Satellite automatic assembly workstation and assembly method

Abstract

The invention discloses an automatic satellite assembly workstation and method, and the workstation comprises an assembly station which comprises two displacement devices and a positioning platform; the first bracket is matched with the limiting clamping assembly in the positioning space; the material carrying assembly comprises a first manipulator, a material area and a clamp library; the material area comprises a cabin plate material frame and a part material frame; the multi-stage part clamp comprises a primary clamp and a secondary clamp, the primary clamp is connected with the execution tail end of the first manipulator through a primary quick-change mechanism, the adjustable cabin plate clamp is connected with the execution tail end of the first manipulator through a primary quick-change mechanism, and the secondary clamp is connected with the primary clamp through a secondary quick-change mechanism; the adjustable cabin plate clamp comprises positioning clamping pieces, the positioning clamping pieces are arranged to act in the opposite directions and execute the clamping action, the active adjusting module comprises a positioning adjusting seat for bearing the positioning clamping pieces, and the positioning adjusting seat is connected with an active linear module so as to drive the parallel distance between the positioning clamping pieces.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of satellite assembly equipment, in particular to a satellite automatic assembly workstation and an assembly method. BACKGROUND

[0002] At present, in the field of satellite manufacturing, as one of the core links, the assembly quality and efficiency of the satellite directly affect the overall performance and delivery cycle of the satellite.

[0003] In the traditional satellite assembly process, the materials include parts and panels, and the feeding and carrying of the materials mainly rely on manual operation or fixed feeding devices designed for single parts, which has significant limitations. Because there are many types of parts and panels required for satellite assembly, additional corresponding stations need to be set up to implement assembly work on the satellite for each type of part and panel, such as thread glue coating of bolts, glue coating on the surface of satellite assembly, etc. In the prior art, the above assembly work is completed by manual operation. Although there are automatic devices for certain process steps in the prior art, which automatically operate through mechanical hands, there is a lack of cooperation between the automatic devices, which means that multiple mechanical hands or multiple fixtures and feeding devices need to be set up, and the satellite needs to be transferred between multiple stations, resulting in low assembly efficiency. In addition, the specifications of parts of different types of satellites may change, and fixed devices are difficult to adapt flexibly, so the equipment needs to be redesigned or modified, which has long maintenance cost and modification cycle. The cooperative control of multiple independent devices is complex, the system integration is difficult, and the overall assembly efficiency may be reduced due to compatibility problems between devices. SUMMARY

[0004] In view of the deficiencies in the prior art, the purpose of the present application is to provide a satellite automatic assembly workstation and an assembly method.

[0005] The above technical purpose of the present application is achieved by the following technical scheme: a satellite automatic assembly workstation, comprising: An assembly station comprising two displacement devices arranged opposite to each other, and a positioning platform arranged at the action end of the displacement device, a limiting clamping module is arranged on the positioning platform, and a positioning space is defined between the limiting clamping modules; A first bracket cooperates with the limiting clamping module in the positioning space, an adjustable plate linearly adjustable along the positioning space is arranged on the first bracket, and a mounting area for fixing a satellite is arranged on the adjustable plate; A material carrying assembly comprising a first mechanical hand and a material area parallel to one side of the assembly station in sequence, and a clamp library arranged on one side of the end of the assembly station; The material area comprises cabin plate racks and part racks arranged along the linear direction of the assembly station, and the cabin plate racks and part racks are located in the operating space of the first manipulator, and at least one outer surface of the cabin plate is exposed on the cabin plate rack, and a plurality of positioning aids are arranged on the outer surface of the cabin plate; And the jig library is provided with multi-stage part jigs and adjustable cabin plate jigs, and a main adjustment module for positioning and supporting the adjustable cabin plate jigs; The multi-stage part jigs comprise primary jigs and secondary jigs, the primary jigs and the execution end of the first manipulator are connected through a primary quick-change mechanism, the adjustable cabin plate jigs and the execution end of the first manipulator are connected through a primary quick-change mechanism, and the secondary jigs and the primary jigs are connected through a secondary quick-change mechanism. The adjustable cabin plate jigs comprise positioning clamps, the positioning clamps are arranged to act in opposite directions and perform clamping actions, the main adjustment module comprises a supporting part supporting the adjustable cabin plate jigs, and a positioning adjustment seat receiving the positioning clamps, the positioning adjustment seat is connected with a main linear module to drive the parallel distance between the positioning clamps and drive the parallel distance between the positioning clamps and the positioning aids to be aligned; A second manipulator is arranged parallel to the other side of the assembly station and spaced apart from the first manipulator in the vertical direction; The quick-change loading library comprises a placement area and a glue applying area, the glue applying area is provided with a plurality of glue applying tools, the placement area is provided with a plurality of batch head units and tightening gun assemblies, the tightening gun assemblies and the execution end of the second manipulator are connected through a primary quick-change mechanism, the glue applying tools and the execution end of the second manipulator are connected through a primary quick-change mechanism, and the batch head units and the tightening gun assemblies are connected through a secondary quick-change mechanism.

[0006] Further, the first bracket comprises a first bracket, and limit clamping ends are arranged at both ends of the first bracket; The limit clamping assembly comprises: A coarse positioning module comprises a first positioning block arranged at the front end of the positioning platform, and a first positioning pin movably penetrating the first positioning block, and the bottom of the limit clamping end is provided with a second positioning block matched with the contour of the first positioning block, and the first positioning pin also penetrates the second positioning block and / or the limit clamping end.

[0007] A clamping module comprises a clamping cylinder arranged at the side of the coarse positioning module, and the clamping cylinder acts on the upper surface of the limit clamping end; The clamping anti-falling module comprises a first driving cylinder and a second driving cylinder arranged towards a limiting clamping end, wherein the first driving cylinder is provided with a first top holding piece, the second driving cylinder is provided with a second top holding piece, and the end face of the limiting clamping end is provided with a first top holding hole for the first top holding piece, and the second top holding piece abuts on the end face of the limiting clamping end.

[0008] Through the above improvement, the coarse positioning module eliminates the initial positioning deviation through the cooperation of the V-shaped groove and the second positioning block, ensuring the accurate positioning of the bracket; the clamping module provides controllable pressing force, suppressing the satellite micro-motion; the clamping anti-falling module forms physical locking through the insertion of the top holding piece and the hole position, effectively preventing the risk of falling during the overturning process, and improving the overall safety.

[0009] Further, the first bracket comprises a second bracket, and the second bracket is smaller than the linear distance of the positioning space. A split support frame is detachably arranged on the positioning platform. A third driving cylinder is arranged on the split support frame, the third driving cylinder is provided with a third top holding piece, and the upper end of the second bracket is provided with a third positioning block for the third top holding piece. A fourth positioning block is further arranged at the front end of the split support frame, the fourth positioning block is provided with a vertical second positioning pin, and the second positioning pin is arranged at the bottom of the second bracket.

[0010] Through the above improvement, the modular design of the split support frame allows quick disassembly and assembly, enabling the workstation to flexibly adapt to small satellite assembly and reducing the workstation switching time; the double-point constraint of the third top holding piece and the second positioning pin ensures the stable positioning of the small satellite, improving the assembly precision.

[0011] Further, the adjustable cabin plate clamp comprises: a frame body, a clamping linear module arranged in the opposite direction of the positioning clamping piece, a driven slide rail arranged in the mutually parallel direction of the positioning clamping piece, and a lifting module and a driving brake module arranged on the driven slide rail, wherein the positioning clamping piece comprises a clamping action part connected to the lifting module and a positioning action part, a V-shaped cooperation part for mutual clamping is arranged between the clamping action part and the positioning auxiliary part, and a receiving surface for mutual receiving in the cabin plate extraction direction is arranged. The active adjustment module comprises: a clamping and positioning module, wherein the clamping and positioning module comprises a driving linear module arranged in parallel with the driven slide rail, and a positioning seat arranged at the action end of the driving linear module, the positioning seat is inserted and matched with the positioning action part, and the driving linear module drives the positioning clamping piece to move in the mutually parallel direction through the positioning seat.

[0012] Through the above improvements, the self-centering design of the V-shaped mating part and the positioning auxiliary part compensates for the gripping deviation and improves the gripping accuracy of the cabin plate; the active braking module realizes emergency stop response and prevents the cabin plate from slipping; the clamping and positioning module drives the positioning clamping part through the active linear module, ensuring stability during the movement process, and performs automatic adjustment to cope with different specifications of cabin plates when the adjustable cabin plate clamp is in the positioning state.

[0013] Furthermore, the cabin panel rack includes: The cabin platform includes a slidable support bracket mounted on the cabin platform, an outer limiting block slidably disposed on the outer side of the inclined surface of the support bracket, a lower support block disposed at the bottom of the support bracket, and side support blocks slidably disposed on both sides of the support bracket. The lower support block, side support blocks, and outer limiting block define a limiting space that opens obliquely upward along the inclined surface of the support bracket.

[0014] Through the above improvements, the inclined rack utilizes gravity-assisted positioning, optimizes the loading path, and improves loading efficiency; the three-way limiting structure of the lower support block, side support block, and outer limiting block ensures the stable temporary storage of the compartment, preventing tipping and displacement.

[0015] Furthermore, the inclined surface of the supporting bracket is provided with limiting linear rails on both sides, and the limiting linear rails are provided with an adjusting support mechanism, the adjusting support mechanism comprising: The support base is fixedly mounted on the moving end of the limit linear track; A guide rod is inserted into the support seat and fixedly connected to the outer limiting block. A limiting elastic element is provided at the end of the guide rod away from the outer limiting block. The limiting elastic element abuts between the guide rod and the support seat and drives the outer limiting block to move toward the surface of the cabin plate. A positioning element protrudes from the surface of the support base, and the outer limiting block is provided with a positioning groove that cooperates with the positioning element.

[0016] Through the above improvements, the adjusting support mechanism provides constant pressure through the limiting elastic element, so that the outer limiting block always constrains the surface of the compartment plate, avoiding displacement caused by vibration; the cooperation between the positioning element and the groove limits excessive movement, protects the surface of the compartment plate, and facilitates manual adjustment, thus enhancing the adaptability of the rack.

[0017] Furthermore, the quick-change loading bay is also equipped with bolt trays, thread-applying adhesive tools, and bolt support seats. The threaded adhesive application tool includes a first adhesive application head and a displacement module that slides to support the first adhesive application head. The first adhesive application head is inclined toward the threaded surface of the assembly bolt. The bolt support includes at least a fixed bearing and a driven bearing that is floating on the fixed bearing. The driven bearing is provided with a bolt centering member, and the assembly bolt is rotated between the bolt centering member and the bit unit by being vertically abutted against it. The fixed shaft seat has a floating space for the driven shaft seat to move. A first guide rod is fixedly installed in the floating space. The driven shaft seat is slidably installed on the first guide rod. A floating spring is provided between the driven shaft seat and the bottom of the floating space. The floating spring is sleeved on the first guide rod.

[0018] Through the above improvements, the inclined applicator head of the thread applicator ensures that the adhesive evenly covers the thread surface, thus improving the quality of the application; the floating design of the bolt support compensates for positional deviations, ensuring bolt alignment; and the floating spring absorbs assembly impacts, improving tightening reliability.

[0019] Furthermore, the displacement device includes a linearly arranged alignment linear module and a lifting displacement module disposed on the actuating end of the alignment linear module. The actuating end of the lifting displacement module is provided with a rotating module. The positioning platform is connected to the actuating end of the rotating module and drives the bracket to rotate through the limiting clamping component. An AGV mobile vehicle is also provided outside the assembly station. The AGV mobile vehicle is equipped with a lifting platform, and the bottom of the first bracket is also provided with a support plate that connects with the lifting platform.

[0020] Through the above improvements, the alignment linear module and the lifting and shifting module enable multi-degree-of-freedom adjustment of the bracket, ensuring accurate positioning; the rotating module allows the bracket to be flipped to adapt to different assembly angles; the coordination between the AGV mobile vehicle and the lifting platform ensures the stability and accuracy of the entire satellite transfer.

