Movable flexible antenna single board assembly system and method

Abstract

The invention relates to a movable flexible antenna single board assembly system and method, and belongs to the technical field of automatic assembly, and the system comprises an antenna tool vehicle which is used for completing the fixation of a shape-preserving frame, the assembly and fixation of an antenna single board product and the assembly and fixation of the antenna single board product and the shape-preserving frame; the lifting assembly vehicle is matched with the antenna tool vehicle through a mechanical arm to complete fixing and assembly operation; and the automatic guide vehicle is used for position movement of the antenna tool vehicle and the lifting assembly vehicle. In the working process, the automatic guide vehicle lifts and transfers the antenna tool vehicle and the lifting assembly vehicle to the designated position in sequence; adjusting the antenna tool vehicle according to the actual size of the shape-preserving frame, and installing and fixing the shape-preserving frame; after the antenna frame is installed in the shape-preserving frame, the lifting assembly vehicle is adjusted, and the antenna frame is lifted and transversely moved to be close to the shape-preserving frame; the mechanical arm sucks the antenna module and installs the antenna module on the antenna frame; and releasing the connection between the shape-maintaining frame and the antenna tool vehicle. The assembly system can be quickly moved, and the assembly operation requirements of different types of products at different heights are met.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automatic assembly, and particularly relates to a movable flexible antenna single-board assembly system and method. BACKGROUND

[0002] In antenna single-board assembly, the traditional tooling needs to be re-customized for different sizes of antenna single boards, and the measurement, material selection and assembly process are time-consuming and prone to errors, affecting the electrical performance of the antenna. The climbing scaffold structure is fixed, and the height / angle adjustment needs to be repeatedly disassembled, increasing the time consumption of a single time, and the transverse space occupation is large, which is easy to conflict with the equipment in a narrow space. At the same time, manual installation relies on the cooperation of multiple people, and the scaffold needs to be occupied in the core area for a long time, the site utilization rate is not high, and the subsequent processes such as material transportation and equipment debugging cannot be synchronized. In addition, the traditional lifting vehicle has a large body and insufficient operation flexibility, and the body fence seriously hinders the installation space, which is not conducive to on-site installation. SUMMARY

[0003] In view of the deficiencies of the prior art, the present application provides a movable flexible antenna single-board assembly system and method, which can quickly move the assembly system and meet the assembly operation requirements of different heights of different types of products.

[0004] A movable flexible antenna single-board assembly system comprises:

[0005] At least one antenna tooling vehicle is used to complete the fixing of the shape-keeping frame, the assembly and fixing of the antenna single-board product and the shape-keeping frame;

[0006] At least one lifting assembly vehicle is used to complete the fixing and assembly operation through the mechanical arm in cooperation with the antenna tooling vehicle, and provides an operation space of different heights and distances;

[0007] At least one automatic guided vehicle is used to move the position of the movable antenna tooling vehicle and the lifting assembly vehicle.

[0008] The antenna tooling vehicle comprises a base, and a tooling frame is movably connected to the base, the size of the tooling frame is adjusted according to actual needs, and different sizes of shape-keeping frames are fixed.

[0009] The lifting assembly vehicle comprises a lifting base, and a lifting platform is connected to the lifting base through a lifting transmission device to realize upward and downward movement.

[0010] An auxiliary supporting rod is arranged between the lifting base and the lifting platform, one end of the auxiliary supporting rod is hinged to the lifting base, the other end is hinged to a moving slider, and the moving slider is slidingly connected in a sliding groove of the lifting base.

[0011] A horizontally moving transverse platform is arranged on the lifting platform to approach or move away from the antenna tooling vehicle.

[0012] The transverse platform is equipped with a movable slide for mounting a robotic arm; the movable slide is perpendicular to the transverse platform's movable direction and is used for assembling antenna board products.

[0013] The robotic arm includes two mechanical joints, one for horizontal adjustment and the other for vertical adjustment. The end of the vertical adjustment robotic arm is equipped with a vacuum suction cup for picking up the antenna module to assemble it with the antenna frame.

[0014] The automated guided vehicle has a built-in lifting mechanism to support the antenna tooling vehicle and the lifting assembly vehicle and move them to a designated position. When in operation, the lifting mechanism rises above the surface of the automated guided vehicle to achieve the lifting function.

[0015] The antenna tooling vehicle and the lifting assembly vehicle are each equipped with a control cabinet.

