Intelligent assembly system and method suitable for batch flat plate satellite production line

Abstract

The invention relates to an intelligent assembly system and method suitable for a batch flat plate satellite production line. The system comprises an intelligent assembly area used for realizing grabbing, positioning and posture adjustment of a main bearing structural member, realizing grabbing of equipment, coating, positioning and mounting of heat-conducting grease, realizing assembly of the main bearing structural member, and performing thermal control electric fitting implementation and electric performance test; the intelligent detection and tool positioning area is used for realizing intelligent detection of the main force bearing structural member, realizing assembly of the main force bearing structural member and a tool member, and realizing whole-satellite envelope measurement; the thermal control cable implementation area is used as an operation area for laying a thermal control cable; the material storage area is used for storing final assembly materials; and the transportation system is used for realizing object transportation among the intelligent assembly area, the intelligent detection and tool positioning area, the thermal control cable implementation area and the material storage area. The number of final assembly personnel is greatly reduced, the cost is saved, and the assembly efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to intelligent automatic assembly of satellites, in particular to an intelligent assembly system and method suitable for batch production of flat plate satellites. BACKGROUND

[0002] Traditional satellite production has the characteristics of small quantity, customization, etc., and the production consciousness is weak. With the rapid development of the construction of geosynchronous satellite constellation, higher requirements are put forward for the production efficiency of satellites, and it is necessary to change from satellite manufacturing "customization" to "industrialization".

[0003] The flat plate satellite is a satellite adopting a three-dimensional box type structure. For the production of flat plate satellites, especially the production of large flat plate satellites, it is urgent to realize an intelligent assembly system and method suitable for batch production of flat plate satellite production lines and efficient assembly. SUMMARY

[0004] Therefore, it is necessary to provide an intelligent assembly system and method suitable for batch production of flat plate satellite production lines to solve the problem of low production and assembly efficiency of flat plate satellites.

[0005] To solve the above problems, the present application adopts the following technical solutions:

[0006] In a first aspect, the present application provides an intelligent assembly system suitable for batch production of flat plate satellite production lines, comprising:

[0007] The intelligent assembly area is used to realize the grabbing, positioning and attitude adjustment of the main load-bearing structure, to realize the grabbing, heat-conducting grease coating, positioning and installation of the equipment, to realize the assembly of the main load-bearing structure, and to perform thermal control electrical installation and electrical performance testing. The thermal control electrical installation and electrical performance testing are man-machine collaborative work. The single machine part refers to a basic functional unit or a standardized module that can independently complete a specific function in a satellite system.

[0008] The intelligent detection and tool positioning area is used to realize intelligent detection of the size and shape of the main load-bearing structure, to realize the assembly of the main load-bearing structure and the tool part, and to realize the overall satellite envelope measurement.

[0009] The thermal control cable implementation area is used as an operation area for laying thermal control cables. The thermal control cable implementation area includes a plurality of workstations.

[0010] The material storage area is used to store general assembly materials.

[0011] The transportation system is used to realize the transportation of materials and / or objects between the intelligent assembly area, the intelligent detection and tool positioning area, the thermal control cable implementation area and the material storage area.

[0012] In a preferred embodiment, the intelligent assembly area is further configured to send an assembly material demand signal to the transportation system and send a transportation demand signal to the transportation system; the intelligent detection and tool positioning area is further configured to send a transportation demand signal to the transportation system; and the thermal control cable implementation area is further configured to send a transportation demand signal to the transportation system.

[0013] In a preferred embodiment, the intelligent assembly area is further configured to take a photo record of an assembly process in the intelligent assembly area; the posture adjustment includes up-and-down translation and ±180° flipping, and the installation includes screw tightening, torque adjustment, and dispensing.

[0014] In a preferred embodiment, the intelligent detection includes detection of length, width, height, hole diameter, hole pitch, flatness, parallelism, and perpendicularity; and the whole-satellite envelope measurement includes size measurement of the satellite in the X direction, the Y direction, and the Z direction.

[0015] In a preferred embodiment, the thermal control cable implementation area is capable of storing tool pieces.

[0016] In a preferred embodiment, the transportation system includes a control system, a whole-satellite transfer AGV, and a logistics transfer AGV; the control system is configured to plan a transportation production line; the whole-satellite transfer AGV is configured to transport main load-bearing structure pieces, tool pieces, assembly semi-finished products, and assembled satellites; and the logistics transfer AGV is configured to transport assembly directly-affiliated pieces and single-machine pieces.

