simulation installation mechanism 600 is shorter than the length of the screwdriver 540 of the screw installation mechanism 500. After the length of the screwdriver 540 of the simulation installation mechanism 600 is shortened, damage to the fuselage of the drone can be avoided. A test screw 610 is fixedly connected to the bottom of the screwdriver 540 of the simulation installation mechanism 600; the test screw 610 is fixed to the bottom of the screwdriver 540 of the simulation installation mechanism 600 through the magnetic sleeve 530 of the simulation installation mechanism 600, so as to facilitate regular replacement of a new test screw 610 to reduce test errors. In other embodiments, other detachable connections may also be used, such as glue or other fasteners.

[0072] like Figure 2 and Fig. 9 As shown, a pressure detection mechanism 700 for testing the pressure of the screw 610 is provided below the simulation installation mechanism 600. The pressure detection mechanism 700 includes a detection structure 720 and a compensation structure 710 fixedly installed below the load-bearing plate 220 for adjusting the position of the detection structure 720. The detection structure 720 includes a test block 721. The test block 721 is provided with a threaded hole 722 that cooperates with the test screw 610. The threaded hole 722 is provided with an annular pressure sensor 725 for detecting the pressure of the test screw 610.

[0073] A connecting plate 723 is detachably connected above the test block 721. In this embodiment, the test block 721 is connected to the connecting plate 723 by screws or bolts. Since the threaded hole 722 of the test block 721 will wear out after a period of use, the detachable connection facilitates the replacement of the test block 721. The connecting plate 723 is detachably connected to the compensation structure 710. A avoidance hole is provided on the connecting plate 723 for the test screw 610 to pass through. The annular pressure sensor 725 is arranged in the avoidance hole. An annular gasket 726 is provided above the annular pressure sensor 725. The annular gasket 726 is used to transmit the pressure of the screw. In this embodiment, the compensation structure 710 is a telescopic electric cylinder.

[0074] like Figure 2 As shown, the lifting mechanism 400 is fixedly mounted on the load-bearing plate 220, and the lifting mechanism 400 is fixedly connected to the load-bearing plate 220. The load-bearing plate 220 is also provided with a vertical guide rail 110 that matches the load-bearing plate 220.

[0075] This embodiment also provides a method for producing a fixed-wing UAV that is easy to assemble quickly, using the above-mentioned fixed-wing UAV assembly equipment that is easy to assemble quickly, and includes the following steps:

[0076] S1. Install the vertical take-off and landing assembly, fuselage and wing on the external assembly table manually or by a robotic arm, and perform preliminary fixation of the above components by means of a rotary clamping cylinder on the assembly table;

[0077] In this embodiment, the method of assembling the components first and then assembling the components into a fixed-wing UAV is adopted. For example, the vertical take-off and landing component is first assembled on other assembly equipment, and the motor component is fixed to the front and rear ends of the connecting rod. After the assembly of the vertical take-off and landing component is completed, the vertical take-off and landing component is placed on the assembly table; a positioning structure (positioning pins and positioning holes) is provided between the vertical take-off and landing component and the fuselage to prevent the displacement of parts during the assembly process; the fuselage is first assembled with circuit boards, sensors and other parts on the lower shell of the fuselage, and then the assembled lower shell and upper shell are placed on the assembly table in sequence. Step S1 is all prior art, and the present invention does not improve the above method, parts or assembly table, etc., which will not be repeated here.

[0078] S2. The external sliding mechanism drives the load-bearing frame 100 to move above the external screw feeding mechanism. The sliding mechanism is mainly used to drive the load-bearing frame 100 to move forward and backward. In this embodiment, the sliding mechanism adopts a screw nut structure, which has relatively higher precision. The screw feeding mechanism is a prior art, and a suitable screw feeding mechanism can be purchased according to actual conditions; the lifting mechanism 400 drives the screw installation mechanism 500 to descend to grab the screws, and the sliding mechanism drives the load-bearing frame 100 to reset above the assembly table. The lifting mechanism 400 drives the screw installation mechanism 500 to descend to the corresponding connection point. The driving mechanism 200 drives the worm wheel 513 and the worm 512 to rotate, driving the screwdriver 540 to rotate, and at the same time, the lifting mechanism 400 drives the screw installation mechanism 500 to continue to descend to assemble the screws; when the torque sensor 550 detects that the torque reaches the set value, the driving mechanism 200 stops rotating;

[0079] S3, while the screws are being assembled, the driving mechanism 200 drives the simulated installation mechanism 600 to operate, and the test screw 610 is assembled into the test block 721 of the detection structure 720. When the driving mechanism 200 stops operating, the external control system records the pressure value of the annular pressure sensor 725;

