An intelligent assembly system and method suitable for batch production of flat satellite production line

Abstract

The application relates to an intelligent assembly system and method suitable for batch production of flat satellite production lines. The system comprises the following: an intelligent assembly area for realizing the grabbing, positioning and attitude adjustment of a main load-bearing structure, realizing the grabbing, heat-conducting grease coating, positioning and installation of equipment, realizing the assembly of the main load-bearing structure, carrying out the implementation of thermal control electrical equipment and electrical performance testing; the intelligent detection and tool positioning area is used for realizing the intelligent detection of the main load-bearing structure, realizing the assembly of the main load-bearing structure and tool parts, and realizing the measurement of the whole satellite envelope; the thermal control cable implementation area is used as an operation area for the laying of thermal control cables; the material storage area is used for storing general assembly materials; and the transportation system is used for realizing the transportation of 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 application greatly reduces the number of general assembly personnel, saves costs and greatly improves assembly efficiency.

Description

Technical Field

[0001] This invention relates to intelligent automated assembly of satellites, and in particular to an intelligent assembly system and method suitable for mass production flat-panel satellite production lines. Background Technology

[0002] Traditional satellite production is characterized by small quantities, customization, and a weak production mindset. As the construction of Earth-orbiting satellite constellations enters a phase of rapid development, higher demands are placed on satellite production efficiency, requiring a shift from "customization" to "industrialization" in satellite manufacturing.

[0003] Flat panel satellites are satellites that adopt a three-dimensional box-like configuration. For the production of flat panel satellites, especially large flat panel satellites, there is an urgent need to realize intelligent assembly systems and methods that are suitable for mass production flat panel satellite production lines and can achieve efficient assembly. Summary of the Invention

[0004] Therefore, it is necessary to provide an intelligent assembly system and method suitable for mass production flat-panel satellite production lines to address the problem of low assembly efficiency in flat-panel satellite manufacturing.

[0005] To solve the above problems, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides an intelligent assembly system suitable for mass production flat-panel satellite production lines, comprising:

[0007] The intelligent assembly area is used to grasp, position, and adjust the attitude of the main load-bearing structural components; to grasp, apply thermal grease, position, and install the equipment; to assemble the main load-bearing structural components; and to implement thermal control electrical installations and perform electrical performance tests. The implementation of thermal control electrical installations and electrical performance tests are carried out by human-machine collaborative operations. The single component refers to the basic functional unit or standardized module in the satellite system that can independently complete a specific function.

[0008] The intelligent detection and tooling positioning area is used to realize the intelligent detection of the size and shape of the main load-bearing structural components, to realize the assembly of the main load-bearing structural components and tooling components, and to realize the measurement of the entire satellite envelope.

[0009] The thermal control cable implementation area is used as an operating area for laying thermal control cables, and the thermal control cable implementation area includes multiple workstations.

[0010] The material storage area is used to store 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 tooling positioning area, the thermal control cable implementation area, and the material storage area.

[0012] In a preferred embodiment, the intelligent assembly area is also used to send a final assembly material demand signal to the transportation system and a transportation demand signal to the transportation system; the intelligent detection and tooling positioning area is also used to send a transportation demand signal to the transportation system; and the thermal control cable implementation area is also used to send a transportation demand signal to the transportation system.

[0013] In a preferred embodiment, the intelligent assembly area is also used to photograph and record the assembly process in the intelligent assembly area; the posture adjustment includes vertical translation and ±180° rotation; and the installation includes screw tightening, torque adjustment, and glue dispensing.

[0014] In a preferred embodiment, the intelligent detection includes detecting length, width, height, aperture, aperture spacing, flatness, parallelism, and perpendicularity; the whole satellite envelope measurement includes measuring the dimensions of the satellite in the X, Y, and Z directions.

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

[0016] In a preferred embodiment, the transportation system includes a control system, a satellite transfer AGV, and a logistics transfer AGV. The control system is used to plan the transportation production line. The satellite transfer AGV is used to transport main load-bearing structural components, tooling parts, semi-finished assembly products, and assembled satellites. The logistics transfer AGV is used to transport assembly-related parts and single-unit components.