[0017] In a preferred embodiment, the intelligent assembly area is further configured to implement positioning, docking, clamping, flipping, and moving of tool pieces.

[0018] In a preferred embodiment, the intelligent assembly area is further configured to implement fastening, torque adjustment, and dispensing of main load-bearing structure pieces.

[0019] In a preferred embodiment, the transportation demand signal is a transportation demand signal of an assembly semi-finished product or a transportation demand signal of an assembled satellite; and the assembly material demand signal is a demand signal of a single-machine piece.

[0020] In a second aspect, the present application provides an intelligent assembly method suitable for a batch production flat-panel satellite production line, which is characterized in that the method is implemented based on the intelligent assembly system suitable for a batch production flat-panel satellite production line according to the first aspect, and the method includes the following steps:

[0021] The main load-bearing structure pieces and the tool pieces of the main load-bearing structure pieces are assembled into assembly body one, assembly body two, and assembly body three based on the intelligent detection and tool positioning area, and the intelligent detection and tool positioning area sends a transportation demand signal to the transportation system;

[0022] The transportation system sends the assembly body one and the assembly body three to the intelligent assembly area;

[0023] The assembly of the first assembly body and the third assembly body is implemented in the intelligent assembly area to obtain a first assembly intermediate body;

[0024] The intelligent assembly area sends a total assembly material demand signal to the transportation system, and the transportation system transports the single machine part to the intelligent assembly area;

[0025] Based on the first assembly intermediate body, the intelligent assembly area implements the single machine part grabbing, thermal grease coating, positioning, and installation, and obtains a second assembly intermediate body. The intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the second assembly intermediate body to the thermal control cable implementation area;

[0026] The second assembly intermediate body is implemented with the thermal control cable laying operation in the thermal control cable implementation area to obtain a third assembly intermediate body;

[0027] The transportation system transports the second assembly intermediate body to the intelligent assembly area, and based on the second assembly intermediate body, the intelligent assembly area implements the single machine part grabbing, thermal grease coating, positioning, and installation to obtain a fourth assembly intermediate body. The intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the fourth assembly intermediate body to the thermal control cable implementation area;

[0028] The fourth assembly intermediate body is implemented with the thermal control cable laying operation in the thermal control cable implementation area to obtain a fifth assembly intermediate body;

[0029] The thermal control cable implementation area sends a transportation demand signal to the transportation system, and the transportation system transports the fifth assembly intermediate body to the intelligent assembly area;

[0030] The thermal control cable implementation area sends a transportation demand signal to the transportation system, and the transportation system transports the third assembly intermediate body to the intelligent assembly area;

[0031] The thermal control cable implementation area sends a transportation demand signal to the transportation system, and the transportation system transports the third assembly intermediate body to the intelligent assembly area;

[0032] The thermal control cable implementation area sends a transportation demand signal to the transportation system, and the transportation system transports the third assembly intermediate body to the intelligent assembly area;

[0033] The intelligent assembly area sends a total assembly material demand signal to the transportation system, and the transportation system transports the single machine part to the intelligent assembly area. Based on the sixth assembly intermediate body, the intelligent assembly area implements the single machine part grabbing, thermal grease coating, positioning, and installation operations to obtain the assembled satellite. The intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the assembled satellite to the offline.

[0034] The beneficial effects of the intelligent assembly system and method suitable for batch production flat satellite production line are as follows: through the partition design of the intelligent assembly area, the intelligent detection and tool positioning area, and the heat control cable implementation area, and the transportation of the transportation system, the number of general assembly personnel is greatly reduced, the cost is saved, and the assembly efficiency is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The composition of the intelligent assembly system provided for the embodiment of the application is explained.

[0036] Figure 2 The AGV transportation path diagram of the intelligent assembly system provided for the embodiment of the application is explained.

[0037] Figure 3 The satellite state change flowchart of the intelligent assembly method provided for the embodiment of the application is explained.

[0038] Figure 4 The flowchart of the intelligent assembly method provided for the embodiment of the application is explained.

[0039] Figure 5 The total flowchart of the production line area operation of the intelligent assembly method provided for the embodiment of the application is explained.

[0040] Figure 6 The structure schematic diagram of the assembly body in an embodiment of the application is explained.

[0041] Figure 7 The structure schematic diagram of the assembly body in an embodiment of the application is explained.