[0021] Furthermore, the tightening gun assembly includes a mounting base plate, a tightening linear rail mounted on the mounting base plate, and a feed cylinder, a feed slider, and a floating slider mounted on the tightening linear rail. The feed cylinder is connected to the feed slider, and an electric tightening gun is fixedly connected to the feed slider. The floating slider is connected to the bit unit via a two-stage quick-change mechanism. A second guide rod is provided between the feed slider and the floating slider. A return spring is sleeved on the second guide rod and abuts against the feed slider and the floating slider. An intermediate limit block is also provided at intervals at the lower end of the tightening linear rail, and the floating slider is slidably constrained between the intermediate limit block and the end of the tightening linear rail.

[0022] Through the above improvements, the cooperation between the feed cylinder and the return spring provides a buffer, reducing over-torque impact; the intermediate limit block constrains the stroke of the floating slider, ensuring the accuracy of tightening the shaft; the two-stage quick-change mechanism allows for rapid replacement of the bit unit, improving tool switching efficiency.

[0023] This invention also provides an assembly method for a satellite automated assembly workstation, comprising the following steps: Step S1: Loading of hatch panels and parts Configure a material AGV trolley, which will transfer the hatch rack and parts rack to the material area. The hatch is positioned by the inclined surface of the support bracket on the hatch rack. Step S2: Bracket and belt assembly satellite positioning; The adjustment plate of the first bracket is adjusted according to the satellite specifications, and the satellite to be assembled is fixed on the adjustment plate; An AGV mobile vehicle is configured to support the first bracket and the satellite to be assembled, and move it to the middle position of the positioning device. Then the positioning device retracts, and the AGV mobile vehicle lifts the first bracket to the predetermined height. The positioning device engages the end of the bracket with the limiting clamping assembly and fixes the position of the bracket; Step S3: Adaptive Fixture Matching The first robotic arm's end effector is connected to an adjustable compartment clamp via a primary quick-change mechanism; The active adjustment module drives the positioning clamping part to move, so that the V-shaped mating part is aligned with the slot of the compartment positioning auxiliary part; The first robotic arm moves its end effector to the tray rack, clamps the linear module, drives the clamping action to close, and clamps it onto the positioning auxiliary component; The first robotic arm moves and places the hatch in the designated position on the bracket for the satellite to be assembled; Step S4: Coordinated assembly of ground and space rails Bolt assembly: The second robotic arm picks up the tightening gun assembly and bit unit, the bolt glue applicator floats and positions the bolts, the thread glue applicator moves, the second robotic arm picks up the assembly bolts and performs tightening, at which time the first robotic arm places the panel or part in the predetermined position of the satellite to be assembled.

[0024] Compared with the prior art, the present invention has the following advantages and beneficial effects: By enabling the first and second robotic arms to move extensively between assembly stations, combined with the ability to quickly change tools at the end effector, a single first robotic arm, working with various types of quick-change fixtures, achieves universal handling of a wide range of components and panels. This avoids the need for a separate fixed loading device for each part, accommodating the diverse types and specifications of parts required for satellite assembly. It achieves continuous and efficient material flow from the loading position to the assembly station, reducing the turnaround steps of traditional multi-equipment relay transportation and shortening the assembly cycle. A second robotic arm handles the application of adhesive to bolts and panels, as well as the tightening of assembly bolts, significantly simplifying the equipment structure and reducing space requirements. Different bit units and tightening gun assemblies in the quick-change loading bin adapt to the process parameters of different satellite models, allowing for flexible adjustments to bolt assembly and tightening without requiring tool redesign or modification. This results in low maintenance costs, high compatibility between equipment, and ultimately improved overall efficiency.

[0025] Two opposing positioning devices enable the support device to move left and right, rise and fall vertically, and rotate. The opposing support devices are constrained and fixed to the bracket by a positioning platform. The bracket is equipped with a linearly movable adjustment plate, on which the satellite is fixed, thus providing a fixed area for the satellite to be assembled on the bracket. When dealing with satellites of different sizes to be assembled, only the position of the adjustment plate on the bracket needs to be adjusted. When the satellite needs to be flipped during assembly, the bracket is clamped and fixed by the limiting clamping component. It can flexibly adapt to the needs of different sized satellite panels and the separate assembly and reassembly of the whole satellite. The positioning platform on the support device, through the cooperation of the limiting clamping component and the adjustment plate, constructs a dynamically adjustable positioning space, which can both constrain the translational freedom of the bracket and support the satellite through the adjustment plate, ensuring the positional stability of the satellite during the assembly process, without the need to set up additional fixing devices or disassemble the bracket.

[0026] The present invention further includes an adjustable cabin plate clamp and an active adjustment module. The two are connected by a positioning clamp and a positioning adjustment seat to achieve the positioning of the adjustable cabin plate clamp. At the same time, the positioning adjustment seat drives the relative parallel position of the positioning clamp to adjust the alignment position according to the positioning auxiliary parts at different positions on the cabin plates of different specifications, so that one adjustable cabin plate clamp can be adapted to cabin plates of different specifications. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall layout of the present invention; Figure 2 This is a schematic diagram of the structure of the first bracket of the present invention at the assembly station; Figure 3 For the present invention Figure 2 Enlarged view of point A in the middle; Figure 4 For the present invention Figure 2Enlarged view of point B in the middle; Figure 5 This is a schematic diagram of the positioning platform and limiting clamping assembly of the present invention; Figure 6 This is a cross-sectional view of the first bracket and the limiting clamping assembly of the present invention. Figure 7 This is a schematic diagram of the displacement device of the present invention; Figure 8 This is a schematic diagram of the structure of the first robotic arm, material area, and fixture library of the present invention; Figure 9 This is a schematic diagram of the structure of the execution end of the present invention; Figure 10 This is a schematic diagram of the fixture magazine mechanism of the present invention; Figure 11 This is an exploded view of the adjustable compartment clamp and active adjustment module of the present invention; Figure 12 For the present invention Figure 11 Enlarged view of point C in the middle; Figure 13 This is a schematic diagram of the structure of the compartment plate rack of the present invention; Figure 14 This is a cross-sectional view of the compartment plate rack of the present invention; Figure 15 For the present invention Figure 14 Enlarged view at point D; Figure 16 This is a schematic diagram of the structure of the second robotic arm, quick-change loading warehouse, and assembly station of the present invention; Figure 17 This is a schematic diagram of the quick-change loading chamber of the present invention; Figure 18 This is a schematic diagram of the thread-applying adhesive tool of the present invention; Figure 19 This is a cross-sectional view of the thread-applying adhesive tool of the present invention; Figure 20 This is a structural diagram of the pin clamping tool of the present invention; Figure 21 This is a cross-sectional view of the pin clamping tool of the present invention; Figure 22 This is a schematic diagram of the tightening gun assembly of the present invention; Figure 23 This is a schematic diagram of the split support frame of the present invention; Figure 24 This is a schematic diagram of the structure of the second bracket of the present invention at the assembly station; Figure 25 For the present invention Figure 24 Enlarged view at point E in the middle; Figure 26This is a schematic diagram illustrating the cooperation between the split support frame and the second bracket of the present invention; In the diagram: 1. Assembly station; 1.1 Positioning device; 1.2 Positioning platform; 1.3 Alignment linear module; 1.31 Rack; 1.32 Gear; 1.33 First platform; 1.34 Gear wheel; 1.4 Lifting and positioning module; 1.41 Second platform; 1.5 Rotating module; 1.6 Outer frame; 1.7 Base frame; 2. Bracket assembly; 2.1 Adjusting plate; 2.12 Installation area; 2.2 First bracket; 2.21 Limiting clamping end; 2.22 Second positioning block; 2.23 First positioning hole; 2.24 First top holding hole; 2.3 Second bracket; 2.31 Fourth positioning block; 2.32 Second top holding hole; 2.33 Second positioning hole; 2.34 Sliding track; 2.4 Support plate; 2.5 Mounting rail; 3. First robotic arm; 3.1 First end effector; 3.2 Rotating frame; 3.21 First bracket; 3.22 Second bracket; 3.23 Pipeline package bracket; 3.24 Distance sensor; 3.3 Vision module; 3.4 Transfer rail; 4. Fixture library; 4.1 Primary fixture; 4.2 Secondary fixture; 4.3 Adjustable compartment fixture; 4.31 Positioning clamping component; 4.311 Clamping action part; 4.312 Positioning action part; 4.313 V-shaped main body; 4.314 Support part; 4.32 Clamping linear module; 4.33 Lifting module; 4.34 Displacement sensor; 4.35 Frame main body; 4.351 Driven slide rail 4.352. Driven slider; 4.353. Z-axis slide rail; 4.354. Z-axis slider; 4.355. Pneumatic guide rail clamp; 4.4. Active adjustment module; 4.41. Positioning seat; 4.42. Active linear module; 4.5. Primary quick-change mechanism; 4.51. Primary quick-change male disc; 4.52. Primary quick-change female disc; 4.6. Secondary quick-change mechanism; 4.61. Secondary quick-change male disc; 4.62. Secondary quick-change female disc; 4.7. Positioning stand; 5. Cabin plate rack; 5.1. Cabin plate; 5.11. Positioning auxiliary component; 5.12. V-type mating part; 5.13. Support mating part; 5.2. Cabin plate platform; 5.21. First support slide rail; 5.22. Second support slide rail; 5.3. Support inclined frame; 5.31 Limiting support rail; 5.4 Lower support block; 5.5 Side support block; 5.6 Outer limiting block; 5.61 Positioning groove; 5.7 Manual guide rail clamping module; 5.8 Adjustable support mechanism; 5.81 Support seat; 5.82 Fixed part; 5.83 Rotating base; 5.84 Guide rod; 5.85 Side flange; 5.86 Positioning component; 5.87 Limiting elastic component; 5.88 Linear bearing; 6. Parts rack; 6.1 Parts; 6.2 Second placement platform; 6.3 Pallet assembly; 6.4 Limiting seat; 7. Second robotic arm; 7.1 Second execution end; 7.2 Y-axis rail frame; 8. Quick change loading bin; 8.1 Bit unit; 8.11 Bit body; 8.12. Bit mounting block; 8.2. Bolt tray; 8.3. Pin tray; 8.4. Thread adhesive application inspection platform; 8.5. Thermal grease application tool; 8.6. Screw dispensing tool; 9. Coarse positioning module; 9.1. First positioning block; 9.2. First positioning pin; 9.3. Positioning groove; 9.4. Mating plane; 9.5. Lifting cylinder; 10. Clamping module; 10.1. Clamping cylinder; 10.2. Clamping arm; 11. Clamping anti-drop module; 11.1. First drive cylinder; 11.2. First lifting component; 11.3. Second drive cylinder 11.4 Cylinder; 11.5 Top Holding Block; 12. Split Support Frame; 12.1 Third Drive Cylinder; 12.2 Third Top Holding Component; 12.3 Third Positioning Block; 12.4 Second Positioning Pin; 13. Threaded Glue Applying Tool; 13.1 First Glue Applying Head; 13.11 Glue Discharge Part; 13.12 Glue Inlet Part; 13.2 Displacement Module; 13.21 Horizontal Cylinder; 13.22 Vertical Cylinder; 13.23 Glue Gun Adjustment Plate; 13.24 Adjustment Slide Rail; 13.3 Detection Seat; 13.31 Fiber optic sensor; 14. Bolt support; 14.1. Fixed shaft seat; 14.2. Driven shaft seat; 14.3. Bolt centering component; 14.4. Floating space; 14.5. First bearing; 14.6. Linear bearing; 14.7. First guide rod; 14.8. Floating spring; 15. Moving carriage; 15.1. Lifting platform; 16. Tightening gun assembly; 16.1. Mounting base plate; 16.2. Linear track; 16.3. Feed cylinder; 16.4. Driving slider; 16.41. Mounting side plate; 16.5. Driven slider; 16. 51. Quick-change connecting block; 16.6. Electric tightening gun; 16.61. Power supply unit; 16.7. Second guide rod; 16.8. Return spring; 16.9. Intermediate limit block; 17. Temporary storage rack; 17.1. Fourth linear track; 17.2. Fourth slider; 17.3. Support frame; 17.4. Support block; 18. Pin clamping tool; 18.1. Clamping block; 18.11. Mounting block; 18.12. Linkage rod; 18.13. Clamping block; 18.2. Clamping cylinder; 18.3. Elastic element; 18.4. Pressure sensor; Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] It should be understood that although the terms upper, middle, lower, top, one end, etc., appear in this document to describe various elements, these elements are not limited by these terms. These terms are only used to distinguish the elements from each other for ease of understanding, and are not used to define any directional or sequential restrictions.