[0016] An antenna board assembly method, employing the aforementioned movable flexible antenna board assembly system, specifically includes the following steps:

[0017] The automated guided vehicle moves sequentially to the area below the antenna tooling vehicle and the lifting assembly vehicle, lifts and moves it to the designated position;

[0018] Adjust the antenna fixture according to the actual size of the conformal frame, install the conformal frame and fix it in place;

[0019] Insert the antenna frame into the conformal frame and secure it.

[0020] Adjust the lifting assembly vehicle according to the position of the antenna frame, raise it and move it laterally closer to the conformal frame;

[0021] The robotic arm picks up the antenna module and installs it onto the antenna frame;

[0022] Disconnect the conformal frame from the antenna tooling cart and lift away the conformal frame and antenna board products;

[0023] The automated guided vehicle (AGV) is assembled by repeating the above steps as needed.

[0024] By employing the above technical solution, the present invention has at least the following beneficial effects:

[0025] 1. The antenna tooling cart of the present invention has a movable tooling frame, which can be quickly adjusted to a suitable size according to the size of the conformal frame for different types of products, thereby improving assembly efficiency and reducing errors caused by repeated tooling assembly.

[0026] 2. The lifting assembly vehicle of this invention has a lifting platform and a lateral moving platform, which can be adjusted quickly and accurately in terms of height and angle, and occupies little space. The lateral moving platform has a detachable railing, which can maximize the free up of installation space and is more conducive to on-site assembly than traditional lifting vehicles.

[0027] 3. The automated guided vehicle of the present invention can support the antenna tooling vehicle and the lifting assembly vehicle to reach the designated position, avoiding the long-term occupation of the core area by traditional scaffolding, and the mobility of the assembly system brings better flexibility. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the movable flexible antenna board assembly system of the present invention;

[0029] Figure 2 This is a schematic diagram of the antenna tooling vehicle in this invention;

[0030] Figure 3 This is a schematic diagram of the antenna board in the antenna tooling vehicle.

[0031] Figure 4 This is a schematic diagram of the lifting assembly vehicle in this invention;

[0032] Figure 5 A schematic diagram of the base in the lifting assembly vehicle;

[0033] Figure 6 A schematic diagram of the lifting platform in a lifting assembly vehicle;

[0034] Figure 7 This is a structural diagram of the transverse platform and guardrail in a lifting assembly vehicle.

[0035] Figure 8 A schematic diagram of the structure of the power-assisted robotic arm in the lifting assembly vehicle;

[0036] Figure 9 This is a schematic diagram of the structure of the automated guided vehicle in this invention;

[0037] in:

[0038] 1. Antenna tooling cart; 101. Antenna tooling cart base; 102. Antenna tooling cart control system cabinet; 103. Movable tooling rack; 104. Antenna single board product; 1041. Conformal frame; 1042. Antenna frame; 1043. Antenna module;

[0039] 2. Lifting assembly vehicle; 201. Lifting assembly vehicle base; 2011. Lifting assembly vehicle base body; 2012. Lifting drive device; 2013. Lifting transmission device; 2014. Support rod; 202. Lifting platform; 2021. Lifting platform body; 2022. Lateral drive device; 2023. Lateral guide device; 203. Lateral platform; 2031. Lateral platform body; 2032. Lateral platform control system cabinet; 2033. Movable slide; 204. Protective fence; 2041. Detachable fence; 2042. Fixed fence; 205. Power-assisted robotic arm; 2051. Column; 2052. Horizontal adjustment robotic arm; 2053. Vertical adjustment robotic arm; 2054. Vacuum suction cup; 206. Lifting assembly vehicle control system cabinet; 207. Small cable chain;

[0040] 3. Automated Guided Vehicle (AGV); 301. AGV Main Body; 302. Lifting Mechanism. Detailed Implementation

[0041] To better explain and facilitate understanding of the present invention, the technical solution and effects of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] like Figures 1-9 As shown, the present invention provides a movable flexible antenna board assembly system, including a movable antenna fixture cart 1. The antenna fixture cart 1 includes an antenna fixture cart base 101, on which an antenna fixture cart control system cabinet 102 is integrated. Movable fixture frames 103 are slidably connected to the antenna fixture cart base 101. Antenna board products 104 are installed between two movable fixture frames 103 via conformal frames 1041. The movable fixture frames 103 are connected to the antenna fixture cart base 101 via a transmission structure, which is electrically connected to the antenna fixture cart control system cabinet 102. The movable fixture frames 103 move according to commands issued by the antenna fixture cart control system cabinet 102.