[0017] In a preferred embodiment, the intelligent assembly area is also used to realize the positioning, docking, clamping, flipping, and moving of tooling parts.

[0018] In a preferred embodiment, the intelligent assembly area is also used to fasten, adjust torque, and apply adhesive to the main load-bearing structural components.

[0019] In a preferred embodiment, the transportation demand signal is a transportation demand signal for assembled semi-finished products or a transportation demand signal for assembled satellites; the final assembly material demand signal is a demand signal for individual components.

[0020] Secondly, the present invention provides an intelligent assembly method suitable for mass production flat-panel satellite production lines, characterized in that the method is based on the intelligent assembly system for mass production flat-panel satellite production lines described in the first aspect, and the method includes the following steps:

[0021] Based on the intelligent detection and tooling positioning area, the main load-bearing structural components and the tooling components of the main load-bearing structural components are assembled to obtain assembly 1, assembly 2 and assembly 3. The intelligent detection and tooling positioning area sends a transportation demand signal to the transportation system.

[0022] The transportation system delivers Assembly 1 and Assembly 3 to the intelligent assembly area;

[0023] The first assembly intermediate is obtained by assembling assembly one and assembly three in the intelligent assembly area;

[0024] The intelligent assembly area sends a final assembly material requirement signal to the transportation system, which then transports the individual components to the intelligent assembly area.

[0025] Based on the first assembly intermediate, the intelligent assembly area realizes the gripping, thermal grease application, positioning and installation of single components, and the intelligent assembly area obtains the second assembly intermediate; the intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the second assembly intermediate to the thermal control cable implementation area.

[0026] The third assembly intermediate is obtained by laying thermal control cables on the second assembly intermediate in the thermal control cable implementation area.

[0027] The transportation system delivers Assembly 2 to the intelligent assembly area. Based on Assembly 2, the intelligent assembly area performs single-component grabbing, thermal grease application, positioning, and installation to obtain the fourth assembly intermediate. The intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the fourth assembly intermediate to the thermal control cable implementation area.

[0028] The operation of laying thermal control cables on the fourth assembly intermediate in the thermal control cable implementation area yields the fifth assembly intermediate;

[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 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 to the intelligent assembly area.

[0031] In the intelligent assembly area, thermal control and electrical assembly and electrical performance testing are carried out on the third and fifth assembly intermediates.

[0032] The intelligent assembly area assembles the third and fifth assembly intermediates to obtain the sixth assembly intermediate.

[0033] The intelligent assembly area sends a material demand signal to the transportation system. The transportation system transports the individual components to the intelligent assembly area. Based on the sixth assembly intermediate, the intelligent assembly area performs operations such as gripping, applying thermal grease, positioning, and installing the individual components to obtain the assembled satellite. The intelligent assembly area then sends a transportation demand signal to the transportation system, which transports the assembled satellite off the production line.

[0034] The beneficial effects of the intelligent assembly system and method applicable to mass production flat-panel satellite production lines of the present invention are as follows: through the partitioned design of intelligent assembly area, intelligent detection and tooling positioning area, and thermal control cable implementation area, combined with the transportation system, this design greatly reduces the number of assembly personnel, saves costs, and significantly improves assembly efficiency. Attached Figure Description

[0035] Figure 1 This invention provides a description of the composition of the intelligent assembly system provided in the embodiments of the present invention.

[0036] Figure 2 A diagram illustrating the AGV transport path of an intelligent assembly system provided in an embodiment of the present invention;

[0037] Figure 3 A flowchart illustrating the satellite status change process for the intelligent assembly method provided in this embodiment of the invention;

[0038] Figure 4 A flowchart of an intelligent assembly method provided in an embodiment of the present invention;

[0039] Figure 5 A flowchart illustrating the overall operation of the production line area for the intelligent assembly method provided in this embodiment of the invention;

[0040] Figure 6 This is a schematic diagram of an assembly structure in one embodiment of the present invention;

[0041] Figure 7 This is a schematic diagram of the assembly two structure in one embodiment of the present invention;

[0042] Figure 8 This is a schematic diagram of the three-structure assembly in one embodiment of the present invention;

[0043] Among them, 11, bottom plate; 12, bottom plate tooling; 21, cover plate; 22, cover plate tooling; 31, frame; 32, frame tooling. Detailed Implementation

[0044] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings and preferred embodiments.

