A fixed-wing drone assembly apparatus and method of production that is easy to quickly assemble

Abstract

The application provides a fixed-wing unmanned aerial vehicle assembling device and production method which are easy to assemble quickly and belong to the technical field of unmanned aerial vehicle production, and comprise a bearing frame, a driving mechanism, 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 along the left-right direction, and a driving motor for driving the transmission rod to rotate is also fixedly installed on the bearing plate, the driving mechanism is arranged to drive two screw mounting mechanisms to operate synchronously, the two bolt connection points which are symmetrical to each other have good consistency, on the one hand, two screws can be assembled at a time during the assembling stage, and the assembling time is shortened, on the other hand, only the screws on one side of the unmanned aerial vehicle need to be detected during the quality inspection stage, 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 application relates to the technical field of unmanned aerial vehicle production, in particular to a fixed-wing unmanned aerial vehicle assembly equipment easy to quickly assemble and a production method. BACKGROUND

[0002] The main feature of the fixed-wing unmanned aerial vehicle is that a fixed-wing design is adopted, which is similar to a traditional airplane. Unlike a rotary-wing unmanned aerial vehicle, the fixed-wing unmanned aerial vehicle relies on the lift generated by the wings to maintain flight and provides forward power through a propulsion system. This design makes the fixed-wing unmanned aerial vehicle have obvious advantages in flight speed, range and endurance time.

[0003] In terms of production and assembly, the fixed-wing unmanned aerial vehicle has more independent parts, such as wings, tail wings, landing gear and the like. The production and assembly of the fixed-wing unmanned aerial vehicle require higher precision and are more complex.

[0004] During the production process of the fixed-wing unmanned aerial vehicle, a large number of screw connecting pieces are used, such as the connection of the upper and lower housings of the machine, the connection of the wings and the connection of the propellers. Therefore, it is necessary to ensure the firmness and consistency of each connecting point to prevent damage caused by loose or tight screws. Loose screws can easily cause unstable connection of parts, and tight screws can damage the screw holes and parts.

[0005] At present, in the assembly step, the corresponding parts to be connected are first fixed on the assembly table by artificial or mechanical arm. 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 screw from the screw feeding mechanism, the screw installation mechanism moves above the assembly table and sequentially installs the screw. The screw installation mechanism is provided with a torque sensor inside, which can control the error within a certain range.

[0006] Through the above assembly method, the firmness and consistency of the connecting point screw can be basically ensured. However, some problems have also been found in the production process.

[0007] Firstly, due to the large number of screws to be installed, the screws are assembled one by one, which leads to relatively low assembly efficiency. In order to solve this problem, the prior art also has a method of increasing the number of screw installation mechanisms to improve the assembly efficiency. However, it is found in the test process that the screw installation mechanism contains many parts such as displacement components, driving components and sensors. Although the same components have the same model, there is a certain error, which leads to different precision deviations of two or more screw installation mechanisms in the cooperation process. Therefore, 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 screw firmness and consistency problems, and the error that the torque sensor may exist, the subsequent quality inspection step will check each screw of the fuselage, and the quality inspection step alone will waste a lot of time, thereby reducing the overall assembly efficiency of the unmanned aerial vehicle. SUMMARY

[0009] The present application provides a fixed-wing unmanned aerial vehicle assembly equipment and production method easy to quickly assemble to solve the technical problems in the prior art.

[0010] To solve the above problems, the fixed-wing unmanned aerial vehicle assembly equipment easy to quickly assemble provided by the present application adopts the following technical scheme:

[0011] It comprises a load-bearing frame.

[0012] The driving mechanism comprises a load-bearing plate and a transmission rod mounted on the load-bearing plate through a bearing, the transmission rod is horizontally arranged in the left-right direction, and a driving motor for driving the transmission rod to rotate is fixedly installed on the load-bearing plate.

[0013] The two groups of screw mounting mechanisms comprise mounting boxes, a worm is mounted in the mounting box through a bearing and arranged in the left-right direction, 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 sliding groove extending along the length direction thereof, and a rotation-stopping block is arranged on the inner side wall of the worm and matched with the sliding groove.