[0043] In this embodiment, the movable tooling frame 103 and the antenna tooling carriage base 101 are connected by a lead screw mechanism. Two movable tooling frames 103 are threaded onto the lead screw and simultaneously slidably connected within the guide groove of the antenna tooling carriage base 101. The threads of the lead screw and the two leadscrews have opposite directions of rotation. During operation, the antenna tooling carriage control system cabinet 102 sends a working command to the motor, which drives the lead screw to rotate, causing the movable tooling frame 103 to move along the guide groove of the antenna tooling carriage base 101 to adjust its position to the appropriate width of the antenna conformal frame 1041 to be installed. Then, the movable tooling frame 103 and the antenna single-board product 104 are manually locked together.

[0044] The movable fixture 103 is used to connect with the conformal frame 1041. The conformal frame 1041 is equipped with an antenna frame 1042, and the antenna frame 1042 is equipped with an antenna module 1043. During operation, the antenna frame 1042 is assembled inside the conformal frame 1041, and the antenna module 1043 is manually installed inside the antenna frame 1042.

[0045] The movable flexible antenna board assembly system also includes a lifting assembly vehicle 2, which includes a lifting assembly vehicle base 201. A lifting platform 202 capable of vertical movement is mounted on the lifting assembly vehicle base 201. A transverse platform 203 is mounted on the lifting platform 202, and a protective fence 204 surrounds the transverse platform 203. The protective fence 204 includes a detachable fence 2041 and a fixed fence 2042 mounted on the transverse platform 203, forming a rectangular space. A movable sliding plate 2033 is installed inside the protective fence 204 and is slidably connected to the transverse platform 203.

[0046] The lifting assembly vehicle base 201 includes a main body 2011, on which a lifting drive device 2012 is mounted. The lifting drive device 2012 is connected to a lifting transmission device 2013, which in turn is connected to a lifting platform 202. The lifting platform 202 can move vertically under the drive of the lifting drive device 2012. During operation, the power output from the lifting drive device 2012 is transmitted through the lifting transmission device 2013, causing the lifting platform 202 to rise to a designated height.

[0047] Furthermore, in this embodiment, the lifting platform 202 employs a rigid chain lifting structure, with the rigid chain positioned between the lifting platform 202 and the lifting assembly vehicle base body 2011. The lifting transmission device 2013 is a gear transmission mechanism, and the lifting drive device 2012 drives the drive wheel of the gear transmission mechanism to rotate. The meshing of the gears rotates the sprocket of the rigid chain lifting structure, and the meshing of the sprocket with the rigid chain lifts the lifting platform 202, thus achieving the lifting and lowering of the platform 202. Furthermore, a support rod 2014 is provided between the lifting platform 202 and the lifting assembly vehicle base body 2011. One end of the support rod 2014 is hinged to the lifting assembly vehicle base body 2011, and the other end is hinged to the movable slider. The movable slider is slidably connected in a groove on the lifting assembly vehicle base body 2011. During the lifting process of the lifting platform 202, the end of the support rod 2014 moves along the groove on the lifting assembly vehicle base body 2011, thereby changing the angle between the support rod 2014 and the lifting assembly vehicle base body 2011 to support the lifting.

[0048] Furthermore, the lifting platform 202 includes a lifting platform body 2021, on which a transverse drive device 2022 is mounted, and a transverse platform 203 is mounted on the transverse drive device 2022. A transverse guide device 2023 is installed on the lifting platform body 2021, and the transverse platform 203 cooperates with the transverse guide device 2023 to move laterally on the lifting platform body 2021 along the transverse guide device 2023. Under the drive of the transverse drive device 2022, the transverse platform 203 can move in a predetermined direction along the transverse guide device 2023. During operation, the transverse platform 203 can move laterally a certain distance to the designated installation position under the action of the transverse drive device 2022 and the transverse guide device 2023.

[0049] The lateral movement drive device 2022 is an electric slide table, which is fixed to the lifting platform body 2021. The lateral movement platform 203 is installed at the movable end of the electric slide table. During operation, the electric slide table starts, pushing the lateral movement platform 203 closer to the antenna tooling carriage 1 for assembly. After assembly, the electric slide table retracts, moving the lateral movement platform 203 away from the antenna tooling carriage 1 for return to its original position. Furthermore, a small cable chain 207 is provided between the lateral movement platform 203 and the lifting platform body 2021, allowing the cable to move laterally along the fixed track with the lateral movement platform 203, preventing damage.

[0050] The transverse platform 203 includes a transverse platform body 2031, on which a movable slide 2033 is mounted. The movable slide 2033 can move on the transverse platform body 2031 along the direction perpendicular to the transverse direction of the transverse platform 203. During operation, the transverse platform control system cabinet 2032 controls the transverse platform 203 to move to a designated position, approaching the movable antenna tooling carriage 1, to facilitate subsequent assembly operations.