[0045] First, the technical terms involved in the embodiments of this application will be explained:

[0046] A single unit refers to a basic functional unit or standardized module in a satellite system that can independently perform a specific function.

[0047] The main load-bearing structural components, also known as the main structure (hereinafter referred to as structural components), are the main load transfer paths from the launch vehicle to the satellite. Their forms mainly include central load-bearing cylindrical, box-type, or rod-type structures. For example, the bottom plate 11, cover plate 21, and frame 31 mentioned in this article are all among the main load-bearing structures of flat-panel satellites.

[0048] Tooling refers to various special tools and equipment used in industrial production for manufacturing, processing, assembly, testing and other processes, 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) mentioned in this article. In this article, the tooling is only used to assist in the installation and assembly of the corresponding main load-bearing structural components. After the corresponding assembly steps are completed, it is used for the assembly of other satellites.

[0049] Semi-finished products, also known as intermediate products, refer to the products produced at different stages of satellite assembly. The assemblies mentioned below also belong to semi-finished products.

[0050] This invention provides an intelligent assembly system suitable for mass production flat-panel satellite production lines, the assembly system comprising:

[0051] The intelligent assembly area is used to grasp, position, and adjust the posture of the main load-bearing structural components; to grasp, apply thermal grease, position, and install single components; to assemble the main load-bearing structural components; and to implement and test the thermal control electrical system. The implementation and testing of the thermal control electrical system are carried out in a human-machine collaborative operation.

[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 structural components, the assembly of the main load-bearing structural components and tooling components, the measurement of the entire satellite envelope, and the transmission of transportation demand signals to the transportation system.

[0053] The thermal control cable implementation area is used as the operation area for laying thermal control cables, and includes multiple workstations;

[0054] Material storage area, used to store final assembly materials;

[0055] The transportation system is used to transport materials and / or objects between the intelligent assembly area, intelligent inspection and tooling positioning area, thermal control cable implementation area, and material storage area. See also... Figure 1 The system's composition is illustrated by the example of an intelligent assembly production line.

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

[0057] In this embodiment, the intelligent assembly area is also used to send assembly material demand signals to the transportation system and to send transportation demand signals to the transportation system; the intelligent detection and tooling positioning area is also used to send transportation demand signals to the transportation system; and the thermal control cable implementation area is used to send transportation demand signals to the transportation system.

[0058] The attitude adjustment of the main load-bearing structural component includes vertical translation and ±180° rotation, and the installation of the single component includes screw tightening, torque adjustment, and glue application.

[0059] In this embodiment, the intelligent assembly area is also used to photograph and record the assembly process (all work processes) in the intelligent assembly area.

[0060] In this embodiment, the intelligent assembly area is also used to realize the positioning, docking, clamping, flipping and moving of tooling parts, as well as to fasten, adjust the torque (control the precise torque) and apply glue to the main load-bearing structural parts.

[0061] The assembly of the main load-bearing structural components includes the assembly between the main load-bearing structural components.

[0062] The intelligent assembly area allows for safe human-machine collaborative operations to perform thermal control and electrical assembly tasks, as well as electrical testing. During operation, workstation indicator lights illuminate, allowing operators to enter. All assembly equipment switches to manual mode, and the operation mode is changed to jog mode. Cable thermal control personnel perform tasks such as wiring harness connection and binding. Operators adjust the posture of main load-bearing structural components in coordination with the work status. After cable thermal control is completed, electrical testing is performed before final assembly. Thermal control refers to overall satellite temperature control, and electrical assembly refers to the implementation of satellite cable installation. The operators include those responsible for thermal control cable installation.

[0063] The intelligent assembly area is used for implementing thermal control electrical assembly and electrical performance testing, specifically for implementing thermal control electrical assembly and electrical performance testing on (partial) assembly intermediates.