[0014] A transmission shaft is also mounted in the mounting box through a bearing and arranged in the up-down direction, a worm wheel engaged with the worm is fixedly installed on the transmission shaft, the transmission shaft extends out of the mounting box downward and is fixedly connected with a torque sensor, a screwdriver is fixedly connected below the torque sensor, and a magnetic sleeve for providing magnetic force for the screwdriver is arranged on the outer side of the screwdriver.

[0015] The translation mechanism is installed on the load-bearing plate, and the translation mechanism is used to drive the two screw mounting mechanisms to move.

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

[0017] As a further improvement, the outer side of the screwdriver is also provided with a protective cylinder, the top of the protective cylinder is fixedly connected with the mounting box, and the bottom of the protective cylinder is fixedly connected with the magnetic sleeve.

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

[0019] As a further improvement, the protective shell is further provided with a transverse guide rail fixedly installed thereon, which is in sliding connection with the connecting block.

[0020] As a further improvement, the two screw mounting mechanisms are further provided with a simulation mounting mechanism, which has the same structure as the screw mounting mechanism, the screwdriver of the simulation mounting mechanism has a shorter length than that of the screw mounting mechanism, and the bottom of the screwdriver of the simulation mounting mechanism is fixedly connected with a test screw.

[0021] The simulation mounting mechanism is provided below with a pressure detection mechanism for testing the pressure of the test screw.

[0022] As a further improvement, the pressure detection mechanism comprises a detection structure and a compensation structure fixedly installed below the load-bearing plate for adjusting the position of the detection structure, the detection structure comprises a test block, the test block is provided with a threaded hole matched 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, the test block is detachably connected with a connecting plate above, the connecting plate is detachably connected with the compensation structure, the connecting plate is provided with an avoiding hole through which the test screw passes, the annular pressure sensor is arranged in the avoiding hole, and the annular pressure sensor is provided above with an annular gasket.

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

[0025] The application further provides a fixed-wing unmanned aerial vehicle production method easy to quickly assemble, which adopts the fixed-wing unmanned aerial vehicle assembly equipment easy to quickly assemble and comprises the following steps:

[0026] S1, the vertical take-off and landing assembly, the fuselage and the wing are sequentially installed on the external assembly table by manual operation or a mechanical arm, and the above-mentioned parts are preliminarily fixed by the 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 mounting mechanism to descend to grab the screw, the sliding mechanism drives the load-bearing frame to reset above the assembly table, the lifting mechanism drives the screw mounting mechanism to descend to the corresponding connecting point, the driving mechanism drives the worm gear and the worm to rotate, the screwdriver is driven to rotate, and the lifting mechanism drives the screw mounting mechanism to continue to descend for screw assembly; when the torque sensor detects that the torque reaches a set value, the driving mechanism stops rotating.

[0028] S3, while the screw assembly is in progress, the driving mechanism drives the simulated installation mechanism to operate, tests the screw assembly into the test block of the detection structure, and 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, at the same time, the compensation structure drives the detection structure to rise, and the lifting stroke of the lifting mechanism is the same as the lifting stroke of the compensation structure;

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

[0031] S6, steps S2-S5 are repeated, and according to the position of the connecting point, the distance between the two screw installation mechanisms is adjusted by the translation mechanism, and the descending height of the lifting mechanism and the compensation height of the compensation structure are adjusted until all the screws are installed.

[0032] The beneficial effects of the above technical scheme of the present application are as follows:

[0033] 1, the driving mechanism drives the two screw installation mechanisms to operate synchronously, so that the two bolt connecting points symmetrical to each other have good consistency, on the one hand, two screws can be assembled at one time during the assembly stage, and the assembly time is shortened; on the other hand, only one side of the screw of the unmanned aerial vehicle needs to be detected during the quality inspection stage, and the quality inspection time is shortened, so that 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.