[0042] Figure 8 The structure schematic diagram of the assembly body in an embodiment of the application is explained.

[0043] Among them, 11 is a bottom plate, 12 is a bottom plate tooling part, 21 is a cover plate, 22 is a cover plate tooling part, 31 is a frame, and 32 is a frame tooling part. DETAILED DESCRIPTION

[0044] The technical solutions of the application will be described in detail below with reference to the drawings and preferred embodiments.

[0045] First, the technical terms related to the embodiments of the application are explained:

[0046] Single machine part refers to a basic functional unit or a standardized module that can independently complete a specific function in a satellite system.

[0047] The main load-bearing structure is also called main structure (hereinafter referred to as structure), which is the main load transfer path from the launch vehicle to the satellite, and its form mainly includes central load-bearing cylinder, box or truss, etc. For example, the bottom plate 11, the cover plate 21 and the frame 31 mentioned in this paper are all main load-bearing structures of the flat plate satellite.

[0048] Tooling refers to various special tools and equipment used in industrial production for manufacturing, processing, assembly, testing and other process flows, such as the bottom plate tooling 12 (tooling for the bottom plate 11), the cover plate tooling 22 (tooling for the cover plate 21), and the frame tooling 32 (tooling for the frame 31). In this paper, the tooling is only used to assist the installation of the corresponding main load-bearing structure, and after completing the corresponding assembly step, it is used for the assembly of other satellites.

[0049] Assembly semi-finished product, also known as assembly intermediate, refers to the stage product in the satellite assembly process, i.e. the semi-finished product at different stages of the assembly process. The assembly body described below also belongs to the assembly semi-finished product.

[0050] The present application provides an intelligent assembly system suitable for batch production of flat plate satellites, which comprises:

[0051] The intelligent assembly area is used to realize the grasping, positioning and attitude adjustment of the main load-bearing structure, the grasping, heat-conducting grease coating, positioning and installation of single components, the assembly of the main load-bearing structure, and the implementation of thermal control and electrical installation and electrical performance testing. The implementation of thermal control and electrical installation and electrical performance testing is a man-machine collaborative work;

[0052] The intelligent detection and tooling positioning area is used to realize the intelligent detection of the size and shape of the main load-bearing structure, the assembly of the main load-bearing structure and tooling, the measurement of the whole satellite envelope, and the sending of transportation demand signals to the transportation system.

[0053] The thermal control cable implementation area is used as an operation area for laying thermal control cables, which includes multiple workstations.

[0054] The material storage area is used to store general assembly materials.

[0055] The transportation system is used to realize the transportation of materials and / or objects between the intelligent assembly area, the intelligent detection and tooling positioning area, the thermal control cable implementation area and the material storage area. Figure 1 The system is composed of the intelligent assembly line.

[0056] The intelligent assembly system of the embodiment is divided into one main three auxiliary four functional areas and a transportation system in the form of a "technology island". One main functional area is an intelligent assembly area; three auxiliary functional areas are an intelligent detection and tool positioning area, a thermal control cable implementation area, and a material storage area. The transportation system can also be understood as an auxiliary functional area.

[0057] In the embodiment, the intelligent assembly area is also used to send a total assembly material demand signal to the transportation system and to send a transportation demand signal to the transportation system. The intelligent detection and tool positioning area is also used to send a transportation demand signal to the transportation system. The thermal control cable implementation area is used to send a transportation demand signal to the transportation system.

[0058] The posture adjustment of the main load-bearing structural member includes up-and-down translation and ±180° overturning. The installation of the single machine member includes screw tightening, torque adjustment, and dispensing.

[0059] In the embodiment, the intelligent assembly area is also used to take a photo record of the assembly process (all work processes) in the intelligent assembly area.

[0060] In the embodiment, the intelligent assembly area is also used to realize the positioning, docking, clamping, overturning, and moving of tool members and to realize the fastening, torque adjustment (control of accurate torque), and dispensing of the main load-bearing structural member.

[0061] The assembly of the main load-bearing structural member includes the assembly of the main load-bearing structural members.

[0062] The intelligent assembly area can safely carry out human-machine collaborative work for thermal control electrical installation and electrical measurement tasks. When working, the workstation indicator light is on, allowing the operator to enter. All total assembly equipment is switched to manual mode, and the operation mode is changed to a jog mode. The cable thermal control implementation personnel perform operations such as wire harness connection and binding. The operator adjusts the posture of the main load-bearing structural member in cooperation with the working state. After the cable thermal control implementation is completed, the electrical measurement task before assembly is performed. The thermal control refers to the temperature control of the whole satellite, and the electrical installation refers to the implementation of the satellite cable. The operator includes the cable thermal control implementation personnel.