[0080] S4, the lifting mechanism 400 drives the screw installation mechanism 500 to rise, and the screwdriver 540 is separated from the screw. At the same time, the compensation structure 710 drives the detection structure 720 to rise, and the rising stroke of the lifting mechanism 400 is the same as the rising stroke of the compensation structure 710;

[0081] The rising action of the screw installation mechanism 500 and the detection structure 720 is performed 0.5-1 seconds after the driving mechanism 200 stops running. The reason why the screw installation mechanism 500 and the detection structure 720 need to rise synchronously is that the screwdriver 540 needs to be separated from the screw, but at this time the test screw 610 and the detection structure 720 are connected together. Therefore, after the screw installation mechanism 500 and the detection structure 720 rise synchronously by 10mm, the screwdriver 540 is separated from the screw to prevent the screw on the drone from being removed when the driving mechanism 200 rotates in the opposite direction. Another function of the compensation structure 710 is to perform height compensation. When assembling a fixed-wing drone, the heights of each connection point are different. In order to ensure that when the screw contacts the connection point of the drone, the test screw 610 can also just contact the test block 721, it is necessary to compensate and adjust the height of the test block 721 to ensure that the test screw 610 can accurately simulate the stress condition of the corresponding screw.

[0082] S5, the driving mechanism 200 drives the worm 512 to rotate in the opposite direction, and at the same time, the lifting mechanism 400 continues to drive the load-bearing plate 220 to rise, so that the test screw 610 is separated from the test block 721;

[0083] S6. Repeat steps S2-S5, and adjust the distance between the two sets of screw installation mechanisms 500, the lowering height of the lifting mechanism 400 and the compensation height of the compensation structure 710 through the translation mechanism 300 according to the position of the connection point, until all the screws are installed.

[0084] Since the positions and heights of the connection points are different, in step S6, it is sufficient to adjust the front-to-back position and the left-to-right spacing of the screw mounting mechanism 500 according to the connection points.

[0085] Although this specification has shown and described a plurality of embodiments of the present invention, it is obvious to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will think of many changes, modifications and alternatives without departing from the thought and spirit of the present invention. It should be understood that in the process of practicing the present invention, various alternatives to the embodiments of the present invention described herein may be adopted. The attached claims are intended to define the scope of protection of the present invention, and therefore cover the modular composition, equivalent or alternatives within the scope of protection of these claims.

Claims

1. A fixed-wing UAV assembly device that is easy to assemble quickly, characterized in that: include: Load-bearing frame (100); A driving mechanism (200), the driving mechanism (200) comprising a load-bearing plate (220) and a transmission rod (230) mounted on the load-bearing plate (220) via a bearing, the transmission rod (230) being arranged horizontally in a left-right direction, and a driving motor (210) for driving the transmission rod (230) to rotate being fixedly mounted on the load-bearing plate (220); Two sets of screw installation mechanisms (500), the screw installation mechanisms (500) comprising an installation box (511), a worm (512) arranged in the left and right directions is installed in the installation box (511) through a bearing, the worm (512) is a hollow structure, the worm (512) is sleeved on the transmission rod (230), so that the worm (512) can slide along the length direction of the transmission rod (230), the transmission rod (230) is provided with a slide groove extending along the length direction thereof, and the inner side wall of the worm (512) is provided with a rotation-stopping block (515) cooperating with the slide groove; A transmission shaft (514) arranged in the up-down direction is also installed in the installation box (511) via a bearing, a turbine meshing with the worm (512) is fixedly installed on the transmission shaft (514), the transmission shaft (514) extends downward out of the installation box (511) and is fixedly connected to the torque sensor (550), a screwdriver (540) is fixedly connected below the torque sensor (550), and a magnetic sleeve (530) for providing magnetic force to the screwdriver (540) is provided on the outside of the screwdriver (540); A translation mechanism (300) is installed on the load-bearing plate (220), and the translation mechanism (300) is used to drive the two screw installation mechanisms (500) to move; The lifting mechanism (400) is fixedly mounted on the load-bearing plate (220), and the lifting mechanism (400) is fixedly connected to the load-bearing plate (220).

2. The fixed-wing UAV assembly equipment that is easy to assemble quickly according to claim 1 is characterized in that: A protective tube (520) is also provided on the outside of the screwdriver (540), the top of the protective tube (520) is fixedly connected to the installation box (511), and the bottom of the protective tube (520) is fixedly connected to the magnetic sleeve (530).