[0034] 2, the simulated installation mechanism and the pressure detection mechanism are arranged, the simulated installation mechanism can ensure that the feeding depth and stress of the test screw are consistent with those of the ordinary screw, the detection structure is provided with an annular pressure sensor, and when the pressure value of the test screw is detected, the installation fastening degree of the corresponding two screws can be determined;

[0035] The torque sensor and the annular pressure sensor are used to determine whether the installation of the screw is qualified, so as to improve the yield of the screw assembly. BRIEF DESCRIPTION OF DRAWINGS

[0036] The above and other objects, features and advantages of the exemplary embodiments of the present application will be more apparent from the following detailed description read in conjunction with the accompanying drawings, in which several embodiments of the present application are shown by way of example, and wherein like or corresponding reference numerals refer to like or corresponding parts throughout several views. In the drawings:

[0037] Figure 1 It is a structural schematic view of the fixed-wing unmanned aerial vehicle of the present application;

[0038] Figure 2Structure schematic view of the fixed-wing unmanned aerial vehicle assembly equipment of the present application easy to assemble quickly;

[0039] Figure 3 Structure schematic view of the driving mechanism of the fixed-wing unmanned aerial vehicle assembly equipment of the present application easy to assemble quickly;

[0040] Figure 4 Structure schematic view of the translation mechanism of the fixed-wing unmanned aerial vehicle assembly equipment of the present application easy to assemble quickly;

[0041] Figure 5 Structure schematic view of the main view in the mounting box of the fixed-wing unmanned aerial vehicle assembly equipment of the present application easy to assemble quickly;

[0042] Figure 6 Structure schematic view of the plan view in the mounting box of the fixed-wing unmanned aerial vehicle assembly equipment of the present application easy to assemble quickly;

[0043] Figure 7 Structure schematic view of the screw mounting mechanism of the fixed-wing unmanned aerial vehicle assembly equipment of the present application easy to assemble quickly;

[0044] Figure 8 Sectional view of the transmission rod of the fixed-wing unmanned aerial vehicle assembly equipment of the present application easy to assemble quickly;

[0045] Figure 9 Structure schematic view of the pressure detection mechanism of the fixed-wing unmanned aerial vehicle assembly equipment of the present application easy to assemble quickly.

[0046] Explanation of reference signs:

[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, horizontal guide rail; 340, connecting block; 350, bidirectional screw; 360, nut block; 400, lifting mechanism; 500, screw mounting mechanism; 510, transmission structure; 511, mounting box; 512, worm; 513, worm wheel; 514, transmission shaft; 515, rotation-stopping block; 520, protective cylinder; 530, magnetic sleeve; 540, screwdriver; 550, torque sensor; 600, simulation mounting 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 groove; 725, annular pressure sensor; 726, annular gasket. DETAILED DESCRIPTION

[0048] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described, and those skilled in the art shall know that the embodiments described below are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present application.

[0049] In the prior art, the fixed-wing unmanned aerial vehicle is installed diagonally during final assembly, and screws are installed one by one, that is, screws are installed from two diagonally opposite positions first, and all screws are installed in sequence. This installation method is relatively simple and stable, but the installation efficiency is relatively low because the screws are installed one by one.

[0050] Subsequently, two independent screw installation mechanisms are designed to cooperate with the assembly of the screws, and the assembly efficiency is obviously improved, but new problems are generated. Although the models of the parts used by the two screw installation mechanisms are consistent, there are precision errors in the parts, sensors and the like, and the equipment calibration is relatively more frequent, and the consistency of the screws at different positions is difficult to guarantee.

[0051] For example, when the precision error of any screw installation mechanism occurs and the position or angle of the screw deviates, the screw is prone to be installed obliquely. At this time, the tightening force applied by the screw installation mechanism is decomposed into two forces: one along the screw axis direction and the other perpendicular to the screw axis. Only the force along the screw axis direction can generate effective pretightening force for the screw, and the perpendicular component force will cause the screw to be subjected to lateral force, thereby increasing the frictional resistance but not increasing the pretightening force. Therefore, the actual effective torque achieved will be smaller than expected. At this time, the torque sensor displays that the screw torque has reached the set torque, but the screw is not effectively installed at the corresponding connection point.

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

[0053] The inventive concept of the present application is that: first, it is noticed that the main screw connection points of the fixed-wing unmanned aerial vehicle are symmetrically distributed during the final assembly stage, and therefore the screws are assembled by using the synchronous installation method on both sides of the unmanned aerial vehicle, and a bidirectional screw is used to ensure the accurate adjustment of the distance between the two screw installation mechanisms.