[0063] The intelligent assembly area is used for thermal control electrical installation and electrical performance testing, specifically for thermal control electrical installation and electrical performance testing of (part of) assembly intermediates.

[0064] The intelligent assembly area is also used to realize the assembly of assembly intermediates. In some embodiments, it can be understood that this use belongs to the assembly of the main load-bearing structural member.

[0065] The transportation demand signal is specifically a transportation demand signal for assembly semi-finished products or a transportation demand signal for a completed satellite. The total assembly material demand signal is specifically a single machine member demand signal.

[0066] For the intelligent detection and tool positioning area:

[0067] Preferably, the intelligent detection includes the detection of length, width, height, hole diameter, hole spacing, flatness, parallelism, and perpendicularity, which realizes the rapid extraction and detection of size accuracy and geometric accuracy characteristics.

[0068] The intelligent detection and tool positioning area can generate analysis results after completing intelligent detection.

[0069] Preferably, the main load-bearing structure and tool assembly includes the assembly of the bottom plate 11 and the bottom plate tool 12, the assembly of the cover plate 21 and the cover plate tool 22, and the assembly of the frame 31 and the frame tool 32.

[0070] Preferably, the whole satellite envelope measurement includes the size measurement of the satellite in X, Y, and Z directions to calculate the maximum volume of the whole satellite. Specifically, the size measurement of the assembled satellite in X, Y, and Z directions is performed to quickly extract the maximum volume of the whole satellite.

[0071] Preferably, the intelligent detection and tool positioning area is used to send the total assembly material requirement signal to the transportation system. In a specific embodiment, the intelligent detection and tool positioning area is used to send the main load-bearing structure requirement signal to the transportation system.

[0072] In this embodiment, the thermal control cable implementation area can store tooling. When batch production is not performed and thermal control cable laying operation is not performed, the thermal control cable implementation area can be used as a storage area for tooling.

[0073] It can be understood that the laying is also called installation, and can also be called implementation. The thermal control cable implementation area is used to provide space for thermal control cable laying.

[0074] In this embodiment, the thermal control cable implementation area is also used to send a transportation requirement signal to the transportation system.

[0075] In this embodiment, as an example, four workstations are arranged in the thermal control cable implementation area. Open design facilitates the rapid implementation of thermal control cable implementation personnel. Specifically, the four workstations can be used for parallel assembly, and flexible methods are used for the thermal control cable implementation of the bottom plate 11, the cover plate 21, and the whole satellite.

[0076] In the embodiment, the material storage area includes a general assembly material centralized storage area, which is not limited to the centralized storage area of all general assembly materials, and can be used for storing only part of the general assembly materials. Generally, the general assembly materials stored in the material storage area can meet the batch production capacity of 100 satellites per year. Satellite assembly is a technical system related to structure assembly, system integration and function test in the development process of spacecraft. It can be understood that the general assembly materials are the required materials for satellite assembly. The general assembly materials refer to the objects used for batch production of flat plate satellites, including main load-bearing structural parts, single machine parts, general assembly direct parts, and tooling parts. It can be understood that, if necessary, tooling parts can also be included.

[0077] The application provides an intelligent assembly production line, which comprises the intelligent assembly system.

[0078] Please refer to Figure 2 In the embodiment, the transportation system covers the intelligent assembly area, the intelligent detection and tool positioning area, the thermal control cable implementation area and the material storage area, and includes the paths of material transportation and product transportation. The transportation system adopts AGV (Automatic Guided Vehicle) transportation, that is, AGV full-area coverage transportation covering the entire assembly area. Specifically, the AGV obtains surrounding environment information based on the SLAM (Simultaneous Localization and Mapping) and two-dimensional code mode, and is used for realizing autonomous positioning and navigation.

[0079] It can be understood that the objects transported by the transportation system include main load-bearing structural parts, tooling parts, assembly semi-finished products and assembled satellites (or assembly finished products). The materials transported by the transportation system include general assembly direct parts and single machine parts.

[0080] Here, the AGVs of the transportation system are divided into two categories, namely, satellite transfer AGVs and logistics transfer AGVs. The satellite transfer AGVs are used for transporting main load-bearing structural parts, tooling parts, assembly semi-finished products and assembled satellites, and the logistics transfer AGVs are used for transporting general assembly direct parts and single machine parts. The logistics transfer AGVs are used for transporting materials, and the satellite transfer AGVs are used for transporting materials and objects.