[0051] The main body of the transverse platform 2031 is driven manually. During operation, the movable slide 2033 is manually pushed to determine the position for subsequent assembly operations.

[0052] In another embodiment of this application, the movable slide 2033 is connected to the transverse platform body 2031 via a lead screw transmission mechanism. Specifically, the movable slide 2033 is threaded onto the lead screw; at the same time, the movable slide 2033 is slidably connected to the slide groove of the transverse platform body 2031.

[0053] The protective fence 204 is mounted on the main body 2031 of the transverse platform. The protective fence 204 includes a detachable guardrail 2041 and a fixed guardrail 2042. The detachable guardrail 2041 is mounted on the fixed guardrail 2042 and can be removed. During operation, the detachable fence 2041 is removed manually on the transverse platform 203 to obtain the corresponding operating space.

[0054] A assisted robotic arm 205 is mounted on the movable slide 2033, and the assisted robotic arm 205 can move along with the movable slide 2033. A transverse platform control system cabinet 2032 is mounted on the transverse platform body 2031, used to adjust the movement of the assisted robotic arm 205. A small cable chain 207 is provided between the movable slide 2033 and the transverse platform control system cabinet 2032 to move the cable along the fixed track of the movable slide 2033 and prevent damage. During operation, the assisted robotic arm 205 follows the movable slide 2033 to carry the antenna module 1043 to the designated installation position. Specifically, the assisted robotic arm 205 includes a column 2051, on which a horizontal adjustment robotic arm 2052 is mounted. A vertical adjustment robotic arm 2053 is mounted at the end of the horizontal adjustment robotic arm 2052, and a vacuum suction cup 2054 is mounted at the end of the vertical adjustment robotic arm 2053. The vacuum suction cup 2054 can move spatially around the column 2051 under the control of the horizontal and vertical adjustment robotic arms 2052 and 2053. The assisted robotic arm 205 can be a commercially available, mature, rigid assisted robotic arm, with the vacuum suction cup 2054 installed at its end. During operation, the vacuum suction cup 2054 is used manually to pick up the antenna module 1043, and the horizontal and vertical adjustment robotic arms 2055 are used to move the module to a designated position in space to complete the assembly operation.

[0055] The lifting assembly vehicle 2 is equipped with a lifting assembly vehicle control system cabinet 206, which issues work commands to the lifting platform 202 for lifting, the lateral moving platform 203 for lateral moving, the movable slide 2033 for moving, and the assisted robotic arm 205 for moving. Furthermore, a small cable chain 207 is installed between the lifting assembly vehicle control system cabinet 206 and the lifting platform 202, allowing the cable to move up and down along a fixed track with the lifting platform 202, preventing damage.

[0056] The movable flexible antenna board assembly system also includes an automated guided vehicle (AGV) 3, which is a movable platform structure. The AAV 3 has a built-in lifting mechanism 302 for supporting the antenna tooling cart 1 and the lifting assembly cart 2 and moving them to a designated position. Specifically, the AAV 3 includes an AAV body 301, on which the lifting mechanism 302 is mounted. The lifting mechanism 302 can be positioned above the surface of the AAV body 301 to perform a lifting function. During operation, the AAV 3 uses the lifting mechanism 302 to move the antenna tooling cart 1 and the lifting assembly cart 2 to the designated position.