[0054] Secondly, the screw installation mechanism is adjusted to share a power system, and the rotation parameters of the screwdrivers of the two screw installation mechanisms are kept consistent, thereby improving the assembly efficiency and ensuring that the two symmetrical connection points have good consistency. In this way, only one side of the connection points of the fixed-wing unmanned aerial vehicle needs to be detected in the quality inspection process, thereby shortening the time in the assembly and quality inspection processes.

[0055] Finally, a simulation installation mechanism is arranged between the two screw installation mechanisms, 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 distance between the simulation installation mechanism and the test block corresponds to the distance between the screw installation mechanism and the corresponding connection point, and the test screw of the simulation installation mechanism can simulate the state of the 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, and if the detected pressure value exceeds the set interval, it indicates that the screw installation may have a problem. In this way, whether the screw is installed in place is judged by the torque sensor and the annular pressure sensor together, thereby improving the yield of screw installation in assembly.

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

[0057] The load-bearing frame is installed on an external sliding mechanism, which can drive the load-bearing frame to move forward and backward. When the fixed-wing unmanned aerial vehicle is assembled, the load-bearing frame moves above the external screw feeding mechanism, grabs the screw, and then moves above the external assembly table. 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 screw. During the screw assembly process, the power and stroke of the simulation installation mechanism are the same as those of the screw installation mechanism. The pressure data of the corresponding bolt can be obtained through the test screw, and then the condition of each connection point can be comprehensively judged.

[0058] After introducing the basic principle of the present application, the various non-limiting embodiments of the present application will be specifically introduced below. The number of any element in the drawings is used for example and not limitation, and any naming is only used for distinction and does not have any limiting meaning.

[0059] The principles and spirits of the present application will be explained in detail below with reference to several representative embodiments of the present application.

[0060] Embodiment 1 of the fixed-wing unmanned aerial vehicle assembly equipment easy to quickly assemble provided by the present application:

[0061] As shown in Figures 1-9 , it comprises a load-bearing frame 100, a driving mechanism 200 installed on the load-bearing frame 100, two screw installation mechanisms 500 for assembling screws, a translation mechanism 300 for adjusting the position of the two screw installation mechanisms 500, and a lifting mechanism 400 for controlling the overall lifting of the screw installation mechanism 500.

[0062] The load-bearing frame 100 is installed on an external sliding mechanism, which is mainly used for installing mechanisms or parts such as the lifting mechanism 400 and the driving mechanism 200.

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

[0064] like Figure 2 , 3 As shown in Figures 5, 6, and 7, the screw mounting mechanism 500 includes a mounting box 511. A worm gear 512, arranged in a left-right direction, is mounted inside the mounting box 511 via bearings. The worm gear 512 is a hollow structure and is sleeved on the transmission rod 230, allowing it to slide along the length of the transmission rod 230. An anti-rotation block 515, which mates with a sliding groove, is provided on the inner wall of the worm gear 512. This structure allows two sets of screw mounting mechanisms 500 to share the same drive mechanism 200. Thus, the installation state of the two symmetrical screws is consistent, accelerating assembly efficiency. During quality inspection, only one side of the screws on the fixed-wing UAV needs to be checked, optimizing the quality inspection process and reducing inspection time.

[0065] The mounting box 511 also houses a drive shaft 514 arranged vertically, which is mounted on the mounting box 514 via bearings. A worm wheel 513 that meshes with a worm gear 512 is fixedly mounted on the drive shaft 514. The drive shaft 514 extends downward out of the mounting box 511 and is fixedly connected to a 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 mounting box 511, and the bottom of the protective sleeve 520 is fixedly connected to a magnetic sleeve 530. The magnetic sleeve 530 is used to provide magnetic force to the screwdriver 540. In this embodiment, the magnetic sleeve 530 is an electromagnetic magnetic sleeve 530, which facilitates the control of magnetic force. In other embodiments, a permanent magnet magnetic sleeve 530 can also be used.

[0066] The torque sensor 550, magnetic sleeve 530, screwdriver 540, etc. are existing technologies, and their structures will not be described in detail here. The screw gripping principle is that when gripping 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 de-energized and the magnetic force disappears.