[0064] The intelligent assembly area is also used to realize the assembly between intermediate parts. In some embodiments, this purpose can be understood as being used to realize the assembly of main load-bearing structural components.

[0065] The transportation demand signal specifically refers to the transportation demand signal for assembled semi-finished products or the transportation demand signal for assembled satellites; the final assembly material demand signal specifically refers to the demand signal for individual components.

[0066] For the aforementioned intelligent detection and tooling positioning area:

[0067] Preferably, the intelligent detection includes the detection of length, width, height, aperture, hole spacing, flatness, parallelism, and perpendicularity, realizing the rapid extraction and detection of dimensional accuracy and geometrical accuracy features.

[0068] After the intelligent detection and tooling positioning area completes the intelligent detection, it can generate analysis results.

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

[0070] Preferably, the whole satellite envelope measurement includes: measuring the dimensions of the satellite in the X, Y, and Z directions to calculate the maximum volume of the whole satellite; specifically, measuring the dimensions of the satellite in the X, Y, and Z directions after assembly to quickly extract the maximum volume of the whole satellite.

[0071] Preferably, the intelligent detection and tooling positioning area is used to send the final assembly material demand signal to the transportation system. In a specific embodiment, the intelligent detection and tooling positioning area is used to send the main load-bearing structural component demand signal to the transportation system.

[0072] In this embodiment, the thermal control cable implementation area can store tooling parts. When no batch production operation or thermal control cable laying operation is being carried out, the thermal control cable implementation area can be used as a storage area for tooling parts.

[0073] Understandably, the term "laying" refers to installation or implementation, and the thermal control cable implementation area is used to provide space for laying thermal control cables.

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

[0075] In this embodiment, as an example, the thermal control cable implementation area has four workstations; the open design facilitates rapid implementation by thermal control cable installers. Specifically, the four workstations can be assembled in parallel, using a flexible approach to implement the thermal control cables for the base plate 11, cover plate 21, and the entire satellite.

[0076] In this embodiment, the material storage area includes a centralized storage area for assembly materials. This is not limited to a centralized storage area for all assembly materials; it can be used only to store a portion of the assembly materials. Typically, the assembly materials stored in the material storage area can meet the batch production capacity of hundreds of satellites per year. Satellite assembly is a technical system involving structural assembly, system integration, and functional testing in the spacecraft development process. It is understood that assembly materials refer to the materials required for satellite assembly. These assembly materials refer to items used for the mass production of flat-panel satellites, including main load-bearing structural components, single-unit components, and directly subordinate assembly components. It is also understood that, if necessary, tooling components may be included.

[0077] The present invention provides an intelligent assembly production line, including the intelligent assembly system.

[0078] Please see Figure 2 In this embodiment, the transportation system covers the intelligent assembly area, intelligent detection and tooling positioning area, thermal control cable implementation area, and material storage area, including the movement paths of materials and products. The transportation system uses AGVs (Automated Guided Vehicles), meaning AGVs provide full-area coverage transportation, covering the entire assembly area. Specifically, the AGVs acquire surrounding environmental information based on SLAM (Simultaneous Localization and Mapping) and QR codes to achieve autonomous positioning and navigation.

[0079] It is understood that the objects transported include main load-bearing structural components, tooling parts, semi-finished assembly products, and assembled satellites, i.e., the entire satellite (or finished assembly). The materials transported include direct assembly parts and individual components.

[0080] Here, the AGVs in the transportation system are divided into two categories: satellite transfer AGVs and logistics transfer AGVs. Satellite transfer AGVs are used to transport main load-bearing structural components, tooling parts, semi-finished assembly products, and assembled satellites. Logistics transfer AGVs are used to transport assembly-related parts and single-unit components. Logistics transfer AGVs are used to transport materials, while satellite transfer AGVs are used to transport both materials and objects.

[0081] Here, the transportation system includes a control system, the whole-star transfer AGV, and the logistics transfer AGV. The control system is used to plan the transportation production line and can also be used to schedule the whole-star transfer AGV and the logistics transfer AGV.

[0082] Here, based on actual needs, it is not specifically defined whether the transportation involved in the intelligent assembly area, intelligent testing and tooling positioning area, thermal control cable implementation area, and material storage area is material transportation, object transportation, or material and object transportation.