[0081] Here, the transportation system includes a control system, the satellite transfer AGVs and the logistics transfer AGVs. The control system is used for planning the transportation production line, and can also be used for scheduling the satellite transfer AGVs and the logistics transfer AGVs.

[0082] Here, according to actual needs, it is determined whether the transportation related to the intelligent assembly area, the intelligent detection and tool positioning area, the thermal control cable implementation area and the material storage area is material transportation, object transportation or material and object transportation, which is not specifically limited here.

[0083] The application provides an intelligent assembly method suitable for batch production flat satellite production lines, the intelligent assembly method is based on an intelligent assembly system suitable for batch production flat satellite production lines, and the method comprises the following steps:

[0084] Based on the intelligent detection and tool positioning area, the assembly of the main load-bearing structure and the tooling part of the main load-bearing structure is realized to obtain assembly body one, assembly body two and assembly body three, and the intelligent detection and tool positioning area sends a transportation demand signal to a transportation system;

[0085] The transportation system sends the assembly body one and the assembly body three to an intelligent assembly area;

[0086] The assembly of the assembly body one and the assembly body three is realized in the intelligent assembly area to obtain a first assembly intermediate body;

[0087] The intelligent assembly area sends a total assembly material demand signal to the transportation system, and the transportation system transports single machine parts to the intelligent assembly area;

[0088] Based on the first assembly intermediate body, the intelligent assembly area realizes the grasping, heat-conducting grease coating, positioning and installation of the single machine parts, and obtains a second assembly intermediate body; the intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the second assembly intermediate body to a thermal control cable implementation area;

[0089] The operation of laying thermal control cables on the second assembly intermediate body is implemented in the thermal control cable implementation area to obtain a third assembly intermediate body;

[0090] The transportation system sends the assembly body two to the intelligent assembly area, the intelligent assembly area realizes the grasping, heat-conducting grease coating, positioning and installation of all single machine parts, and obtains a fourth assembly intermediate body after the installation of the single machine parts is completed; the intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the fourth assembly intermediate body to the thermal control cable implementation area;

[0091] The operation of laying thermal control cables on the fourth assembly intermediate body is implemented in the thermal control cable implementation area to obtain a fifth assembly intermediate body;

[0092] The thermal control cable implementation area sends a transportation demand signal to the transportation system, and the transportation system transports the fifth assembly intermediate body to the intelligent assembly area;

[0093] The thermal control cable implementation area sends a transportation demand signal to the transportation system, and the transportation system transports the third assembly intermediate body to the intelligent assembly area;

[0094] The thermal control cable implementation area sends a transportation demand signal to the transportation system, and the transportation system transports the fifth assembly intermediate body to the intelligent assembly area;

[0095] The thermal control cable implementation area sends a transportation demand signal to the transportation system, and the transportation system transports the third assembly intermediate body to the intelligent assembly area;

[0096] The intelligent assembly area sends a final assembly material demand signal to the transportation system, the transportation system transports the single machine part to the intelligent assembly area, based on the sixth assembly intermediate body, the intelligent assembly area realizes the single machine part grabbing, thermal grease coating, positioning and installation operation to obtain the assembled satellite, the intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the assembled satellite off-line.

[0097] It should be understood that the above method does not represent or imply that all steps must be performed in this order, and those skilled in the art can change or change the execution order of the above steps on the basis of the present application. Some embodiments of the above method are illustrated below.

[0098] It can be understood that the transportation system transporting the assembled satellite off-line is the transportation system transporting the assembled satellite away from the intelligent assembly area.

[0099] It can be understood that the assembly body is an assembly intermediate body, and the assembly body one, the assembly body two and the assembly body three are all assembly bodies.

[0100] It can be understood that the intelligent assembly area is used to realize the assembly of the main load-bearing structure, which includes realizing the assembly of the assembly body one and the assembly body three to obtain the first assembly intermediate body, and further includes realizing the assembly of the third assembly intermediate body and the fifth assembly intermediate body to obtain the sixth assembly intermediate body.