[0067] like Figures 2-4 As shown, the translation mechanism 300 is mounted on the load-bearing plate 220, and the translation mechanism 300 is used to drive the two screw mounting mechanisms 500 to move.

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

[0069] As shown in Figure 1 , Figure 1 is a schematic view of a certain type of fixed-wing unmanned aerial vehicle, and Figure 1 It can be seen that most of the connection points are symmetrically arranged (the connection points are threaded holes on the fixed-wing unmanned aerial vehicle), and therefore, through the structure of the bidirectional screw rod 350, the two screw mounting mechanisms 500 can be better controlled to move to the preset position.

[0070] The protective shell 320 is also fixedly installed with a transverse guide rail 330, and the transverse guide rail 330 is slidably connected with 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 mounting mechanism 500.

[0071] As shown in Figure 2 , 3 , 9, a simulation mounting mechanism 600 is further arranged between the two screw mounting mechanisms 500, the structure of the simulation mounting mechanism 600 is the same as that of the screw mounting mechanism 500, the length of the screwdriver 540 of the simulation mounting mechanism 600 is shorter than that of the screw mounting mechanism 500, and after the length of the screwdriver 540 of the simulation mounting mechanism 600 is shortened, the unmanned aerial vehicle body can be prevented from being damaged. The bottom of the screwdriver 540 of the simulation mounting mechanism 600 is fixedly connected with a test screw 610; the test screw 610 is fixed at the bottom of the screwdriver 540 of the simulation mounting mechanism 600 through the magnetic sleeve 530 of the simulation mounting mechanism 600, which facilitates regular replacement of the new test screw 610 to reduce the test error. In other embodiments, other detachable connections such as glue or other fasteners can also be used.

[0072] As shown in Figure 2 and Figure 9 , a pressure detection mechanism 700 for testing the pressure of the test screw 610 is arranged below the simulation mounting mechanism 600, and 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 matched with 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.

[0073] A connecting plate 723 is detachably connected to the test block 721. In this embodiment, the test block 721 and the connecting plate 723 are connected by screws or bolts. Since the threaded hole 722 of the test block 721 will wear 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. The connecting plate 723 has a clearance hole for the test screw 610 to pass through. The annular pressure sensor 725 is installed in the clearance hole. An annular washer 726 is provided above the annular pressure sensor 725. The annular washer 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 installed on the load-bearing plate 220, and the lifting mechanism 400 is fixedly connected to the load-bearing plate 220. A vertical guide rail 110 that cooperates with the load-bearing plate 220 is also installed on 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 aforementioned assembly equipment for fixed-wing UAVs, and includes the following steps:

[0076] S1. The vertical take-off and landing assembly, fuselage and wings are installed on the external assembly table in sequence by manual labor or robotic arm, and the components are initially fixed by the rotary clamping cylinder on the assembly table.

[0077] In this embodiment, the method of first assembling components and then assembling the components into a fixed-wing UAV is adopted. For example, for the vertical take-off and landing (VTOL) component, the motor assembly is first fixed to the front and rear ends of the connecting rod on other assembly equipment. After the VTOL component is assembled, it is then placed on the assembly table. A positioning structure (positioning pin and positioning hole) is provided between the VTOL component and the fuselage to prevent the components from shifting during the assembly process. For the fuselage, the circuit board, sensors, and other components are first assembled onto 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 this invention does not improve the above method, components, or assembly table, etc., and will not be described in detail 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 for driving the load-bearing frame 100 to move forward and backward, in the embodiment, the sliding mechanism adopts a screw nut structure, the precision thereof is relatively higher, the screw feeding mechanism is prior art, and a suitable screw feeding mechanism can be purchased according to an actual condition; the lifting mechanism 400 drives the screw mounting mechanism 500 to descend to grab a screw, the sliding mechanism drives the load-bearing frame 100 to reset above the assembly table, the lifting mechanism 400 drives the screw mounting mechanism 500 to descend to the corresponding connecting point, the driving mechanism 200 drives the worm wheel 513 and the worm 512 to rotate, drives the screwdriver 540 to rotate, and meanwhile the lifting mechanism 400 drives the screw mounting mechanism 500 to continue to descend, and screw assembly is performed; when the torque sensor 550 detects that the torque reaches a set value, the driving mechanism 200 stops rotating;