[0083] This invention provides an intelligent assembly method suitable for mass production flat-panel satellite production lines. The intelligent assembly method is based on the aforementioned intelligent assembly system for mass production flat-panel satellite production lines, and the method includes:

[0084] Based on the intelligent detection and tooling positioning area, the main load-bearing structural components and the tooling components of the main load-bearing structural components are assembled to obtain assembly one, assembly two and assembly three. The intelligent detection and tooling positioning area sends a transportation demand signal to the transportation system.

[0085] The transportation system delivers Assembly 1 and Assembly 3 to the intelligent assembly area;

[0086] The first assembly intermediate is obtained by assembling assembly one and assembly three in the intelligent assembly area;

[0087] The intelligent assembly area sends a final assembly material requirement signal to the transportation system, which then transports the individual components to the intelligent assembly area.

[0088] Based on the first assembly intermediate, the intelligent assembly area realizes the gripping, thermal grease application, positioning and installation of single components, and the intelligent assembly area obtains the second assembly intermediate; the intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the second assembly intermediate to the thermal control cable implementation area.

[0089] The third assembly intermediate is obtained by laying thermal control cables on the second assembly intermediate in the thermal control cable implementation area.

[0090] The transportation system delivers Assembly 2 to the intelligent assembly area. The intelligent assembly area handles the grabbing, thermal grease application, positioning, and installation of all individual components. After the individual components are installed, the fourth assembly intermediate is obtained. The intelligent assembly area sends a transportation demand signal to the transportation system, which then transports the fourth assembly intermediate to the thermal control cable implementation area.

[0091] The operation of laying thermal control cables on the fourth assembly intermediate in the thermal control cable implementation area yields the fifth assembly intermediate;

[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 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 to the intelligent assembly area.

[0094] In the intelligent assembly area, thermal control and electrical assembly and electrical performance testing are carried out on the third and fifth assembly intermediates.

[0095] The intelligent assembly area assembles the third and fifth assembly intermediates to obtain the sixth assembly intermediate.

[0096] The intelligent assembly area sends a material demand signal to the transportation system. The transportation system transports the individual components to the intelligent assembly area. Based on the sixth assembly intermediate, the intelligent assembly area performs operations such as gripping, applying thermal grease, positioning, and installing the individual components to obtain the assembled satellite. The intelligent assembly area then sends a transportation demand signal to the transportation system, which transports the assembled satellite off the production line.

[0097] It should be understood that the above method does not imply that all steps must be performed in this order. Those skilled in the art can modify or change the execution order of the above steps based on the present invention. Some embodiments of the above method are illustrated below.

[0098] Understandably, the transportation system transporting the assembled satellite off the production line means that the transportation system transports the assembled satellite away from the intelligent assembly area.

[0099] It is understood that the assembly is an assembly intermediate, and Assembly 1, Assembly 2, and Assembly 3 are all assemblies.

[0100] Understandably, the intelligent assembly area is used to assemble the main load-bearing structural components, including assembling Assembly 1 and Assembly 3 to obtain the first assembly intermediate, and assembling the third and fifth assembly intermediates to obtain the sixth assembly intermediate.

[0101] See Figures 3 to 5 For intelligent assembly methods, Figures 3 to 5 From different perspectives, in a specific embodiment, the intelligent assembly method follows a specific process:

[0102] The bottom plate 11 and bottom plate tooling 12 involved in this process are as follows: Figure 6 As shown, the cover plate 21 and the cover plate tooling 22 are as follows: Figure 7 As shown, frame 31 and frame tooling 32 are as follows Figure 8 As shown. The flat-panel satellite adopts a panel-type spliced ​​cabin structure. The main load-bearing structure is divided into three parts: upper, middle, and lower. The upper part is the cover panel 21, which serves as the upper cabin panel. Individual components are installed on both the upper and lower surfaces of the cover panel 21. The middle part is the frame 31, which is an I-beam structure and uses bolts to connect the cover panel 21 and the bottom panel 11. It is the main force transmission path of the entire satellite structure. The lower part is the bottom panel 11, which serves as the lower cabin panel. Individual components are installed on both the upper and lower surfaces of the bottom panel 11. It is understandable that the individual components mounted on the cover panel 21 and the bottom panel 11 are different. Typically, the individual components mounted on the cover panel 21 include solar panels, laser payloads, microwave antenna payloads, etc., while the individual components mounted on the bottom panel 11 include large flat-panel antenna payloads, etc.