[0030] like Figures 1-26 As shown, a satellite automated assembly workstation includes: Assembly station 1 includes two displacement devices 1.1 arranged opposite each other along the Y-axis, and a positioning platform 1.2 arranged on the moving end of the displacement device 1.1. The positioning platform 1.2 is provided with a limit clamping module, and the positioning space is defined between the limit clamping components. The first bracket 2.2 cooperates with the limiting clamping component within the positioning space. The first bracket 2.2 is provided with an adjustment plate 2.1 that is linearly adjustable along the positioning space. The adjustment plate 2.1 is provided with an installation area 2.12 for fixing the satellite. The first bracket 2.2 serves as an intermediate support. Preferably, there are two adjustment plates 2.1 to provide installation positions for satellites of different specifications to be assembled. When assembling the satellites that are adapted within the movable range of the adjustment plate 2.1 of the current bracket, there is no need to disassemble the bracket; only the position of the adjustment plate 2.1 needs to be adjusted. The material handling assembly includes a first robot 3 and a material area that are parallel to one side of the assembly station 1, and a fixture library 4 set on one side of the end of the assembly station 1. The first robot 3 is movable on the Y-axis via a transfer rail 3.4 set on the Y-axis. The first robotic arm 3 and the transfer rail 3.4 define the operating area a. The assembly station 1 is at least partially located within the operating area a for operation. The operating area a refers to the operating area a covered by the first end effector 3.1 of the first robotic arm 3 along the transfer rail 3.4. The fixture library 4 and the material area are both arranged within the operating area. The first robotic arm 3 switches between the material area b, the fixture library 4, and the assembly station 1 via the transfer rail 3.4. The first execution end 3.1 of the first robotic arm 3 is equipped with a vision module 3.3. The vision module 3.3 identifies different part 6.1 fixtures and compartment plate 5.1 fixtures to grasp different parts 6.1 and compartment plates 5.1, so that a single six-axis robotic arm can complete the loading of different materials. Material area b is located on the side of the transfer rail 3.4 away from the assembly station 1. The material area includes a panel rack 5 and a parts rack 6 arranged along the linear direction of the assembly station 1. The panel rack 5 and the parts rack 6 are located within the operating space of the first robot 3. The panel rack 5 and the parts rack 6 are arranged at intervals along the Y-axis to further optimize the layout on both sides of the transfer rail 3.4. At least one outer surface of the panel 5.1 is exposed on the panel rack 5. As can be seen from the figure, since the panel 5.1 body should not bear too large a load, several positioning auxiliary parts 5.11 are set on the outer surface of the panel 5.1. The positioning auxiliary parts 5.11 serve as the clamping positions of the panel 5.1. By clamping these positioning auxiliary parts 5.11, the direct force on the panel 5.1 is avoided.

[0031] The fixture library 4 is preferably located at the end of the transfer rail 3.4, thereby making full use of the space at the Y-axis end of the assembly station 1 and the transfer rail 3.4; the fixture library 4 is equipped with multi-level part 6.1 fixtures and adjustable compartment plate fixtures 4.3, as well as an active adjustment module 4.4 for positioning and supporting the adjustable compartment plate fixtures 4.3. The multi-stage part 6.1 fixture includes multiple primary fixtures 4.1 and multiple secondary fixtures 4.2, which are used to clamp parts 6.1 of different specifications and types. The primary fixtures 4.1 are connected to the first actuator end 3.1, and the adjustable compartment fixture 4.3 is connected to the first actuator end 3.1 through a primary quick-change mechanism 4.5. The secondary fixtures 4.2 are connected to the primary fixtures 4.1 through a secondary quick-change mechanism 4.6. The adjustable cabin clamp 4.3 includes a positioning clamp 4.31, which is configured to move in a relative direction and perform a clamping action. The active adjustment module 4.4 includes a support portion that supports the adjustable cabin clamp 4.3 and a positioning seat that receives the positioning clamp 4.31. The positioning seat 4.41 is connected to an active linear module to drive the parallel distance between the positioning clamps 4.31 and to drive the positioning clamps 4.31 to align with the parallel distance of the positioning auxiliary member 5.11. The positioning auxiliary member 5.11 has an opening facing the outside of the cabin 5.1, and the positioning clamp 4.31 clamps the positioning auxiliary member 5.11 in the direction of the opening. The parallel distance specifically refers to the direction perpendicular to the opening. The second robot 7 is parallel to the other side of the assembly station 1 and is vertically spaced from the first robot 3. The second robot 7 moves relative to the Y-axis of the assembly station 1 via the Y-axis track frame 7.2. The Y-axis track frame 7.2 is preferably mounted above the assembly station 1 and located on one side of the assembly station 1, thereby freeing up more operating space and reducing interference. The quick-change loading chamber 8 includes a placement area and an adhesive application area. The adhesive application area is equipped with multiple adhesive application tools, and the placement area is equipped with multiple bit units 8.1 and a tightening gun assembly 16. The tightening gun assembly 16 is connected to the second end effector 7.1 of the second robotic arm 7, and the adhesive application tools are connected to the second end effector 7.1 of the second robotic arm 7 via a primary quick-change mechanism 4.5. The bit units 8.1 are connected to the tightening gun assembly 16 via a secondary quick-change mechanism 4.6. The adhesive application tools include, but are not limited to, a thread adhesive application tool 13 for assembling bolts, a thermal grease application tool 8.5 for the assembly surface of the compartment plate 5.1, and a bolt dispensing tool.

[0032] (First robotic arm 3 and second robotic arm 7) like Figure 1 and Figure 8 , Figure 9 , Figure 16 As shown, as a further explanation of the first robotic arm 3 and the second robotic arm 7, the first robotic arm 3 and the second robotic arm 7 have the same execution end structure, and they are both connected to the quick-change tool through the primary quick-change mechanism 4.5; The end effector includes a rotating frame 3.2 connected to the end of the robotic arm, and a first bracket 3.21 and a second bracket 3.22 extending on both sides of the rotating frame 3.2. The rotating frame 3.2 is configured to perform a rotational action via the end of the robotic arm. The first bracket 3.21 and the second bracket 3.22 provide mounting positions on both sides of the rotating frame 3.2 and rotate synchronously with the rotating frame 3.2. A cable bundle bracket 3.23, a distance sensor 3.24, and a vision module 3.3 are arranged on the first bracket 3.21 and the second bracket 3.22. Preferably, the distance sensor 3.24 and the vision module 3.3 are mounted on the first bracket 3.21, and the cable bundle bracket 3.23 is mounted on the second bracket 3.22. A primary quick-change mechanism 4.5 is located at the bottom of the rotating frame 3.2.

[0033] In this embodiment, the relative positions of the vision module 3.3 and the distance sensor 3.24 with respect to the quick-change tool are adjusted by rotating the rotating frame 3.2, thereby identifying and accurately positioning the quick-change tool. In addition, QR code information is also provided on the part 6.1 and the compartment plate 5.1, and the loading position of the part 6.1 and the loading position of the compartment plate 5.1 are further identified by the vision module 3.3.

[0034] Multi-axis structures for robotic arms are a standard practice in this field and will not be elaborated upon here.

[0035] (First bracket 2.2) like Figure 2As shown, the first bracket 2.2 is assigned according to the length of the satellite to be assembled. The first bracket 2.2 has a limiting clamping end 2.21 at both ends of the Y-axis. The limiting clamping end 2.21 is used to cooperate with the limiting clamping assembly to fix the first bracket 2.2. The limiting clamping assembly includes: a coarse positioning module 9, a clamping module 10, and a clamping anti-drop module 11.

[0036] The coarse positioning module 9 is used to form a preliminary positioning with the bottom of the first bracket 2.2 and eliminate displacement errors caused by transportation. The clamping module 10 is used to clamp the upper surface of the first bracket 2.2 to fix the first bracket 2.2. The clamping and anti-drop module 11 is used to insert and support the end of the first bracket 2.2 to ensure the reliability of the position of the first bracket 2.2 on the assembly station 1.

[0037] (Coarse positioning module 9) like Figure 3 and Figure 5 , Figure 6 As shown, as a further embodiment of the coarse positioning module 9, the coarse positioning module 9 is disposed at the front end of the positioning platform 1.2; the coarse positioning module 9 includes a first positioning block 9.1 disposed at the front end of the positioning platform 1.2, and a first positioning pin 9.2 movably passing through the first positioning block 9.1. The first positioning pin 9.2 preferably passes through the first positioning block 9.1 vertically. The first positioning block 9.1 is provided with a positioning groove 9.3 facing the bracket. The bottom of the limiting clamping end 2.21 is provided with a second positioning block 2.22 that matches the contour of the first positioning block 9.1. The first positioning block 9.1 matches the positioning groove 9.3. The relative direction of the positioning groove 9.3 and the second positioning block 2.22 is preferably in the vertical direction relative to the bracket. The first positioning pin 9.2 also passes through the second positioning block 2.22 and / or the limiting clamping end 2.21.

[0038] Specifically, the bottom of the positioning platform 1.2 is equipped with a lifting cylinder 9.5 that drives the first positioning pin 9.2 to extend out of the positioning groove 9.3 and cooperate with the second positioning block 2.22. During the docking process between the bracket and the positioning platform 1.2, after the first positioning block 9.1 and the second positioning block 2.22 are engaged, the lifting cylinder 9.5 is activated and the first positioning pin 9.2 is inserted into the first positioning block 9.1 to complete the initial positioning of the first bracket 2.2.

[0039] The positioning groove 9.3 is contour-fitted with the second positioning block 2.22 so that the bracket can be quickly and coarsely positioned on the positioning platform 1.2. The lifting cylinder 9.5 drives the first positioning pin 9.2 to precisely engage with the second positioning block 2.22, further improving the reliability of coarse positioning.

[0040] Specifically, the positioning groove 9.3 is a V-shaped groove, and the second positioning block 2.22 has a V-shaped protrusion. Furthermore, there is a mating plane 9.4 between the first positioning block 9.1 and the second positioning block 2.22. The mating plane 9.4 extends to both sides of the V-shaped protrusion and the positioning groove 9.3. When the first positioning block 9.1 and the second positioning block 2.22 engage, the corresponding mating planes 9.4 also abut against each other. The design of the mating plane 9.4 enhances the contact area between the positioning blocks, improves positioning stability, and prevents the bracket from shifting during subsequent clamping or flipping. This lays the foundation for subsequent precise positioning and clamping operations. The V-shaped groove design has a certain degree of self-adaptability to the placement angle of the bracket, especially the self-centering characteristic of the inclined plane, which to some extent eliminates the initial position deviation caused by transportation; improves coarse positioning accuracy, simplifies the alignment operation before assembly, and improves positioning efficiency.

[0041] like Figure 6 As shown, the second positioning block 2.22 is provided with a first positioning hole 2.23 for inserting the first positioning pin 9.2. The first positioning hole 2.23 is connected to the bracket so that the first positioning pin 9.2 is inserted into the bracket. The first positioning pin 9.2 not only mates with the surface of the second positioning block 2.22, but also extends into the first positioning hole 2.23 inside the bracket, forming a secondary positioning, which improves the fixing reliability of the bracket on the positioning platform 1.2, and reduces the displacement of the bracket caused by vibration or external force during clamping or flipping, ensuring the positional accuracy of the bracket during satellite assembly and thus improving the reliability of coarse positioning fit.

[0042] Alternatively, the end of the first locating pin 9.2 may be an arc surface or a conical surface to improve the smoothness of the lifting and positioning process.

[0043] (Clamping Module 10) Reference Figure 3 and Figure 5 As shown, the positioning platform 1.2 is also provided with a clamping module 10 configured on one side of the coarse positioning module 9. The clamping module 10 acts on the upper surface of the first bracket 2.2, thereby cooperating with the coarse positioning module 9 to apply a vertical clamping action to the first bracket 2.2.

[0044] The clamping module 10 includes a clamping cylinder 10.1 and a clamping arm 10.2 disposed on the actuating end of the clamping cylinder 10.1. The clamping arm 10.2 is configured to perform a rotating clamping action and vertically press against the surface of the first bracket 2.2.