[0079] S3, while the screw assembly is performed, the driving mechanism 200 drives the simulation mounting mechanism 600 to operate, 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;

[0080] S4, the lifting mechanism 400 drives the screw mounting mechanism 500 to ascend, at the same time, the compensation structure 710 drives the detection structure 720 to ascend, and the ascending stroke of the lifting mechanism 400 is the same as that of the compensation structure 710;

[0081] The ascending actions of the screw mounting mechanism 500 and the detection structure 720 are performed after the driving mechanism 200 stops operating for 0.5-1 seconds, and the screw mounting mechanism 500 and the detection structure 720 need to ascend synchronously because the screwdriver 540 needs to be separated from the screw, but at this time, the test screw 610 is connected with the detection structure 720, therefore, after the screw mounting mechanism 500 and the detection structure 720 ascend synchronously by 10 mm, the screwdriver 540 is separated from the screw, and the screw on the unmanned aerial vehicle is prevented from being disassembled when the driving mechanism 200 reversely rotates. Another function of the compensation structure 710 is to compensate the height, the heights of the connecting points are different when the fixed-wing unmanned aerial vehicle is assembled, in order to ensure that the test screw 610 can be in contact with the test block 721 when the screw is in contact with the connecting point of the unmanned aerial vehicle, the height of the test block 721 needs to be compensated and adjusted, and it is ensured 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 reversely rotate, and meanwhile the lifting mechanism 400 continues to drive the load-bearing plate 220 to ascend, so that the test screw 610 is separated from the test block 721;

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

[0084] Since the position and height of each connection point are different, in step S6, it is noted that the front and rear position and the left and right distance of the screw mounting mechanism 500 are adjusted according to the connection point.

[0085] Although the present specification has shown and described several embodiments of the present application, it is obvious to those skilled in the art that such embodiments are provided only by way of example. Those skilled in the art will think of many changes, changes and alternative ways without departing from the idea and spirit of the present application. It should be understood that various alternatives to the embodiments of the present application described herein can be employed in practicing the present application. The appended claims are intended to define the scope of protection of the present application, and therefore cover the module composition, equivalents or alternatives within the scope of protection of the claims.

Claims

1. A fixed-wing drone assembly apparatus that is easy to quickly assemble, characterized in that, The utility model relates to a kind of screw installation mechanism and simulation installation mechanism, including: Load-bearing frame (100); Driving mechanism (200), the driving mechanism (200) includes load-bearing plate (220) and transmission rod (230) by bearing installation on load-bearing plate (220), transmission rod (230) is horizontally arranged along left and right direction, driving motor (210) for driving transmission rod (230) rotation is also fixedly installed on load-bearing plate (220); Two groups of screw mounting mechanisms (500), the screw mounting mechanism (500) includes installation box (511), installation box (511) is installed by bearing along the left and right direction with worm (512), worm (512) is hollow structure, the worm (512) is set on the transmission rod (230), so that worm (512) can slide along the length direction of transmission rod (230), the transmission rod (230) is provided with sliding slot along its length direction, the inner side wall of worm (512) is equipped with with sliding slot matched rotation stop block (515); The installation box (511) is also installed by bearing with transmission shaft (514) along the up and down direction, transmission shaft (514) is fixedly installed with worm wheel (513) engaged with worm (512), the transmission shaft (514) extends out of installation box (511) and is fixedly connected with torque sensor (550) downward, torque sensor (550) is fixedly connected with screwdriver (540) below, screwdriver (540) outside is equipped with magnetic sleeve (530) for providing magnetic force for screwdriver (540); Translation mechanism (300) is installed on load-bearing plate (220), and translation mechanism (300) is used to drive two screw mounting mechanisms (500) to move; Lifting mechanism (400) is fixedly installed on load-bearing plate (220), and lifting mechanism (400) is fixedly connected with load-bearing plate (220); The two screw mounting mechanisms (500) are also equipped with simulation installation mechanism (600), the structure of simulation installation mechanism (600) is same with the structure of screw mounting mechanism (500), the length of screwdriver (540) of simulation installation mechanism (600) is shorter than the length of screwdriver (540) of screw mounting mechanism (500), the bottom of screwdriver (540) of simulation installation mechanism (600) is fixedly connected with test screw (610); The lower side of simulation installation mechanism (600) is equipped with pressure detection mechanism (700) for testing the pressure of test screw (610); The pressure detection mechanism (700) includes detection structure (720) and compensation structure (710) fixedly installed below load-bearing plate (220) for adjusting the position of detection structure (720), and the detection structure (720) includes test block (721), test block (721) is provided with threaded hole (722) matched with the test screw (610), threaded hole (722) is equipped with annular pressure sensor (725) for detecting the pressure of test screw (610).