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

[0104] S01. Check the status of main load-bearing structural components, single machine parts, direct assembly parts, tooling parts, tool configuration, and auxiliary materials in the material storage area. The production line enters the final assembly state.

[0105] S02. The bottom plate 11, cover plate 21, and frame 31 are manually transported to the intelligent inspection and tooling positioning area. The set inspection items are completed by scanning the entire range of the main load-bearing structural components, and the analysis results are generated.

[0106] S03. In the intelligent detection and tooling positioning area (human-machine collaborative operation), the bottom plate tooling 12 and the bottom plate cabin plate 11 are assembled to obtain assembly 1; the cover plate tooling 22 and the cover plate cabin plate 21 are assembled to obtain assembly 2; the frame tooling 32 and the frame 31 are assembled to obtain assembly 3; and the intelligent detection and tooling positioning area issues a transportation demand signal.

[0107] S04. The whole-star transfer AGV delivers Assembly 1 and Assembly 3 to the intelligent assembly area in two batches. The intelligent assembly area is used to assemble the first intermediate assembly body (bottom plate 11-frame 31 assembly). Within the intelligent assembly area, the tooling parts are quickly positioned, docked, clamped, flipped and moved, and the main load-bearing structural parts are fastened, the torque is precisely adjusted, glue is applied and photographed.

[0108] S05. The workstation indicator light turns on, and the human-machine interaction process is entered. Operators are allowed to enter, remove the base plate tooling 12, and the whole star transfer AGV takes away the base plate tooling 12 and transports it to the material storage area. Operators leave the workstation and start the intelligent assembly process. At the same time, the intelligent assembly area sends the final assembly material demand signal (single component demand signal).

[0109] S06. The logistics transfer AGV delivers the single unit of the corresponding satellite batch from the material storage area to the intelligent assembly area;

[0110] In this embodiment, each individual component is engraved with a unique code, corresponding to a unique main load-bearing structural component;

[0111] S07. The intelligent assembly area completes the intelligent assembly of all individual components, including gripping, applying grease (thermal grease), fastening (screw tightening), precise torque adjustment, dispensing glue, and taking photos. After the individual components on both sides of the bottom plate 11 are installed, the satellite intermediate state A1 (second assembly intermediate body) is obtained, and the transportation demand signal is sent.

[0112] S08. The satellite transfer AGV transports the bottom plate 11-frame 31 assembly to the thermal control cable implementation area for thermal control cable implementation, obtaining the satellite intermediate state A2 (third assembly intermediate), and at the same time sends the transportation demand signal to the transportation system;

[0113] S09. The whole-star transfer AGV delivers assembly 2 to the intelligent assembly area, realizing the rapid positioning, docking, clamping, flipping and moving of tooling parts. At the same time, the intelligent assembly area sends single-part demand signals.

[0114] S10. The logistics transfer AGV delivers the single unit of the corresponding satellite batch from the material storage area to the intelligent assembly area;

[0115] S11. The intelligent assembly area completes the intelligent assembly of all individual parts, including gripping, grease application, fastening, precise torque adjustment, glue dispensing, and photography. After the individual units in the cover plate 21 are installed, the satellite intermediate state B1 (fourth assembly intermediate body) is obtained, and the transportation demand signal is sent.

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

[0117] S13. After the thermal control cable 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 flipping of the tooling to the vertical state. At the same time, the thermal control cable implementation area sends a transportation demand signal, and the whole satellite transfer AGV then sends the satellite intermediate state A2 to the intelligent assembly area.

[0118] S14. The workstation indicator light is on, allowing the operator to enter. The intelligent assembly area is switched to manual mode, and the operation mode is changed to jog mode. The cable thermal control personnel perform wire harness connection, binding and other operations. The operator uses the handle to adjust the position in jog mode according to the working status. After adjusting to the horizontal state, the electrical test task before the cabin is closed is carried out.