[0045] Specifically, the clamping cylinder 10.1 provides a rotation stroke for the clamping arm 10.2. In the initial state, the clamping arm 10.2 is vertically positioned to avoid interference when the positioning platform 1.2 and the first bracket 2.2 are vertically engaged. After the first bracket 2.2 is coarsely positioned, the clamping cylinder 10.1 is activated and clamps the upper surface of the end of the first bracket 2.2.

[0046] In some embodiments, the clamping cylinder 10.1 may also be selected as an elbow clamping cylinder.

[0047] As one arrangement of the clamping module 10, the clamping module 10 is located behind the coarse positioning module 9, preferably aligned with the coarse positioning module 9 in the front-rear direction, so that the first positioning pin 9.2 is located within the projection range of the action surface of the clamping arm 10.2 on the first bracket 2.2. That is, the clamping force of the clamping cylinder 10.1 can be effectively applied to the first bracket 2.2, and the first bracket 2.2 and the coarse positioning module 9 can form a reliable fit. Through this arrangement, the synergistic effect of positioning and clamping functions is ensured. The first positioning pin 9.2 first fixes the horizontal position of the first bracket 2.2, and the clamping arm 10.2 then locks its vertical position through vertical pressure. The two work together to avoid the first bracket 2.2 from shifting due to positioning failure during the clamping process, improve the consistency of positioning and clamping, and ensure the accuracy of satellite assembly.

[0048] (Clamping anti-drop module 11) Reference Figure 3 and Figure 5 As shown, as a further embodiment of the limiting clamping assembly, the clamping anti-drop module 11 is used to act on the end of the first bracket 2.2 and apply clamping force to the front and rear ends of the first bracket 2.2 in the opposite direction. Preferably, it provides a top holding member that passes through the end of the first bracket 2.2, so as to prevent the first bracket 2.2 from falling when the displacement device 1.1 flips the first bracket 2.2.

[0049] The clamping anti-drop module 11 includes a first drive cylinder 11.1 and a second drive cylinder 11.3 facing the limiting clamping end 2.21. The first drive cylinder 11.1 is provided with a first supporting member 11.2, and the second drive cylinder 11.3 is provided with a second supporting member 11.4. The end face of the limiting clamping end 2.21 is provided with a first supporting hole 2.24 for inserting the first supporting member 11.2. The second supporting member 11.4 abuts against the end face of the limiting clamping end 2.21. The two top-holding members 11.4 clamp the first bracket 2.2 at both ends, thereby fixing the first bracket 2.2. The second drive cylinder 11.3 applies clamping force from both ends of the first bracket 2.2 through the second top-holding members 11.4, forming a lateral constraint on the first bracket 2.2. The relatively arranged second drive cylinders 11.3 can balance the force on both ends of the first bracket 2.2, preventing the first bracket 2.2 from tilting or shifting due to uneven force on one side, and further enhancing the reliability of the anti-fall effect.

[0050] The first drive cylinder 11.1 is arranged in a linear direction along the front and back of the positioning space. Before the clamping module 10 is working, the first drive cylinder 11.1 is activated and the first top holding member is inserted into the first top holding hole 2.24, which realizes the mechanical locking of the end of the first bracket 2.2. Even if the clamping cylinder 10.1 fails or an unexpected vibration occurs during the flipping process, the first top holding member can still provide reliable anti-fall protection to prevent the first bracket 2.2 from slipping off the support device, which significantly improves the safety of the assembly process.

[0051] (Second bracket 2.3) like Figures 23 to 26 As shown, specifically, in order to accommodate small-sized satellites to be assembled, the first bracket 2.2 is configured as the second bracket 2.3, which is smaller than the linear distance of the positioning space; to compensate for the distance difference between the second bracket 2.3 and the positioning platform 1.2, the positioning platform 1.2 is provided with a detachable split support frame 12. The split support frame 12 is provided with a third drive cylinder 12.1, and the third drive cylinder 12.1 is provided with a third top support member 12.2. The third top support member 12.2 is arranged on the outside of the first positioning block 9.1; the upper end of the second bracket 2.3 is provided with a third positioning block 12.3 for the third top support member 12.2 to be inserted, and the second positioning block 2.22 is provided with a second top support hole 2.32; The front end of the split support frame 12 is also provided with a fourth positioning block 2.31, which is located on the lower end face of the split support frame 12. The fourth positioning block 2.31 is provided with a vertical second positioning pin 12.4, which passes through the bottom of the second bracket 2.3. The bottom of the second bracket 2.3 is provided with a second positioning hole 2.33 that cooperates with the second positioning pin 12.4.

[0052] In this embodiment, the split support frame 12 is arranged on the outer edge of the positioning platform 1.2 and mounted on the positioning platform 1.2, thereby avoiding interference with the clamping module 10, the clamping anti-drop module 11 and the coarse positioning module 9, and the split support frame 12 extends out of the end of the positioning platform 1.2.

[0053] The second positioning pin 12.4 on the fourth positioning block 2.31 cooperates with the second positioning hole 2.33 at the bottom of the second bracket 2.3, and the third top support is inserted into the second top support hole 2.32, forming a multi-positioning and clamping structure. This ensures the high-precision positioning and reliable fixation of the second bracket 2.3 on the split support frame 12, meets the special positioning requirements of the base plate bracket when assembling the entire satellite, and further enhances the platform's adaptability to diverse bracket types.

[0054] The aforementioned third drive cylinder 12.1, third top support, and fourth positioning block 2.31 all extend toward the positioning space in the front and rear linear direction of the bracket, while the second positioning pin 12.4 and the second positioning hole 2.33 are vertically arranged.

[0055] (Quick Replacement Agency) like Figures 9 to 11 ,as well as Figure 17 As shown, both the primary quick-change mechanism 4.5 and the secondary quick-change mechanism 4.6 are quick-change disc units, specifically divided into a male quick-change disc and a female quick-change disc that connect with each other. The only difference is the size of the quick-change disc unit, which is due to the different weights of the tools they are used to. The quick-change disc units achieve mutual engagement and disengagement through vertical docking. As an example, the male quick-change disc is equipped with a piston rod, which is pneumatically or hydraulically driven to perform telescopic movements to achieve relative engagement and disengagement with respect to the female quick-change head. The quick-change disc unit can be a commercially available quick-change disc, such as an ATI quick-change disc, with the optional model being 9120-160FT.

[0056] In the primary quick-change mechanism 4.5, the quick-change male disc is defined on the execution end of the first robot arm 3 and the second robot arm 7, and the quick-change female disc is defined on the primary clamp 4.1, the adjustable compartment clamp 4.3, the tightening gun assembly 16, the pin clamping tool 18, the thermal grease application tool 8.5, and the bolt dispensing tool. In the secondary quick-change mechanism 4.6, the quick-change male disc is defined on the actuating end of the primary clamp 4.1 and the tightening gun assembly 16, and the quick-change female disc is defined on the secondary clamp 4.2 that mates with the primary clamp 4.1 and the bit unit 8.1 that mates with the tightening gun assembly 16.

[0057] The primary quick-change mechanism 4.5 and the secondary quick-change mechanism 4.6 described above enable the multi-tool configuration of the first robotic arm 3 and the second robotic arm 7.

[0058] (6.1 Fixture for Multi-Level Parts) Further reference Figure 10 As shown, as a further embodiment of the multi-level part 6.1 fixture, the part 6.1 fixture can be divided into a primary fixture 4.1 and a secondary fixture 4.2 according to the part 6.1 to be clamped and its weight.

[0059] Optionally, the main body of the primary fixture 4.1 is configured as a servo electric cylinder that performs relative motion, and two secondary quick-change master disks are set on the actuating end of the servo electric cylinder, and each servo electric cylinder is equipped with a servo driver on its actuating end. Different secondary fixtures 4.2 are equipped with secondary quick-change master disks 4.62, thereby gripping parts 6.1 of different specifications and types. The two-stage quick-change mechanism ensures the basic clamping function of the fixture and allows for quick adaptation to secondary fixtures of different specifications 4.2 without the need to replace the entire fixture, further enhancing the flexibility of fixture switching. As a preferred option, to accelerate the end effector's recognition of different quick-change fixtures, the primary and secondary quick-change units are configured with different contours. The different contour designs can prevent mismatches and ensure the accuracy of fixture connection. Thanks to the setting of vision module 3.3, the robot is provided with real-time visual positioning capability, which helps the fixture and part 6.1 to align and improve handling accuracy.

[0060] As a further embodiment of the secondary fixture 4.2, the actuating component of the secondary fixture 4.2 is provided with a silicone block 7.21 disposed opposite to it. The silicone material can increase friction and its buffering properties can protect the surface of the part 6.1 from being pinched, further improving the compatibility of the fixture with diverse parts 6.1.

[0061] To accommodate other parts with different profiles 6.1, the actuator or silicone block 7.21 can also be set with other external profiles.

[0062] As an example, the silicone block is configured as a flat plate to accommodate the clamping of square products. The silicone block has opposing V-grooves positioned horizontally to clamp parts 6.1 with circular contours, and is compatible with most circular parts 6.1. Optionally, the V-grooves are positioned vertically, and each secondary clamp 4.2 is equipped with at least two silicone blocks for gripping tubular parts 6.1, such as magnetic torque devices. Alternatively, the actuating member extends a hook component at the bottom of the silicone block, specifically extending in the clamping and retracting direction, to grip hookable parts 6.1, particularly suitable for parts 6.1 with holes or suspension structures, preventing slippage through hook fixation.

[0063] Alternatively, the primary fixture 4.1 may be configured as a servo electric cylinder that performs relative motion, with a silicone block placed on the actuating end of the servo electric cylinder.

[0064] (Adjustable panel clamp 4.3) like Figure 8 , Figure 9 ,as well as Figures 11 to 12 As shown, as a further embodiment of the adjustable compartment clamp 4.3, the adjustable compartment clamp 4.3 is provided with a primary quick-change mother plate 4.52 and is connected to the first execution end 3.1 through a primary quick-change mechanism 4.55.

[0065] Adjustable panel clamp 4.3 includes: The frame body 4.35 includes a clamping linear module 4.32 positioned relative to the positioning clamping member 4.31, a driven slide rail 4.351 positioned parallel to the positioning clamping member 4.31, and a lifting module 4.33 and an active braking module mounted on the driven slide rail 4.351. The clamping linear module 4.32 is perpendicular to the driven slide rail 4.351 and has two actuating ends. Two clamping action parts 4.311 are positioned opposite each other in the mutual clamping direction, and two clamping action parts 4.311 are parallel to each other in the same clamping direction. The positioning clamping component 4.31 includes a clamping action part 4.311 and a positioning action part 4.312 connected to the actuating end of the lifting module 4.33. The clamping action part 4.311 and the positioning auxiliary component 5.11 are provided with a V-shaped fitting part 5.12 that engages with each other, and a receiving surface that supports each other in the extraction direction of the cabin plate 5.1. By the relative movement of the actuating end of the clamping linear module 4.32, the positioning auxiliary component 5.11 of the cabin plate 5.1 is clamped.

[0066] The active adjustment module 4.4 includes: It includes an active linear module 4.42 arranged parallel to the driven slide rail 4.351, and a positioning seat 4.41 arranged on the actuating end of the active linear module 4.42. The positioning seat 4.41 is inserted and engaged with the positioning action part 4.312, and the active linear module 4.42 drives the positioning clamp 4.31 to move in mutually parallel directions through the positioning seat 4.41.

[0067] Further reference Figure 11 As shown, preferably, the active linear module 4.42 is provided with two actuating ends, and each actuating end is connected to a positioning seat 4.41. When the positioning clamp 4.31 is adjusted, the pneumatic guide rail clamp 4.355 is unlocked to allow the X-axis slider to slide.

[0068] The positioning seat 4.41 has an upward-facing opening for the positioning clamp 4.31 to be inserted. Through the action of the active linear module 4.42, the lifting module 4.33 and the positioning clamp 4.31 are accurately positioned and automatically adjusted on the driven slide rail 4.351. At the same time, the active linear module 4.42 is fixed on the adjustable compartment clamp library 4, thus also serving to further position the adjustable compartment clamp 4.3.