[0101] Referring to Figures 3 to 5 For the intelligent assembly method, Figures 3 to 5 From different angles, in a specific embodiment, the specific process of the intelligent assembly method is as follows:

[0102] The bottom plate 11 and the bottom plate tooling 12 involved in the process are shown in Figure 6 The cover plate 21 and the cover plate tooling 22 are shown in Figure 7 The frame 31 and the frame tooling 32 are shown in Figure 8 The flat plate satellite adopts a plate structure to splice the cabin structure form, and the main load-bearing structure is divided into three parts, the upper part is the cover plate 21, which is used as the upper cabin plate, and the upper and lower surfaces of the cover plate 21 are both installed with single machine parts; the middle part is the frame 31, which adopts an I-beam form and connects the cover plate 21 and the bottom plate 11 by bolts, and is the main force transmission path of the whole satellite structure; the lower part is the bottom plate 11, which is used as the lower cabin plate, and the upper and lower surfaces of the bottom plate 11 are both installed with single machine parts. It can be understood that the single machine parts carried by the cover plate 21 and the bottom plate 11 are different, and the single machine parts carried by the cover plate 21 usually include solar wings, laser loads, microwave antenna loads, etc., and the single machine parts carried by the bottom plate 11 include large flat panel antenna loads, etc.

[0103] The process includes a pre-preparation stage and an intelligent assembly implementation stage.

[0104] S01. Check the status of the main load-bearing structure of the material storage area, single machine complete set, complete set of general assembly direct parts, tooling parts, tool configuration, and auxiliary materials, etc. The production line enters the general assembly state;

[0105] S02. The bottom plate cabin plate 11, the cover plate cabin plate 21, and the frame 31 are transported to the intelligent detection and tool positioning area by artificial transportation. Through full-range scanning of the main load-bearing structure, the set detection items are completed, and the analysis results are generated.

[0106] S03. In the intelligent detection and tool positioning area (man-machine cooperative operation), the bottom plate tooling part 12 and the bottom plate cabin plate 11 are assembled to obtain assembly body one, the cover plate tooling part 22 and the cover plate cabin plate 21 are assembled to obtain assembly body two, and the frame tooling part 32 and the frame 31 are assembled to obtain assembly body three. The intelligent detection and tool positioning area issues a transportation demand signal.

[0107] S04. The whole star transfer AGV sends the assembly body one and the assembly body three to the intelligent assembly area twice. The intelligent assembly area performs assembly to obtain the first assembly intermediate body (bottom plate cabin plate 11-frame 31 combination), and realizes rapid positioning, docking, clamping, overturning, and moving of tooling parts in the intelligent assembly area. The main load-bearing structure is fastened, accurately torque-adjusted, glued, and photographed.

[0108] S05. The work station indicator light is on, the man-machine interaction process is entered, the operator is allowed to enter, the bottom plate tooling part 12 is removed, the whole star transfer AGV takes away the bottom plate tooling part 12, transports it to the material storage area, the operator exits the work station, the intelligent assembly process is started, and the intelligent assembly area sends a general assembly material demand signal (single machine part demand signal).

[0109] S06. The logistics transfer AGV sends the single machine parts of the corresponding satellite batch in the material storage area to the intelligent assembly area.

[0110] In this embodiment, each single machine part is engraved with a unique code corresponding to a unique main load-bearing structure.

[0111] S07. The intelligent assembly area intelligently assembles all single machine parts to complete grabbing, grease (heat-conducting grease) application, fastening (screw tightening), accurate torque adjustment, gluing, and photographing. After the installation of the single machine parts on both sides of the bottom plate cabin plate 11 is completed, the satellite intermediate state A1 (second assembly intermediate body) is obtained, and a transportation demand signal is sent.

[0112] S08. The whole star transfer AGV transports the bottom plate cabin plate 11-frame 31 combination to the thermal control cable implementation area for thermal control cable implementation, obtains the satellite intermediate state A2 (third assembly intermediate body), and sends a transportation demand signal to the transportation system.