3. The fixed-wing UAV assembly equipment that is easy to assemble quickly according to claim 1 is characterized in that: The translation mechanism (300) comprises a protective shell (320) fixedly mounted on a load-bearing plate (220), a bidirectional lead screw (350) arranged in a left-right direction is mounted in the protective shell (320) via a bearing, a nut block (360) is threadedly connected to the bidirectional lead screw (350), the nut block (360) is fixedly connected to a corresponding screw mounting mechanism (500) via a connecting block (340), and a through hole is provided in the protective shell (320) for the connecting block (340) to pass through.

4. The fixed-wing UAV assembly equipment that is easy to assemble quickly according to claim 3 is characterized in that: A transverse guide rail (330) is also fixedly mounted on the protective shell (320), and the transverse guide rail (330) is slidably connected to the connecting block (340).

5. The fixed-wing UAV assembly equipment that is easy to assemble quickly according to claim 1 is characterized in that: A simulation installation mechanism (600) is also provided between the two screw installation mechanisms (500); the structure of the simulation installation mechanism (600) is the same as that of the screw installation mechanism (500); the length of the screwdriver (540) of the simulation installation mechanism (600) is shorter than the length of the screwdriver (540) of the screw installation mechanism (500); and a test screw (610) is fixedly connected to the bottom of the screwdriver (540) of the simulation installation mechanism (600); A pressure detection mechanism (700) for testing the pressure of the screw (610) is provided below the simulated installation mechanism (600).

6. The fixed-wing UAV assembly equipment that is easy to assemble quickly according to claim 5 is characterized in that: The pressure detection mechanism (700) comprises a detection structure (720) and a compensation structure (710) fixedly installed below a load-bearing plate (220) for adjusting the position of the detection structure (720); the detection structure (720) comprises a test block (721); the test block (721) is provided with a threaded hole (722) that matches the test screw (610); and the threaded hole (722) is provided with an annular pressure sensor (725) for detecting the pressure of the test screw (610).

7. The fixed-wing UAV assembly equipment that is easy to assemble quickly according to claim 6 is characterized by: A connecting plate (723) is detachably connected to the top of the test block (721), and the connecting plate (723) is detachably connected to the compensation structure (710). An escape hole is provided on the connecting plate (723) for the test screw (610) to pass through, and the annular pressure sensor (725) is arranged in the escape hole. An annular gasket (726) is provided above the annular pressure sensor (725).

8. The fixed-wing UAV assembly equipment that is easy to assemble quickly according to claim 7 is characterized in that: The compensation structure (710) is a telescopic electric cylinder.

9. A method for producing a fixed-wing UAV that is easy to assemble quickly, using the fixed-wing UAV assembly equipment that is easy to assemble quickly according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Install the vertical take-off and landing assembly, fuselage and wing on the external assembly table manually or by a robotic arm, and perform preliminary fixation of the above components by means of a rotary clamping cylinder on the assembly table; S2, the external sliding mechanism drives the load-bearing frame (100) to move above the external screw feeding mechanism, the lifting mechanism (400) drives the screw installation mechanism (500) to descend to grab the screws, the sliding mechanism drives the load-bearing frame (100) to reset to above the assembly table, the lifting mechanism (400) drives the screw installation mechanism (500) to descend to the corresponding connection point, the driving mechanism (200) drives the worm wheel (513) and the worm (512) to rotate, drives the screwdriver (540) to rotate, and at the same time the lifting mechanism (400) drives the screw installation mechanism (500) to continue to descend, and the screws are assembled; when the torque sensor (550) detects that the torque reaches the set value, the driving mechanism (200) stops rotating; S3, while the screws are being assembled, the driving mechanism (200) drives the simulated installation mechanism (600) to operate, and the test screw (610) is assembled into the test block (721) of the detection structure (720), and when the driving mechanism (200) stops operating, the external control system records the pressure value of the annular pressure sensor (725); S4, the lifting mechanism (400) drives the screw installation mechanism (500) to rise, and the screwdriver (540) is separated from the screw. At the same time, the compensation structure (710) drives the detection structure (720) to rise, and the rising stroke of the lifting mechanism (400) is the same as the rising stroke of the compensation structure (710); S5, the driving mechanism (200) drives the worm (512) to rotate in the opposite direction, and at the same time, the lifting mechanism (400) continues to drive the load-bearing plate (220) to rise, so that the test screw (610) is separated from the test block (721); S6. Repeat steps S2-S5, and adjust the distance between the two sets of screw installation mechanisms (500), the lowering height of the lifting mechanism (400) and the compensation height of the compensation structure (710) through the translation mechanism (300) according to the position of the connection point, until all the screws are installed.

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