[0069] Specifically, the linear clamping module 4.32 is provided with active slide rails on both sides, and the bottom of the active slide rails is provided with active sliders driven by the moving end of the linear clamping module 4.32. The driven slide rails 4.351 are arranged on the two active sliders on the same side of the linear clamping module 4.32. Each driven slide rail 4.351 is equipped with two driven sliders 4.352. A lifting module 4.33 is mounted on each driven slider 4.352, positioned at both ends of the driven slide rail 4.351. The lifting module 4.33 is adjustable on the driven slide rail 4.351. An active braking module on the driven slide rail 4.351 fixes the position of the lifting module 4.33. This active braking module can be a pneumatic guide rail clamp 4.355, which locks onto the driven slide rail 4.351, thus constraining the position of the driven sliders 4.352. When the pneumatic guide rail clamp 4.355 is unlocked, the position of the lifting module 4.33 on the driven slide rail 4.351 can be adjusted via the driven sliders 4.352, thereby adjusting the relative position of the positioning clamp 4.31 and enabling the clamping of different sized compartment panels 5.1.

[0070] The lifting module 4.33 is connected to a Z-axis slide rail 4.353. A Z-axis slider 4.354 is fixed on the driven slider 4.352 on the Z-axis slide rail 4.353. The positioning clamp 4.31 is fixed to the end of the Z-axis slide rail 4.353. Thus, by the movement of the lifting module 4.33 on the Z-axis, the compartment plate 5.1 is separated from the support surface on the compartment plate rack 5.

[0071] It should be noted that the position of the positioning auxiliary component 5.11 on the compartment 5.1 is not limited, but in order to ensure the stability of the compartment 5.1 during clamping and transportation, it is preferred to arrange it according to the contour rules of the compartment 5.1. Therefore, the position of the lifting module 4.33 is adjusted by the X-axis slider and the pneumatic guide rail clamp 4.355 to match the positioning auxiliary component 5.11.

[0072] Reference Figure 12 and Figure 13As shown, in one specific embodiment of the positioning clamping member 4.31 and the positioning auxiliary member 5.11 working together, the clamping function 4.311 includes a V-shaped body 4.313 and a support portion 4.314 extending to the bottom of the V-shaped body 4.313. A V-shaped mating portion 5.12 is formed on the V-shaped body 4.313. The positioning auxiliary member 5.11 is provided with spaced-apart support mating portions 5.13, and the support mating portions 5.13 have V-shaped mating portions 5.12. During the clamping process of the compartment plate 5.1, the clamping linear module 4.32 first drives the positioning clamping member 4.31. The V-shaped main body 4.313 and the V-shaped mating part 5.12 are pre-aligned and aligned on the outside of the positioning auxiliary part 5.11. Then, the clamping linear module 4.32 drives the positioning clamping part 4.31 to retract, so that the V-shaped main body 4.313 is pressed into the V-shaped mating part 5.12. Finally, the lifting module 4.33 is activated, so that the supporting part 4.314 and the supporting mating part 5.13 abut against each other as bearing surfaces, thereby completing the clamping of the cabin plate 5.1. During the clamping process, precise clamping is achieved through the cooperation of the V-shaped main body 4.313 and the V-shaped mating part 5.12.

[0073] In some other embodiments, a displacement sensor 4.34 is also provided on one side of the lifting module 4.33, which is positioned opposite the positioning auxiliary component 5.11 when the compartment plate 5.1 is in the clamping posture, so as to ensure that the positioning clamping component 4.31 and the positioning auxiliary component 5.11 cooperate correctly.

[0074] (Fixture Library 4) like Figure 10 As shown, specifically, in order to position the fixtures 6.1 and 4.3 in the fixture library 4, the fixture library 4 is equipped with a positioning stand 4.7 that matches the multi-level fixtures 6.1 and 4.3. For the adjustable panel fixture 4.3, the positioning stand forms the support part of the active adjustment module. The positioning stand 4.7 provides a support position for the quick-change fixture and supports the quick-change fixture vertically. The positioning stand 4.7 and the quick-change fixture are equipped with a positioning pin assembly that fits in a plug-in manner. The positioning stand 4.7 is also equipped with a presence / absence sensor facing the quick-change fixture.

[0075] The positioning stand 4.7 is preferably arranged at intervals along the horizontal X-axis and Y-axis to facilitate the spatial positioning of the positioning stand 4.7 and the quick-change fixture, making it easy for the robot to quickly grasp them. The end effector positions the quick-change fixture to be matched above the fixture library 4. There are sensors to sense in real time whether the quick-change fixture is placed on the current positioning stand 4.7, and there are sensors to transmit signals with the first robot arm 3, avoiding system misoperation due to missing fixtures, improving the intelligence level of fixture management and the reliability of system operation. The first robot arm 3 can obtain the empty positions and fixture placement positions on the fixture library 4, and the first end effector 3.1 can identify and accurately locate the connection through the vision module 3.3 on it.

[0076] (Bug rack 5) like Figures 13 to 15 As shown, as a further embodiment of the hatch plate rack 5, to avoid surface wear of the hatch plate 5.1, the hatch plate 5.1 is positioned and constrained on the hatch plate 5.1 upright in an inclined posture. The cabin plate rack 5 includes: The platform 5.1 includes a slidably mounted support bracket 5.3, an outer limiting block 5.6 slidably disposed on the outer side of the inclined surface of the support bracket 5.3, a lower support block 5.4 disposed at the bottom of the support bracket 5.3, and side support blocks 5.5 slidably disposed on both sides of the support bracket 5.3. The lower support block 5.4, side support blocks 5.5, and outer limiting block 5.6 define a limiting space that opens obliquely upward along the inclined surface of the support bracket 5.3. In other words, when the platform 5.1 is placed on the platform rack 5, the platform 5.1 is only allowed to detach from the opening direction. Specifically, on the platform of the cabin 5.1, a first support rail 5.21 and a second support rail 5.22 are arranged parallel to the bottom of the support bracket 5.3. The support bracket 5.3 is composed of multiple triangular structures, specifically a right-angle tripod. The side support block 5.5 is disposed on the second support slide rail 5.22 and abuts against both sides of the cabin plate 5.1. The second support slide rail 5.22 is specifically disposed on the outside of the first support slide rail 5.21. The side support block 5.5 extends toward the side of the cabin plate 5.1 and is limited to the side of the cabin plate 5.1.

[0077] The lower support block 5.4 is used to support the bottom of the compartment 5.1. Specifically, it can be an L-shaped lower support block 5.4, which provides a support surface for the bottom of the compartment 5.1 and a limiting surface for the outer surface of the compartment 5.1.

[0078] The outer limiting block 5.6 extends from the outside of the supporting inclined frame 5.3 toward the light-facing surface of the cabin plate 5.1 away from the supporting surface, specifically constraining it in the thickness direction of the cabin plate 5.1.

[0079] In other embodiments, the outer limiting block 5.6 is configured to be rotatable, thereby rotating away from the surface of the compartment 5.1 under certain circumstances, thereby removing the constraint on the compartment 5.1. For example, during the process of transporting the compartment rack 5 to the loading position, the outer limiting block 5.6 needs to be maintained in a constrained posture. Of course, when the compartment 5.1 enters the material area and the compartment rack 5 does not move, the outer limiting block 5.6 can also be rotated away from the compartment 5.1 in advance so that the first execution end 3.1 can grasp the compartment 5.1 through the adjustable compartment clamp 4.3.

[0080] In other embodiments, it is also desirable to adjust the external limiting block 56 in the thickness direction of the compartment 5.1 to accommodate compartments 5.1 of different thicknesses, or to further adjust the limiting space.

[0081] Specifically, limiting support rails 5.31 are provided on both sides of the inclined surface of the supporting bracket 5.3, and adjusting support mechanisms 5.8 are provided on the limiting support rails 5.31. The adjusting support mechanisms 5.8 include: Support base 5.81 is fixedly mounted on the moving end of limit support rail 5.31; A guide rod 5.84 is inserted into the support seat 5.81. One end of the guide rod 5.84 is fixedly connected to the outer limiting block 5.6. A limiting elastic element 5.87 is provided at the end of the guide rod 5.84 away from the outer limiting block 5.6. The limiting elastic element 5.87 abuts between the guide rod 5.84 and the support seat 5.81 and drives the outer limiting block 5.6 to move toward the surface of the panel 5.1. The positioning element 5.86 protrudes from the surface of the support base 5.81. The outer limiting block 5.6 is provided with a positioning groove 5.61 that cooperates with the positioning element 5.86. The positioning element 5.86 specifically positions the outer limiting block 5.6 in a constrained posture extending out of the outer surface of the compartment plate 5.1, and in a released posture away from the surface of the compartment plate 5.1.

[0082] Optionally, the positioning element 5.86 is configured as a spherical protrusion, preferably a ball-head plunger that is threadedly fixed within the support 5.81.

[0083] Specifically, the support seat 5.81 is fixed on the third slider. The support seat 5.81 includes a fixed part 5.82 connected to the third slider and a rotating base 5.83 extending in the thickness direction of the cabin plate 5.1. The outer limiting block 5.6 is rotatably mounted on the rotating base 5.83. The guide rod 5.84 passes through the rotating base 5.83. A linear bearing 5.88 is provided between the inner hole of the rotating base 5.83 and the outer wall of the guide rod 5.84. A retaining edge 5.85 is provided at the end of the guide rod 5.84 away from the outer limiting block 5.6. A limiting elastic member 5.87 abuts between the retaining edge 5.85 and the fixed part 5.82.

[0084] To ensure the linear position of the outer limit block 5.6, the lower support block 5.4, and the side support block 5.5, a manual guide rail clamping module 5.7 is provided on the moving end of the first support slide rail 5.21, the second support slide rail 5.22, and the limit support rail.

[0085] (Parts rack 64) like Figure 8 As shown, as a further embodiment of the parts rack 6, the parts rack 6 is provided with a plurality of tray assemblies 6.3, each tray assembly 6.3 is provided with a plurality of limiting seats 6.4, the arrangement of the limiting seats 6.4 is set with respect to the outline of the parts 6.1, thereby configuring different parts 6.1.

[0086] (5.1 Semi-finished product temporary storage rack 17) like Figures 8 As shown, in some other embodiments, a temporary storage rack 17 for the semi-finished compartment plate 5.1 is also arranged in the material area. The temporary storage rack 17 is set in the operating area. The compartment plate rack 5 is set in an inclined posture to support the semi-finished compartment plate 5.1. Preferably, a fourth linear track 17.1 is set along the length direction on the inclined surface. A fourth slider 17.2 is provided on the fourth linear track 17.1. An inclined support 17.3 is fixed on the fourth slider 17.2. A support block 17.4 is provided at the bottom of the support 17.3. The relative positions of the multiple support 17.3 are adjusted by the fourth slider 17.2 so that the positioning auxiliary part 5.11 on the surface of the compartment plate 5.1 is exposed to the light, while the parts 6.1 that have been assembled on the back of the compartment plate 5.1 are prevented from interfering by the movement of the support 17.3.

[0087] It is worth mentioning that both the parts rack 6 and the hatch rack 5 are equipped with loading fixtures at their bottoms, thus making the parts rack 6 and the hatch rack 5 the same size, which facilitates the uniformity of AGV transportation fixtures. The semi-finished product temporary storage station of hatch 5.1 can be set according to the actual site size. The loading fixture specifically refers to the fixture that works with the material AGV trolley.

[0088] (Thread glue application tool 13) like Figures 17 to 19 As shown, the quick-change loading bin 8 is also equipped with a bolt tray 8.2, a threaded adhesive applicator 13, and a bolt support. The threaded adhesive applicator 13 includes a first adhesive applicator head 13.1 and a displacement module 13.2 that slides to support the first adhesive applicator head 13.1. The first adhesive applicator head 13.1 is inclined toward the threaded surface of the assembly bolt. The first adhesive applicator head 13.1 is used to output adhesive, and the displacement module 13.2 is used to adjust the relative position between the first adhesive applicator head 13.1 and the assembly bolt. The bolt support includes at least a fixed bearing 14.1 and a driven bearing 14.2 floating on the fixed bearing 14.1. The driven bearing 14.2 is provided with a bolt centering member 14.3. When applying adhesive to the threads, the assembly bolt is first centered on the bolt centering member 14.3 by tightening the gun assembly 16 and the bit unit 8.1. Then, the displacement module 13.2 adjusts the position of the first adhesive head 13.1 to align with the thread. Finally, the tightening gun assembly 16 and the bit unit 8.1 drive the assembly bolt to rotate. The assembly bolt is vertically abutted between the bolt centering member 14.3 and the bit unit 8.1 and rotates. At the same time, the first adhesive head 13.1 dispenses adhesive, completing the adhesive application work on the periphery of the thread surface.