[0113] S09. The whole satellite transfer AGV sends the assembly body II to the intelligent assembly area to realize the rapid positioning, docking, clamping, overturning and moving of the tooling parts, and the intelligent assembly area sends a single machine part demand signal;

[0114] S10. The logistics transfer AGV sends the single machine parts corresponding to the satellite batch in the material storage area to the intelligent assembly area;

[0115] S11. The intelligent assembly area intelligently assembles to complete the grabbing, greasing, fastening, precise torque adjustment, dispensing and photographing of all single machine parts. After the cover plate cabin plate 21 and the single machine in the cabin are installed, the satellite intermediate state B1 (the fourth assembly intermediate body) is obtained, and a transportation demand signal is sent;

[0116] S12. The whole satellite transfer AGV transports the fourth assembly intermediate body to the thermal control cable implementation area for thermal control cable implementation, and obtains the satellite intermediate state B2 (the fifth assembly intermediate body);

[0117] S13. After the thermal control cable implementation is completed, the thermal control cable implementation area sends a transportation demand signal to the transportation system. The whole satellite transfer AGV first sends the satellite intermediate state B2 to the intelligent assembly area to realize the rapid positioning, docking, clamping, moving and overturning to the vertical state of the tooling parts, and simultaneously sends a transportation demand signal. The whole satellite transfer AGV then sends the satellite intermediate state A2 to the intelligent assembly area;

[0118] S14. The work position indicator light is on, allowing the operator to enter, the intelligent assembly area is switched to manual mode, the operation mode is changed to intermittent mode, the cable thermal control implementation personnel perform the operations of cable connection and binding, and the operator adjusts the position by the handle in cooperation with the working state. After adjusting to the horizontal state, the pre-cabin electrical measurement task is performed;

[0119] S15. After the electrical measurement is completed, the satellite intermediate state A2 and the satellite intermediate state B2 are adjusted by man-machine cooperation, positioning and docking are performed, and the sixth assembly intermediate body is obtained;

[0120] S16. The operator exits the work position, the work position indicator light is off, and all devices are switched to intelligent operation interface to realize the fastening, precise torque, dispensing and photographing of the main load-bearing structure parts;

[0121] S17. The work position indicator light is on, the man-machine interaction process is entered, and the operator is allowed to enter. The cover plate tooling part 22 is removed, the whole satellite transfer AGV takes away the cover plate tooling part 22 and transports it to the material storage area. The operator exits the work position, the intelligent assembly process is started, and the intelligent assembly area sends a single machine part demand signal;

[0122] S18. The logistics transfer AGV sends the single machine parts corresponding to the satellite batch in the material storage area to the intelligent assembly area;

[0123] S19. Based on the sixth assembly intermediate, the intelligent assembly area intelligently assembles all single machine parts to complete grabbing, greasing, fastening, precise torque, dispensing, and photographing, etc., and the cover plate cabin plate 21 completes the installation of the outboard single machine, so that the satellite is assembled, that is, the satellite is in the whole star state, and the intelligent assembly area sends a transportation demand signal.

[0124] S20. The whole star transfer AGV completes the intelligent assembly task.

[0125] The beneficial effects of the intelligent assembly system and method suitable for batch production of flat plate satellites of the present application are as follows: through the partition design of the intelligent assembly area, the intelligent detection and tool positioning area, and the thermal control cable implementation area, and in cooperation with the transportation system, the number of assembly personnel is greatly reduced, the cost is saved, and the assembly efficiency is greatly improved.

[0126] Specifically, compared with the traditional manual satellite assembly method, the present application meets the process requirements of environment, production, and operation, greatly reduces the number of assembly personnel, saves cost, uses intelligent assembly and detection, and greatly improves the assembly efficiency and assembly accuracy. In the present application, compared with the traditional manual satellite assembly method, the "technology island" form is highly integrated, and the thermal control and electrical installation operations are separated from the assembly process, so that other links can be decomposed into positioning, docking, clamping, turning, moving, single machine part grabbing, greasing, fastening, precise torque adjustment, dispensing, and photographing, etc. The operation is cooperated by intelligent assembly equipment to realize highly automated assembly to complete the satellite assembly task. In the present application, compared with the traditional manual satellite assembly method, the assembly process can be more stable and reliable, which ensures the consistency of satellite products and provides the possibility for subsequent mass production.

[0127] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the description.

[0128] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the scope of the patent. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. An intelligent assembly system suitable for batch production of flat satellite production line, characterized in that, The intelligent assembly area is used for realizing the grabbing, positioning, and attitude adjustment of the main load-bearing structural member, realizing the grabbing, heat-conducting grease coating, positioning, and installation of the single machine member, realizing the assembly of the main load-bearing structural member, and performing the thermal control electrical installation and electrical performance test. The intelligent detection and tool positioning area is used for realizing the intelligent detection of the size and shape of the main load-bearing structural member, realizing the assembly of the main load-bearing structural member and the tool member, and realizing the overall satellite envelope measurement. The thermal control cable implementation area is used as an operation area for laying the thermal control cable, and includes multiple workstations. The material storage area is used for storing the overall assembly materials. The transportation system is used for realizing the transportation of materials and / or objects between the intelligent assembly area, the intelligent detection and tool positioning area, the thermal control cable implementation area, and the material storage area. The intelligent assembly area is also used for sending an overall assembly material demand signal to the transportation system and sending a transportation demand signal to the transportation system.