[0119] S15. After the electrical test is completed, the human-machine collaboration adjusts the positions of satellite intermediate state A2 and satellite intermediate state B2, performs positioning and docking, and obtains the sixth assembly intermediate;

[0120] S16. When the operator leaves the workstation, the workstation indicator light goes out, and all equipment switches to an intelligent operation interface to achieve fastening, precise torque, glue dispensing, and photography of the main load-bearing structural components.

[0121] S17. The workstation indicator light is on, and the human-machine interaction process is entered. Operators are allowed to enter, remove the cover plate fixture 22, and the whole star transfer AGV takes away the cover plate fixture 22 and transports it to the material storage area. Operators leave the workstation and start the intelligent assembly process. At the same time, the intelligent assembly area sends a single part demand signal.

[0122] S18. The logistics transfer AGV delivers the single unit of the corresponding satellite batch from the material storage area to the intelligent assembly area;

[0123] S19. Based on the sixth assembly intermediate, the intelligent assembly area intelligently assembles all individual components, including gripping, grease application, fastening, precise torque application, glue dispensing, and photography. After the installation of the cover plate and cabin plate 21 external single unit is completed, the assembled satellite is obtained, i.e., the satellite's overall state. The intelligent assembly area then sends a transportation demand signal.

[0124] S20. The whole satellite transfer AGV will complete the intelligent assembly task by taking the whole satellite off the production line.

[0125] The beneficial effects of the intelligent assembly system and method applicable to mass production flat-panel satellite production lines of the present invention are as follows: The present invention, through the partitioned design of intelligent assembly area, intelligent detection and tooling positioning area, and thermal control cable implementation area, combined with the transportation system, greatly reduces the number of assembly personnel, saves costs, and significantly improves assembly efficiency.

[0126] Specifically, compared to traditional satellite assembly methods, this invention meets the process requirements of environment, production, and operation, significantly reduces the number of assembly personnel, saves costs, and uses intelligent assembly and inspection to greatly improve assembly efficiency and accuracy. In this invention, compared to traditional satellite assembly methods, a highly integrated "technology island" approach is adopted. Thermal control and electrical assembly operations are separated from the final assembly process, allowing other steps to be broken down into positioning, docking, clamping, flipping, moving, single-component gripping, grease application, fastening, precise torque adjustment, adhesive dispensing, and photography. These operations are coordinated by intelligent assembly equipment, achieving a highly automated assembly process to complete the satellite final assembly task. Compared to traditional satellite assembly methods, this invention makes the final assembly process more stable and reliable, ensuring the consistency of satellite products and enabling subsequent mass production.

[0127] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An intelligent assembly system suitable for mass production flat-panel satellite production lines, characterized in that, include: The intelligent assembly area is used to grasp, position, and adjust the attitude of the main load-bearing structural components; to grasp, apply thermal grease, position, and install individual components; to assemble the main load-bearing structural components; and to implement thermal control electrical installations and perform electrical performance tests. The implementation of thermal control electrical installations and the electrical performance tests are carried out by human-machine collaborative operations. The individual components refer to basic functional units or standardized modules in the satellite system that can independently complete specific functions. The intelligent detection and tooling positioning area is used to realize the intelligent detection of the size and shape of the main load-bearing structural components, to realize the assembly of the main load-bearing structural components and tooling components, and to realize the measurement of the entire satellite envelope. The thermal control cable implementation area is used as the operation area for laying thermal control cables, and the thermal control cable implementation area includes multiple workstations; Material storage area, used to store final assembly materials; 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.

2. The intelligent assembly system for mass production flat-panel satellites according to claim 1, characterized in that, The intelligent assembly area is also used to send assembly material demand signals to the transportation system and to send transportation demand signals to the transportation system; the intelligent detection and tooling positioning area is also used to send transportation demand signals to the transportation system; the thermal control cable implementation area is also used to send transportation demand signals to the transportation system.