2. The fixed-wing drone assembly apparatus that is easy to quickly assemble of claim 1, wherein: The screwdriver (540) is further provided with a protective cylinder (520) outside, the top of the protective cylinder (520) is fixedly connected with the mounting box (511), and the bottom of the protective cylinder (520) is fixedly connected with the magnetic sleeve (530).

3. The fixed-wing drone assembly apparatus that is easy to quickly assemble of claim 1, wherein: The translation mechanism (300) comprises a protective shell (320) fixedly installed on the load-bearing plate (220), a bidirectional screw rod (350) arranged in the left-right direction is installed in the protective shell (320) through a bearing, nut blocks (360) are threadedly connected to the bidirectional screw rod (350), the nut blocks (360) are fixedly connected with corresponding screw mounting mechanisms (500) through connecting blocks (340), and the protective shell (320) is provided with through holes through which the connecting blocks (340) pass.

4. The fixed-wing drone assembly apparatus that is easy to quickly assemble of claim 3, wherein: The protective shell (320) is further fixedly provided with a transverse guide rail (330), and the transverse guide rail (330) is in sliding connection with the connecting blocks (340).

5. The fixed-wing drone assembly apparatus that is easy to quickly assemble of claim 1, wherein: A connecting plate (723) is detachably connected above the test block (721), the connecting plate (723) is detachably connected with the compensation structure (710), the connecting plate (723) is provided with an avoiding hole through which the test screw (610) passes, the annular pressure sensor (725) is arranged in the avoiding hole, and an annular gasket (726) is arranged above the annular pressure sensor (725).

6. The fixed-wing drone assembly apparatus that is easy to quickly assemble of claim 5, wherein: The compensation structure (710) is a telescopic electric cylinder.

7. A method for producing a fixed-wing drone easy to quickly assemble, using the fixed-wing drone easy to quickly assemble assembly apparatus according to any one of claims 1-6, characterized in that, The method comprises the following steps: S1, through artificial or mechanical arm, the vertical take-off and landing assembly, the fuselage and the wing are installed on the external assembly table in sequence, and the above-mentioned parts are preliminarily fixed through the rotating 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 mounting mechanism (500) to descend to grab the screw, the sliding mechanism drives the load-bearing frame (100) to reset above the assembly table, the lifting mechanism (400) drives the screw mounting mechanism (500) to descend to the corresponding connecting point, the driving mechanism (200) drives the worm gear (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 mounting mechanism (500) to continue to descend, and screw assembly is carried out; when the torque sensor (550) detects that the torque reaches the set value, the driving mechanism (200) stops rotating; S3, while screw assembly is carried out, the driving mechanism (200) drives the simulation mounting mechanism (600) to run, the test screw (610) is assembled into the test block (721) of the detection structure (720), and when the driving mechanism (200) stops running, the external control system records the pressure value of the annular pressure sensor (725); S4, the lifting mechanism (400) drives the screw mounting mechanism (500) to ascend, the screwdriver (540) is separated from the screw, at the same time, the compensation structure (710) drives the detection structure (720) to ascend, and the ascending stroke of the lifting mechanism (400) is the same as that of the compensation structure (710). S5, the driving mechanism (200) drives the worm (512) to rotate reversely, and the lifting mechanism (400) continues to drive the load plate (220) to ascend, so that the test screw (610) is separated from the test block (721); S6, repeat steps S2-S5, and according to the position of the connection point, adjust the distance between the two groups of screw mounting mechanisms (500), the descending height of the lifting mechanism (400) and the compensation height of the compensation structure (710) through the translation mechanism (300), until all the screws are installed.

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