2. The intelligent assembly system suitable for batch production of flat panel satellite production line according to claim 1, characterized in that, The intelligent detection and tool positioning area is also used for sending a transportation demand signal to the transportation system.

3. The intelligent assembly system suitable for batch production of flat panel satellite production line according to claim 2, characterized in that, The intelligent assembly area is also used for taking a photo record of the assembly process in the intelligent assembly area.

4. The intelligent assembly system for batch production of flat panel satellite according to claim 2, wherein, The attitude adjustment includes up-and-down translation and ±180° flipping, and the installation includes screw tightening, torque adjustment, and dispensing.

5. The intelligent assembly system for batch production of flat panel satellite according to claim 2, wherein, The intelligent detection includes the detection of length, width, height, hole diameter, hole distance, flatness, parallelism, and perpendicularity.

6. The intelligent assembly system suitable for batch production of flat panel satellite according to claim 2, wherein, The overall satellite envelope measurement includes the size measurement of the satellite in the X direction, the Y direction, and the Z direction.

7. The intelligent assembly system for batch production of flat panel satellites according to claim 2, wherein, The thermal control cable implementation area can store tool members.

8. The intelligent assembly system for batch production of flat panel satellite according to claim 2, wherein, The transportation system includes a control system, an overall satellite transfer AGV, and a logistics transfer AGV.

9. The intelligent assembly system for batch production of flat panel satellites according to claim 2, wherein, The intelligent assembly area is also used for realizing the positioning, docking, clamping, flipping, and moving of the tool member.

10. An intelligent assembly method suitable for batch production of flat satellite production lines, characterized by, The intelligent assembly area is also used for realizing the fastening, torque adjustment, and dispensing of the main load-bearing structural member. The transportation demand signal is a transportation demand signal of an assembly semi-finished product or a transportation demand signal of an assembled satellite. The method is based on the intelligent assembly system suitable for the batch production of flat satellites, and includes the following steps: The intelligent detection and tool positioning area sends a transportation demand signal to the transportation system. The transportation system sends the assembly body one and the assembly body three to the intelligent assembly area. In the intelligent assembly area, the assembly body one and the assembly body three are assembled to obtain a first assembly intermediate body. The intelligent assembly area sends a total assembly material demand signal to the transportation system, and the transportation system transports the single machine parts to the intelligent assembly area; Based on the first assembly intermediate body, the intelligent assembly area realizes the grabbing, thermal grease coating, positioning and installation of the single machine parts, and obtains a second assembly intermediate body; the intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the second assembly intermediate body to the thermal control cable implementation area; The thermal control cable implementation area implements the operation of laying the thermal control cable on the second assembly intermediate body to obtain a third assembly intermediate body; The transportation system transports the assembly body two to the intelligent assembly area, and based on the assembly body two, the intelligent assembly area realizes the grabbing, thermal grease coating, positioning and installation of the single machine parts to obtain a fourth assembly intermediate body; the intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the fourth assembly intermediate body to the thermal control cable implementation area; The thermal control cable implementation area implements the operation of laying the thermal control cable on the fourth assembly intermediate body to obtain a fifth assembly intermediate body; The thermal control cable implementation area sends a transportation demand signal to the transportation system, and the transportation system transports the fifth assembly intermediate body to the intelligent assembly area; The thermal control cable implementation area sends a transportation demand signal to the transportation system, and the transportation system transports the third assembly intermediate body to the intelligent assembly area; The intelligent assembly area realizes the implementation of the thermal control electrical assembly and the electrical performance test on the third assembly intermediate body and the fifth assembly intermediate body; The intelligent assembly area realizes the assembly of the third assembly intermediate body and the fifth assembly intermediate body to obtain a sixth assembly intermediate body; The intelligent assembly area sends a total assembly material demand signal to the transportation system, and the transportation system transports the single machine parts to the intelligent assembly area; based on the sixth assembly intermediate body, the intelligent assembly area realizes the grabbing, thermal grease coating, positioning and installation of the single machine parts to obtain a completed satellite, and the intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the completed satellite to the offline.

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