3. The intelligent assembly system for mass production flat-panel satellites according to claim 2, characterized in that, The intelligent assembly area is also used to photograph and record the assembly process in the intelligent assembly area; the posture adjustment includes up and down translation and ±180° rotation; the installation includes screw tightening, torque adjustment and glue dispensing.

4. The intelligent assembly system for mass production flat-panel satellites according to claim 2, characterized in that, The intelligent detection includes the detection of length, width, height, aperture, aperture spacing, flatness, parallelism, and perpendicularity; the whole satellite envelope measurement includes the measurement of the satellite's dimensions in the X, Y, and Z directions.

5. The intelligent assembly system for mass production flat-panel satellites according to claim 2, characterized in that, The thermal control cable implementation area can store tooling components.

6. The intelligent assembly system for mass production flat-panel satellites according to claim 2, characterized in that, The transportation system includes a control system, a satellite transfer AGV, and a logistics transfer AGV. The control system is used to plan the transportation production line. The satellite transfer AGV is used to transport main load-bearing structural components, tooling parts, semi-finished products, and assembled satellites. The logistics transfer AGV is used to transport assembly-related parts and single units.

7. The intelligent assembly system for mass production flat-panel satellites according to claim 2, characterized in that, The intelligent assembly area is also used to realize the positioning, docking, clamping, flipping and moving of tooling parts.

8. The intelligent assembly system for mass production flat-panel satellites according to claim 2, characterized in that, The intelligent assembly area is also used to fasten, adjust torque, and apply adhesive to the main load-bearing structural components.

9. The intelligent assembly system for mass production flat-panel satellites according to claim 2, characterized in that, The transportation demand signal is a transportation demand signal for assembled semi-finished products or a transportation demand signal for assembled satellites; the final assembly material demand signal is a demand signal for individual components.

10. An intelligent assembly method suitable for mass production flat-panel satellite production lines, characterized in that, The method is implemented based on an intelligent assembly system suitable for mass production flat-panel satellites as described in any one of claims 2 to 9, and the method includes the following steps: Based on the intelligent detection and tooling positioning area, the main load-bearing structural components and the tooling components of the main load-bearing structural components are assembled to obtain assembly 1, assembly 2 and assembly 3. The intelligent detection and tooling positioning area sends a transportation demand signal to the transportation system. The transportation system delivers Assembly 1 and Assembly 3 to the intelligent assembly area; The first assembly intermediate is obtained by assembling assembly one and assembly three in the intelligent assembly area; The intelligent assembly area sends a final assembly material requirement signal to the transportation system, which then transports the individual components to the intelligent assembly area. Based on the first assembly intermediate, the intelligent assembly area realizes the gripping, thermal grease application, positioning and installation of single components, and the intelligent assembly area obtains the second assembly intermediate; the intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the second assembly intermediate to the thermal control cable implementation area. The third assembly intermediate is obtained by laying thermal control cables on the second assembly intermediate in the thermal control cable implementation area. The transportation system delivers Assembly 2 to the intelligent assembly area. Based on Assembly 2, the intelligent assembly area performs single-component grabbing, thermal grease application, positioning, and installation to obtain the fourth assembly intermediate. The intelligent assembly area sends a transportation demand signal to the transportation system, and the transportation system transports the fourth assembly intermediate to the thermal control cable implementation area. The operation of laying thermal control cables on the fourth assembly intermediate in the thermal control cable implementation area yields the fifth assembly intermediate; The thermal control cable implementation area sends a transportation demand signal to the transportation system, and the transportation system transports the fifth assembly intermediate 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 to the intelligent assembly area. In the intelligent assembly area, thermal control and electrical assembly and electrical performance testing are carried out on the third and fifth assembly intermediates. The intelligent assembly area assembles the third and fifth assembly intermediates to obtain the sixth assembly intermediate. The intelligent assembly area sends a material demand signal to the transportation system. The transportation system transports the individual components to the intelligent assembly area. Based on the sixth assembly intermediate, the intelligent assembly area performs operations such as gripping, applying thermal grease, positioning, and installing the individual components to obtain the assembled satellite. The intelligent assembly area then sends a transportation demand signal to the transportation system, which transports the assembled satellite off the production line.

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