[0089] like Figure 18 As shown, as a further embodiment of the first glue applicator 13.1, the first glue applicator 13.1 includes a glue dispensing part 13.11 and a glue inlet part 13.12. The glue inlet part 13.12 is provided with two glue tanks and a dual-liquid screw valve connecting the two glue tanks. The dual-liquid screw valve is connected to the glue inlet part 13.12, thereby uniformly controlling the glue dispensing amount.

[0090] The first adhesive applicator 13.1 is located on the final actuating end of the displacement module 13.2. The displacement module 13.2 moves the first adhesive applicator 13.1 to a specified distance according to the bolt diameter and pitch. The driven shaft seat 14.2 and the bolt centering component 14.3 support the bolt and achieve driven rotation under the force of the tightening gun assembly 16 and the bit unit 8.1, so that the thread outer ring can be evenly coated with thread glue.

[0091] The displacement module 13.2 consists of a horizontal cylinder 13.21 and a vertical cylinder 13.22 connected to the horizontal cylinder 13.21. A rotatable glue gun adjustment plate 13.232.1 is located on the actuating end of the vertical cylinder 13.22. A linearly extending adjustment slide rail 13.24 is located on the glue gun adjustment plate 13.232.1. The first glue applicator 13.1 is mounted on the adjustment slide rail 13.24 via a slider, thereby adjusting the relative position of the first glue applicator 13.1 according to the specifications of the assembly bolts. The adjustability of the glue dispensing part 13.11 further improves the precise control capability of the glue application position, meeting the process requirements of satellite precision assembly. It can compensate for the relative positional deviation between the threaded surface and the glue applicator, ensuring that the glue is accurately applied to the threaded area.

[0092] Further reference Figure 19As shown, as a further embodiment of the bolt support 14, the fixed shaft seat 14.1 is provided with a floating space 14.4 for the driven shaft seat 14.2 to move. Specifically, the driven shaft seat 14.2 moves vertically up and down and rotates around its axis within the floating space 14.4 defined by the fixed shaft seat 14.1. A first guide rod 14.7 is fixedly installed in the floating space 14.4. The first guide rod 14.7 is coaxially arranged with the driven shaft seat 14.2. The driven shaft seat 14.2 is slidably mounted on the first guide rod 14.7. A floating spring 14.8 is provided between the driven shaft seat 14.2 and the bottom of the floating space 14.4. The floating spring 14.8 is sleeved on the first guide rod 14.4. On guide rod 14.7, floating spring 14.8 applies an axial upward force to driven shaft seat 14.2. During the bolt centering process, the second robot picks up the bolt and abuts it against bolt centering component 14.3. The driven shaft seat 14.2, which is floating in the vertical direction, moves downward under the action of the abutment force. Under the action of floating spring 14.8, the upwardly floating driven shaft seat 14.2 automatically compensates for the axial position deviation of the bolt, avoiding damage to the bolt or bit caused by rigid contact. At the same time, floating spring 14.8 reduces the impact force during bolt centering, improves the stability of bolt clamping, and ensures the reliability of subsequent tightening operations. It also plays an auxiliary role in bolt centering.

[0093] As a further improvement to the fit between the driven shaft seat 14.2 and the fixed shaft seat 14.1, a first bearing 14.5 is provided between the bolt centering member 14.3 and the upper end of the driven shaft seat 14.2. The upper end of the driven shaft seat 14.2 is provided with a first recess, and the first bearing 14.5 is placed in the first recess. The bolt centering member 14.3 fits with the inner ring of the first bearing 14.5, so that the bolt centering member 14.3 is rotatably mounted on the top of the driven shaft seat through the first bearing 14.5. Further reference Figure 19 As shown, a linear bearing 14.6 is provided inside the driven shaft seat 14.2. The linear bearing 14.6 is sleeved on the first guide rod 14.7. The driven shaft seat 14.2 has a sliding channel for the first guide rod 14.7 to slide axially within it. A second recess is provided in the sliding channel. The linear bearing 14.6 abuts against the second recess, and the second recess is set with its opening facing downward. A radially extending first stop is provided on the first guide rod 14.7. The first stop is engaged with the inner wall of the driven shaft seat 14.2 by a snap ring. The first stop is used to abut against the bottom of the linear bearing 14.6, thereby constraining the linear bearing 14.6 to the driven shaft seat 14.2.

[0094] Specifically, the floating spring 14.8 abuts against the bottom of the first stop portion, thereby acting on the driven shaft seat 14.2. The first guide rod 14.7 is preferably connected to the bottom of the fixed shaft seat 14.1 by bolt fixing and passes through the floating space 14.4.

[0095] The first bearing 14.5 enables the bolt centering component 14.3 to rotate synchronously with the bolt, avoiding frictional resistance between the bolt and the centering component during bolt rotation and ensuring accurate axial positioning of the bolt during tightening. The linear bearing 5.88 reduces the frictional force of the driven shaft seat 14.2 sliding along the first guide rod 14.7, improves the floating response speed, makes the bolt centering process smoother, and further improves the bolt positioning accuracy.

[0096] As a further embodiment of the fixed bearing 14.1, the fixed bearing 14.1 has an upward cavity, and a cover plate is provided at the upper end of the cavity to form a floating space 14.4. The outer wall of the driven bearing 14.2 has a radially extending third stop portion, which abuts against the cover plate to restrict the driven bearing 14.2 from disengaging from the fixed bearing 14.1.

[0097] Further reference Figure 19 In other embodiments, to detect whether the assembly bolt is in place on the bolt centering member 14.3, the fixed shaft seat 14.1 is provided with a detection seat 13.3 disposed opposite to it. The detection seat 13.3 is provided with a fiber optic sensor 13.31 disposed opposite to it. The fiber optic sensor 13.31 is located above the bolt centering member 14.3, and the opposite connection line of the fiber optic sensor 13.31 passes through the central axis of the bolt centering member 14.3 to detect whether the assembly bolt is present or not.

[0098] In this embodiment, the fiber optic sensor 13.31 can determine in real time whether the bolt is correctly placed on the bolt centering component 14.3 through non-contact detection, avoiding tightening failure caused by bolt omission or positional deviation; the detection position is set above the centering component, which facilitates rapid screening before the bolt enters the centering station, improving the automation level and error prevention capability of the assembly process.

[0099] As a further embodiment of the bolt centering member 14.3, the bolt centering member 14.3 refers to a rotating member with a frustum-shaped surface. It has a radial second stop at one end of the first bearing 14.5 and another second stop at the other end of the first bearing 14.5. The other second stop can be formed by a retaining spring or a baffle fixed to the bottom of the bolt centering member 14.3 by bolts, thereby realizing the cooperation between the bolt centering member 14.3 and the first bearing 14.5.

[0100] (Displacement device 1.1) like Figure 2 andFigure 7 As shown, as a further embodiment of the displacement device 1.1, the displacement device 1.1 includes a linearly arranged alignment linear module 1.3 and a lifting displacement module 1.4 disposed on the actuating end of the alignment linear module 1.3. A rotating module 1.5 is provided on the actuating end of the lifting displacement module 1.4. The positioning platform 1.2 is connected to the actuating end of the rotating module 1.5 and drives the bracket to rotate through the limiting clamping assembly. The alignment linear module 1.3 is positioned about the length of the bracket and is used to move in the Y-axis forward and backward direction to bring the positioning platform 1.2 closer to or further away from the end of the first bracket 2.2. The lifting and positioning module 1.4 is used to drive the positioning platform 1.2 to move up and down vertically, thereby engaging with the bracket for positioning. In some embodiments, the alignment linear module 1.3 may also provide a feed stroke in the Y-axis forward and backward direction to further ensure the clamping force on the bracket.

[0101] In this embodiment, the alignment linear module 1.3 is configured as a slide rail slider, and a rack 1.31 is provided on one side of the slide rail slider. The linear driving force is provided by a vertically arranged electric cylinder that outputs rotational torque and a gear 1.32 on its output end.

[0102] Preferably, in order to ensure the reliability of the linear movement of the displacement device 1.1, a protective shell is also arranged on the upper side of the rack 1.31. The protective shell at least partially covers the tooth gap of the rack 1.31. The rack 1.31 is arranged laterally, and the axis of the gear 1.32 is set vertically.

[0103] Furthermore, the actuating end of the alignment linear module 1.3 is provided with a horizontally arranged first platform 1.33. The lifting and positioning module 1.4 and the electric cylinder are set on the first platform 1.33. A brush wheel 1.34 is also provided on the first platform 1.33, located in front of the gear 1.32. The brush wheel 1.34 can also be set behind the gear 1.32 or in front of or behind the gear 1.32, so as to pre-clean the rack 1.31 during the movement and ensure the smooth operation of the alignment linear module 1.3.

[0104] The lifting and positioning module 1.4 is preferably a vertically arranged lead screw and nut module, with slide rails and sliders located on both sides of the lead screw and nut module. The actuating end of the lifting and positioning module 1.4 is connected to the nut of the lead screw and nut module and the slider of the slide rails and sliders, and is connected to the rotating module 1.5. The output end of the rotating module 1.5 is connected to the support device through the second platform 1.41 on the vertical surface. The rotating module 1.5 can be a rotating electric cylinder that provides rotational torque.

[0105] from Figure 2As can be seen, an AGV mobile vehicle 15 is also configured on the outside of the assembly station 1. The AGV mobile vehicle 15 is equipped with a lifting platform 15.1. The bottom of the first bracket 2.2 is also provided with a support plate 2.4 that connects with the lifting platform 15.1. The AGV mobile vehicle 15 carries the first bracket 2.2 and the satellite to facilitate the loading and transfer of the satellite to be assembled.

[0106] (Quick Loading Warehouse 8) Further reference Figure 7 As shown, as a further embodiment of the quick-change loading bin 8, a bolt tray 8.2 is also arranged in the placement area, and the assembly bolts are preferably positioned in an upright posture on the bolt tray 8.2.

[0107] In other embodiments, in addition to applying thread adhesive and tightening the assembly bolts of the satellite, it is also necessary to inspect the assembly bolts after applying thread adhesive to ensure the quality of the assembly bolts, and to apply thermal conductive silicone grease and apply screw adhesive to the satellite assembly at assembly station 1.

[0108] For this purpose, the placement area is also equipped with a thread coating inspection platform 8.4, a thermal grease application tool 8.5, and a screw dispensing tool 8.6. The quick-change loading bin 8 is also equipped with a bolt tray 8.2 on one side of the placement area. The thermal grease application tool 8.5, the screw dispensing tool 8.6, and the pin clamping tool 18 are all connected to the second execution end 7.1 through the primary quick-change mechanism 4.5.

[0109] The structures of the thermal grease application tool 8.5 and the screw dispensing tool 8.6 are basically the same as the structure of the first dispensing head 13.1 of the thread dispensing tool 13, all including a glue bucket, a screw valve and a dispensing nozzle. They will not be explained in detail here. The main difference is that the second robotic arm can quickly switch between the tightening gun assembly 16, the thermal grease application tool 8.5, the screw dispensing tool 8.6 and the pin clamping tool 18 through the primary quick-change mechanism 4.5. That is, the same robotic arm can switch functions in different steps without reconfiguring the equipment, which significantly improves the efficiency of multi-process collaboration and system flexibility, and meets the integration needs of diverse processes in satellite assembly.

[0110] The thread coating inspection platform 8.4 is used to verify the quality of thread coating, the thermal grease application tool 8.5 is used to apply thermal grease to the mating surfaces of the satellite compartment panel 5.1, the screw dispensing tool 8.6 is used to dispense adhesive to the assembly screws, and the bolt tray 8.2 provides a standardized supply of assembly bolts.

[0111] Specifically, the placement area is also equipped with a pin clamping tool 18 and a pin tray 8.3.

[0112] like Figure 20 and Figure 21As shown, as a further embodiment of the pin clamping tool 18, the pin clamping tool 18 includes clamping blocks 18.1 disposed opposite to each other, and a clamping cylinder 18.2 for providing clamping power to the clamping blocks 18.1. The opposite ends of the clamping blocks 18.1 are provided with V-grooves, and an elastic element 18.3 is provided between the clamping blocks 18.1 and the power end of the clamping cylinder 18.2. The clamping blocks 18.1 specifically include a mounting block 18.11 fixedly disposed on the power end of the clamping cylinder 18.2, and a linkage rod 18.12 fixed in the mounting block 18.11, a clamping block 18.13 slidably disposed on the linkage rod 18.12, and the elastic element 18.3 sleeved on the linkage rod 18.12, with one end of the elastic element 18.3 abutting against the mounting block 18.11 and the other end abutting against the clamping cylinder 18.12. Block 18.13 is slidably mounted on linkage rod 18.12, thus providing vertical floating space for the clamping block 18.13. When clamping the pin, the pin clamping tool 18 drives the clamping block 18.1 to close through the clamping cylinder 18.2. The V-groove can adapt to pins of different diameters, and the elastic element 18.3 provides buffering. Combined with the storage function of the pin tray 8.3, the automatic gripping and feeding of pins is realized. The V-groove design has low requirements for the positioning accuracy of the pin. Even if the pin has a slight positional deviation, it can still be clamped stably, which improves the versatility and adaptability of the pin installation tool. Moreover, the floating clamping block 18.13 can clamp the pin in an abutting posture with the pin tray 8.3, ensuring that the clamping is in place.

[0113] Preferably, a pressure sensor 18.4 is provided inside the mounting block 18.11, with the active end of the pressure sensor 18.4 extending toward the clamping block 18.13, so as to prevent excessive pressing force from damaging the compartment plate 5.1 during the pin pressing process by monitoring the pressing force.

[0114] Furthermore, the top of the clamping cylinder 18.2 is provided with a primary quick-change female disc 4.52, which is used to cooperate with the primary quick-change male disc 4.51 of the second execution end 7.1 to achieve quick change. A center compensation module is provided between the clamping cylinder 18.2 and the primary quick-change female disc 4.52. The center compensation module is used to compensate for the horizontal position deviation when the pin is pressed.

[0115] In the above embodiment, in order to locate the position in the quick-change loading magazine 8, the quick-change loading magazine 8 is provided with a positioning stand 4.7 that matches the quick-change tool. The positioning stand 4.7 provides a support position for the quick-change tool and supports the quick-change tool vertically. A positioning pin assembly with plug-in engagement is configured between the positioning stand 4.7 and the quick-change tool. The positioning stand 4.7 is also provided with a presence / absence sensor facing the quick-change tool. The arrangement of the positioning stand 4.7 in the quick-change loading magazine 8 is the same as the arrangement of the positioning stand 4.7 in the fixture magazine 4.

[0116] (Tightening gun assembly 16) like Figure 22 As shown, as a further embodiment of the tightening gun assembly 16, the tightening gun assembly 16 includes a mounting base plate 16.1, a linear rail 16.2 disposed on the mounting base plate 16.1, and a feed cylinder 16.3, a feed slider 16.4 and a floating slider disposed on the linear rail 16.2, wherein the feed slider 16.4 is disposed above the floating slider 16.5; The bottom of the floating slider is provided with a quick-change connecting block 16.51, and the bottom of the quick-change connecting block 16.51 is provided with a secondary quick-change male disk, which is used to connect with the secondary quick-change female disk on the bit unit 8.1; The feed cylinder 16.3 is connected to the feed slider 16.4, and an electric tightening gun 16.6 is fixedly connected to the feed slider 16.4. The floating slider and the bit unit 8.1 are connected through a two-stage quick-change mechanism. A second guide rod 16.7 is provided between the feed slider 16.4 and the floating slider 16.5. A return spring 16.8 is sleeved on the second guide rod 16.7 and abuts against the feed slider 16.4 and the floating slider 16.5. An intermediate limit block 16.9 is also provided at intervals at the lower end of the linear track 16.2. The floating slider is slidably constrained between the intermediate limit block 16.9 and the end of the linear track 16.2 to set a limit on the back of the floating slider to prevent the bit unit 8.1 from excessively abutting.

[0117] Specifically, the upper end of the second guide rod 16.7 is fixedly connected to the feed slider 16.4, and the lower end is movably connected to the floating slider.

[0118] The bit unit 8.1 includes a bit body 8.11 and a bit mounting block 18.11. The bit mounting block 18.11 has a secondary quick-change mother plate, which is parallel to the axis of the bit body 8.11. The feed slider 16.4 has a mounting side plate 16.41, and the electric tightening gun 16.6 is mounted on the mounting side plate 16.41. The electric tightening gun 16.6 is positioned opposite to the axis of the bit unit 8.1, so that the electric tightening gun 16.6 and the bit unit 8.1 form a vertically arranged assembly on one side of the linear track 16.2. The feed cylinder 16.3, the linear track 16.2, the feed slider 16.4, the floating slider 16.5, and the secondary quick-change mechanism form another vertically arranged assembly.

[0119] In this embodiment, the feed cylinder 16.3 is a double-stroke cylinder. The first stroke of the feed cylinder 16.3 provides the power connection between the electric tightening gun 16.6 and the bit unit 8.1, and the second stroke of the feed cylinder 16.3 provides the tightening stroke of the assembly bolt. The back of the mounting base plate 16.1 is equipped with a primary quick-change female disc. Under normal conditions, the primary quick-change male disc of the second actuator engages with the primary quick-change female disc on the tightening gun assembly 16. Then, the second robotic arm moves the second actuator, so that the tightening gun assembly 16 and the bit unit 8.1 are engaged. At this time, the input end of the bit unit 8.1 is opposite to the output end of the electric tightening gun 16.6. The feed cylinder 16.3 provides a first stroke, so that the bit unit 8.1 and the electric tightening gun 16.6 are connected by power. After the actuator moves to the target assembly position of the compartment plate 5.1 on the assembly station 1, the feed cylinder 16.3 provides a second stroke. The return spring provides a flexible force to the floating slider, so that the floating slider drives the bit mounting block 18.11 downward and completes the tightening of the assembly bolt.

[0120] This invention also provides an assembly method for a satellite automated assembly workstation, comprising the following steps: Step S1: Loading of hatch panels 5.1 and parts 6.1 Configure a material AGV trolley, which will transfer the hatch rack 5 and parts rack 6 to the material area. The hatch 5.1 is positioned by the inclined surface of the support bracket 5.3 on the hatch rack 5. Step S2: Bracket and belt assembly satellite positioning; Before the first bracket 2.2 enters the assembly station 1, the adjustment plate 2.1 of the first bracket 2.2 is adjusted according to the satellite specifications, and the satellite to be assembled is fixed on the adjustment plate 2.1; An AGV mobile vehicle 15 is configured to support the support plate 2.4 at the bottom of the first bracket 2.2, thereby supporting the satellite to be assembled. Then, the AGV mobile vehicle 15 moves to the middle position of the positioning device 1.1, and then the positioning device 1.1 retracts. The AGV mobile vehicle 15 lifts the first bracket 2.2 to a predetermined height. The displacement device 1.1 engages the end of the first bracket 2.2 with the limiting clamping assembly and fixes the position of the bracket; Step S3: Adaptive Fixture Matching The first end effector 3.1 of the first robotic arm 3 is connected to the adjustable compartment clamp 4.3 via the primary quick-change mechanism 4.5; The active braking module is unlocked, and the active adjustment module 4.4 drives the positioning clamp 4.31 to move, so that the V-shaped mating part 5.12 is aligned with the slot of the positioning auxiliary part 5.11 of the compartment plate 5.1, and then the active braking module is locked. The first robotic arm 3 moves its end effector to the tray rack 5, clamps the linear module 4.32, drives the clamping action part 4.311 to close, and clamps it to the positioning auxiliary part 5.11; The first robotic arm 3 moves and places the hatch 5.1 in the predetermined position of the satellite to be assembled on the bracket; Alternatively, the first robotic arm 3 executes the end-effector picking multi-level part 6.1 fixture and moves to the part rack 6, picks up part 6.1 through the multi-level part 6.1 fixture, and places part 6.1 on the predetermined position of the upper panel 5.1 of the assembly station 1; Step S4: Coordinated assembly of ground and space rails Bolt assembly: The second robotic arm 7 picks up the tightening gun assembly 16 and the bit unit 8.1, the bolt glue applicator floats and positions the bolts, the thread glue applicator 13 moves, the second robotic arm 7 picks up the assembly bolts and performs tightening, at this time the first robotic arm 3 places the cabin plate 5.1 or part 6.1 on the predetermined position of the satellite to be assembled; during the bolt assembly process, the displacement mechanism adjusts the position of the first bracket 2.2.

[0121] Step S2 also includes the action of the limiting clamping component: When the coarse positioning module 9 is activated, the displacement device 1.1 is activated, and the positioning platform 1.2 first moves to the bottom of the limiting clamping end 2.21 of the first bracket 2.2. Then the positioning platform 1.2 moves upward, and the first positioning block 9.1 at the front end of the positioning platform 1.2 cooperates with the second positioning block 2.22 of the first bracket 2.2. Then the lifting cylinder 9.5 is activated, and the first positioning pin 9.2 passes through the first positioning block 9.1 and into the second positioning block 2.22, completing the coarse positioning of the first bracket 2.2. When the clamping module 10 and clamping cylinder 10.1 are activated, the clamping arm 10.2 presses against the first positioning block 9.1 and the second positioning block 2.22 directly above them. Clamping anti-drop module 11. The first drive cylinder 11.1 drives the first top holding member to penetrate into the end of the limiting clamping end 2.21, and then the second drive cylinder 11.3 drives the second top holding member 11.4 to press against the end face of the limiting clamping end 2.21, completing the complete positioning and clamping of the first bracket 2.2.

[0122] In step S3, the adjustable compartment clamp 4.3 first drives the positioning clamp 4.31 to close relative to each other, so that the positioning clamp 4.31 engages with the V-shaped mating part 5.12 of the positioning auxiliary part 5.11. Then, the lifting module 4.33 moves, so that the supporting mating part 5.13 and the supporting part 4.314 between the two abut against each other. Then, the first robot arm 3 moves to pick up and put the compartment 5.1 from the compartment rack 5.

[0123] Before step S4, the second robotic arm 7 first picks up the thermal grease application tool 8.5 and applies it to the mating surface of the compartment plate 5.1; In step S4, before the second robot arm 7 picks up the assembly bolt and performs tightening, the second robot arm 7 transfers the assembly bolt to the thread adhesive application tool 13. The assembly bolt is pressed against the driven shaft seat 14.2. Then, the tightening gun assembly 16 drives the assembly bolt to rotate through the bit unit 8.1. The first adhesive application head 13.1 located on one side is activated and applies adhesive to the thread surface of the assembly bolt. Furthermore, the glued assembly bolts are transferred to the thread glued inspection platform 8.4. The thread glued inspection platform 8.4 includes a vision camera, which is used to inspect the thread surface of the assembly bolts and to detect whether the assembly bolts are fitted with washers. Furthermore, after step S4, the second robotic arm 7 picks up the screw dispensing tool 8.6 and applies adhesive to the tightened assembly bolts.

[0124] After step S4, step S5 is also included, where the first bracket 2.2 and the satellite are unloaded, the mobile vehicle 15 returns to the middle position of the positioning device 1.1, and the positioning device 1.1 drives the positioning platform 1.2 to descend. At this time, the assembled first bracket 2.2 and the satellite are supported again on the lifting platform 15.1 of the mobile vehicle 15.

[0125] In other embodiments, the AGV mobile vehicle 15 is configured as a mother-daughter vehicle, having a mother vehicle carrying a lifting platform 15.1 and a daughter vehicle that can extend linearly from the mother vehicle. In this case, the daughter vehicle serves as a support bracket assembly 2 for the lifting platform 15.1. The mother-daughter vehicle is similar to a combination of a Z-axis linear module and a horizontal linear module. After the satellite is assembled, the mother-daughter vehicle moves to the vacuum test tank. At this time, the daughter vehicle carries the first bracket 2.2, extends out of the mother vehicle, and enters the vacuum test tank.

[0126] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A satellite automated assembly workstation, characterized in that, include: Assembly station (1) includes two positioning devices (1.1) arranged opposite to each other, and a positioning platform (1.2) arranged on the moving end of the positioning device (1.1). The positioning platform (1.2) is provided with a limiting clamping module, and the limiting clamping components define a positioning space. The bracket assembly (2) cooperates with the limiting clamping assembly in the positioning space. The bracket assembly (2) is provided with an adjustment plate (2.1) that is linearly adjustable along the positioning space. The adjustment plate (2.1) is provided with an installation area (2.12) for fixing the satellite. The material handling assembly includes a first robot (3) and a material area that are parallel to one side of the assembly station (1) in sequence, and a fixture library (4) located at one end of the assembly station (1); The material area includes a panel rack (5) and a parts rack (6) arranged along the linear direction of the assembly station (1), and the panel rack (5) and the parts rack (6) are located in the operating space of the first robot (3), and at least one outer surface of the panel (5.1) is exposed on the panel rack (5), and a plurality of positioning aids (5.11) are arranged on the outer surface of the panel (5.1); The fixture library (4) is equipped with multi-level part (6.1) fixtures and adjustable compartment fixtures (4.3), as well as an active adjustment module (4.4) for positioning and supporting the adjustable compartment fixtures (4.3); The multi-level part (6.1) fixture includes a primary fixture (4.1) and a secondary fixture (4.2). The primary fixture (4.1) is connected to the first end effector (3.1) of the first robot (3), and the adjustable panel fixture (4.3) is connected to the first end effector (3.1) via a primary quick-change mechanism (4.5). The secondary fixture (4.2) is connected to the primary fixture (4.1) via a secondary quick-change mechanism (4.6). The adjustable cabin clamp (4.3) includes a positioning clamp (4.31) configured to perform clamping action in a relative direction. The active adjustment module (4.4) includes a support portion supported by the adjustable cabin clamp (4.3) and a positioning seat (4.4) receiving the positioning clamp (4.31). The positioning seat is connected to an active linear module to drive the parallel distance between the positioning clamps (4.31) and drive the positioning clamps (4.31) to align the parallel distance between them with that of the positioning auxiliary component (5.11). The second robot (7) is parallel to the other side of the assembly station (1) and is set vertically at a distance from the first robot (3); The quick-change loading chamber (8) includes a placement area and an adhesive application area. The adhesive application area is provided with multiple adhesive application tools, and the placement area is provided with multiple bit units (8.1) and a tightening gun assembly (16). The tightening gun assembly (16) is connected to the second actuator (7.1) of the second robot (7), and the adhesive application tools are connected to the second actuator (7.1) through a primary quick-change mechanism (4.5). The bit units (8.1) are connected to the tightening gun assembly (16) through a secondary quick-change mechanism (4.6).

2. The satellite automated assembly workstation according to claim 1, characterized in that: The bracket assembly (2) includes a first bracket (2.2), and the first bracket (2.2) has limiting clamping ends (2.21) at both ends; The limiting clamping assembly includes: The coarse positioning module (9) includes a first positioning block (9.1) disposed at the front end of the positioning platform (1.2) and a first positioning pin (9.2) movably passing through the first positioning block (9.1). The bottom of the limiting clamping end (2.21) is provided with a second positioning block (2.22) matching the contour of the first positioning block (9.1). The first positioning pin (9.2) also passes through the second positioning block (2.22) and / or the limiting clamping end (2.21). The clamping module (10) includes a clamping cylinder (10.1) disposed on the side of the coarse positioning module (9), the clamping cylinder (10.1) acting on the upper surface of the limiting clamping end (2.21); The clamping anti-drop module (11) includes a first drive cylinder (11.1) and a second drive cylinder (11.3) arranged toward the limiting clamping end (2.21). The first drive cylinder (11.1) is provided with a first top holding member, and the second drive cylinder (11.3) is provided with a second top holding member. The end face of the limiting clamping end (2.21) is provided with a first top holding hole (2.24) for the first top holding member to be inserted. The second top holding member abuts against the end face of the limiting clamping end (2.21).

3. The satellite automated assembly workstation according to claim 1, characterized in that: The bracket assembly (2) includes a second bracket (2.3), which is smaller than the linear distance of the positioning space; The positioning platform (1.2) is detachably equipped with a split support frame (12); The split support frame (12) is provided with a third drive cylinder (12.1), the third drive cylinder (12.1) is provided with a third top holding member, and the upper end of the second bracket (2.3) is provided with a third positioning block (12.3) for the third top holding member to be inserted; The split support frame (12) is also provided with a fourth positioning block (2.31) at the front end. The fourth positioning block (2.31) is provided with a vertical second positioning pin (12.4), which passes through the bottom of the second bracket (2.3).

4. The satellite automated assembly workstation according to claim 1, characterized in that: The adjustable cabin clamp (4.3) includes: a frame body (4.35), a clamping linear module (4.32) arranged in a direction opposite to the positioning clamp (4.31), a driven slide rail (4.351) arranged in a direction parallel to each other with respect to the positioning clamp (4.31), and a lifting module (4.33) and an active braking module arranged on the driven slide rail (4.351). The positioning clamp (4.31) includes a clamping part (4.311) and a positioning part (4.312) connected to the lifting module (4.33). The clamping part (4.311) and the positioning auxiliary part (5.11) are provided with a V-shaped fitting part (5.12) that engages with each other, and a bearing surface that supports each other in the direction of cabin (5.1) extraction. The active adjustment module (4.4) includes: An active linear module (4.42) is arranged parallel to the driven slide rail (4.351), and a positioning seat (4.41) is arranged on the actuating end of the active linear module (4.42). The positioning seat (4.41) is inserted and engaged with the positioning action part (4.312), and the active linear module (4.42) drives the positioning clamp (4.31) to move in mutually parallel directions through the positioning seat (4.41).

5. A satellite automated assembly workstation according to claim 1, characterized in that: The compartment rack (5) includes: The platform (5.1) includes a slidable support bracket (5.3) mounted on the platform (5.1), an outer limiting block (5.6) slidably disposed on the outer side of the inclined surface of the support bracket (5.3), a lower support block (5.4) disposed at the bottom of the support bracket (5.3), and side support blocks (5.5) slidably disposed on both sides of the support bracket (5.3). The lower support block (5.4), side support blocks (5.5), and outer limiting block (5.6) define a limiting space that opens obliquely upward along the inclined surface of the support bracket (5.3).

6. A satellite automated assembly workstation according to claim 5, characterized in that: The inclined surface of the supporting bracket (5.3) is provided with limiting linear rails (16.2) on both sides, and the limiting linear rails (16.2) are provided with adjusting support mechanisms (5.8), the adjusting support mechanisms (5.8) including: The support base (5.81) is fixedly mounted on the moving end of the limiting linear track (16.2); A guide rod (5.84) is inserted into the support seat (5.81) and fixedly connected to the outer limiting block (5.6). A limiting elastic element (5.87) is provided at one end of the guide rod (5.84) away from the outer limiting block (5.6). The limiting elastic element (5.87) abuts against the guide rod (5.84) and the support seat (5.81) and drives the outer limiting block (5.6) to move toward the surface of the cabin plate (5.1). The positioning element (5.86) protrudes from the surface of the support base (5.81), and the outer limiting block (5.6) is provided with a positioning groove (5.61) that cooperates with the positioning element (5.86).

7. A satellite automated assembly workstation according to claim 1, characterized in that: The quick-change loading bin (8) is also equipped with a bolt tray (8.2), a thread-applying adhesive tool (13), and a bolt support (14). The threaded adhesive applicator (13) includes a first adhesive applicator head (13.1) and a displacement module (13.2) that slides to support the first adhesive applicator head (13.1). The first adhesive applicator head (13.1) is inclined toward the threaded surface of the mounting bolt. The bolt support includes at least a fixed bearing (14.1) and a driven bearing (14.2) floating on the fixed bearing (14.1). The driven bearing (14.2) is provided with a bolt centering member (14.3). The assembly bolt is vertically abutted between the bolt centering member (14.3) and the bit unit (8.1) for rotation. The fixed shaft seat (14.1) is provided with a floating space (14.4) for the movement of the driven shaft seat (14.2). A first guide rod (14.7) is fixedly installed in the floating space (14.4). The driven shaft seat (14.2) is slidably installed on the first guide rod (14.7). A floating spring (14.8) is provided between the driven shaft seat (14.2) and the bottom of the floating space (14.4). The floating spring (14.8) is sleeved on the first guide rod (14.7).

8. A satellite automated assembly workstation according to claim 1, characterized in that: The displacement device (1.1) includes a linearly arranged alignment linear module (1.3) and a lifting displacement module (1.4) disposed on the moving end of the alignment linear module (1.3). The moving end of the lifting displacement module (1.4) is provided with a rotating module (1.5). The positioning platform (1.2) is connected to the moving end of the rotating module (1.5) and drives the bracket to rotate through the limiting clamping assembly. An AGV mobile vehicle (15) is also provided on the outside of the assembly station (1), and a lifting platform (15.1) is provided on the AGV mobile vehicle (15). The bottom of the bracket assembly (2) is also provided with a support plate (2.4) that engages with the lifting platform (15.1).

9. A satellite automated assembly workstation according to claim 1, characterized in that: The tightening gun assembly (16) includes a mounting base plate (16.1), a tightening linear rail (16.2) mounted on the mounting base plate (16.1), and a feed cylinder (16.3), a driving slider (16.4), and a driven slider (16.5) mounted on the tightening linear rail (16.2). The feed cylinder (16.3) is connected to the driving slider (16.4), and an electric tightening gun (16.6) is fixedly connected to the driving slider (16.4). The driven slider (16.5) is connected to the bit unit (8.1) via... A two-stage quick-change mechanism is connected. A second guide rod (16.7) is provided between the active slider (16.4) and the driven slider (16.5). A reset spring (16.8) is sleeved on the second guide rod (16.7) and abuts against the active slider (16.4) and the driven slider (16.5). An intermediate limit block (16.9) is also provided at intervals at the lower end of the tightening linear track (16.2). The driven slider (16.5) is slidably constrained between the intermediate limit block (16.9) and the end of the tightening linear track (16.2).

10. An assembly method for a satellite automated assembly workstation, characterized in that: Step S1: Loading the hatch panel (5.1) and parts (6.1); Configure a material AGV trolley, which will transfer the hatch rack (5) and parts rack (6) to the material area. The hatch (5.1) is positioned by the inclined surface of the support bracket (5.3) on the hatch rack (5). Step S2: Bracket and belt assembly satellite positioning; The adjusting plate (2.1) of the bracket assembly (2) is adjusted according to the satellite specifications, and the satellite to be assembled is fixed on the adjusting plate (2.1); Configure an AGV mobile vehicle (15) to carry the bracket assembly (2) and the satellite to be assembled, and move it to the middle position of the positioning device (1.1). Then the positioning device (1.1) retracts, and the AGV mobile vehicle (15) lifts the bracket assembly (2) to a predetermined height. The displacement device (1.1) engages the end of the bracket with the limiting clamping assembly and fixes the position of the bracket; Step S3: Adaptive Fixture Matching The first execution end (3.1) is connected to the adjustable compartment clamp (4.3) via the primary quick-change mechanism (4.5); The active adjustment module (4.4) drives the positioning clamp (4.31) to move, so that the V-shaped mating part (5.12) is aligned with the slot of the positioning auxiliary part (5.11) of the compartment plate (5.1); The first robotic arm (3) moves its end effector to the cabin plate rack (5), and the clamping linear module (4.32) drives the clamping action part (4.311) to close and clamp onto the positioning auxiliary part (5.11); The first robotic arm (3) moves and places the hatch (5.1) in the predetermined position of the satellite to be assembled on the bracket; Step S4: Coordinated assembly of ground and space rails Bolt assembly: The second robot (7) picks up the tightening gun assembly (16) and the bit unit (8.1), the bolt glue applicator floats and positions the bolt, the thread glue applicator (13) moves, the second robot (7) picks up the assembly bolt and performs tightening, at this time the first robot (3) places the panel (5.1) or part (6.1) on the predetermined position of the satellite to be assembled.

Images