[0057] In this embodiment, the automated guided vehicle 3 (AGV) employs a mature product with movement and positioning functions. Specifically, the lifting mechanism 302 utilizes a wedge-shaped block with an inclined surface to achieve height variation and thus lift. During operation, the operator drives the AGV lifting vehicle to move it below the antenna tooling vehicle 1 and the lifting assembly vehicle 2. The AGV lifting vehicle determines its position relative to these two vehicles using its own system. When the AGV 3 moves directly below the antenna tooling vehicle 1, the lifting mechanism 302 rises, lifting the antenna tooling vehicle 1 to the designated location before lowering. The AGV 3 then moves again to directly below the lifting assembly vehicle 2, and the lifting mechanism 302 rises, lifting the lifting assembly vehicle 2 to the designated location before lowering, completing the preparation process for the antenna tooling vehicle 1 and the lifting assembly vehicle 2. Under the command of the antenna tooling cart control system cabinet 102, the movable tooling frame 103 moves along the antenna tooling cart base 101 and adjusts to the appropriate size of the conformal frame 1041 of the antenna single board product 104. After being manually fixed, the antenna frame 1042 is placed inside the conformal frame 1041 and is also manually fixed, thus completing the flexible transformation process of the antenna tooling cart 1. Under the command of the lifting assembly cart control system cabinet 206, the lifting platform 202 is raised to the specified height. Then, under the command of the lateral platform control system cabinet 2032, the lateral platform 203 is lateralized to the specified position. The operator can remove the detachable railing 2041 on the lateral platform 203 to obtain the corresponding operating space. Then, the vacuum suction cup 2054 is used to pick up the antenna module 1043. With the assistance of the horizontal adjustment robotic arm 2052 and the vertical adjustment robotic arm 2053, the antenna module 1043 is installed onto the antenna frame 1042, completing the flexible assembly process. After the antenna board product 104 is assembled, the connection between the conformal frame 1041 and the antenna tooling carriage 1 is manually disconnected, and the conformal frame 1041 and the antenna board product 104 are lifted away. According to the subsequent work plan, the automated guided vehicle 3 lifts the antenna tooling carriage 1 and the lifting assembly carriage 2 to the next designated location, completing the movement process of the antenna board assembly system. In subsequent processes, the AGV trolley records and transmits the positions of the antenna tooling carriage 1 and the lifting assembly carriage 2 to the control system each time. During the movement, when the site is large or there are many automated guided vehicles 3, it is difficult for operators to visually determine the positions of the antenna tooling carriage 1 and the lifting assembly carriage 2. In this case, the corresponding positions can be found based on the information fed back by the AGV trolley in the previous operation for subsequent operations.

[0058] The present invention provides a movable flexible antenna board assembly system including at least one antenna tooling vehicle 1, at least one lifting assembly vehicle 2, and at least one automatic guide vehicle 3.

[0059] The method for assembling antenna boards using the aforementioned movable flexible antenna board assembly system is as follows:

[0060] Preparation of antenna tooling vehicle 1 and lifting assembly vehicle 2:

[0061] The automated guided vehicle 3 moves to directly beneath the antenna tooling vehicle 1, the lifting mechanism 302 rises, lifts the antenna tooling vehicle 1 to the designated location, and then lowers. The automated guided vehicle 3 then moves to directly beneath the lifting assembly vehicle 2, the lifting mechanism 302 rises, lifts the lifting assembly vehicle 2 to the designated location, and then lowers. The above process is the preparation process for the antenna tooling vehicle 1 and the lifting assembly vehicle 2.

[0062] Flexible transformation of antenna tooling vehicle 1:

[0063] Under the control of the antenna tooling carriage control system cabinet 102, the movable tooling frame 103 moves along the antenna tooling carriage base 101 and is adjusted to the appropriate size of the conformal frame 1041. The conformal frame 1041 is then installed between the two movable tooling frames 103 and fixed manually. After that, the antenna frame 1042 is placed inside the conformal frame 1041 and fixed manually as well. The above process is the flexible transformation process of the antenna tooling carriage 1.

[0064] Flexible assembly of antenna boards:

[0065] Under the control of the lifting assembly vehicle control cabinet 206, the lifting platform 202 is raised to a designated height. Then, under the control of the lateral platform control cabinet 2032, the lateral moving platform 203 moves laterally to a designated position. The operator can remove the detachable railing 2041 on the lateral moving platform 203 to obtain the corresponding operating space. Then, the vacuum suction cup 2054 is used to pick up the antenna module 1043, and with the assistance of the robotic arm 205, the antenna module 1043 is installed onto the antenna frame 1042. The above process is a flexible assembly process.

[0066] Disassembly and relocation of the assembly system:

[0067] After the antenna board product 104 is assembled, the connection between the conformal frame 1041 and the antenna tooling carriage 1 is manually disconnected, and the conformal frame 1041 and the antenna board product 104 are lifted away. According to the subsequent work plan, the automated guided vehicle 3 lifts the antenna tooling carriage 1 and the lifting assembly vehicle 2 to the next designated location. The above process is the disassembly and relocation process of the antenna board assembly system.

Claims

1. A movable flexible antenna board assembly system, characterized in that, include: At least one antenna tooling vehicle is used to complete the fixing of the conformal frame, the antenna single board product, and the assembly and fixing of the antenna single board product and the conformal frame; At least one lifting assembly vehicle, which uses a robotic arm in conjunction with an antenna tooling vehicle to complete fixing and assembly operations, provides operating space at different heights and distances; At least one automated guided vehicle (AGV) is used for the positional movement of the movable antenna tooling vehicle and the lifting assembly vehicle.

2. The movable flexible antenna board assembly system according to claim 1, characterized in that: The antenna fixture carriage includes a base, and a fixture frame is movably connected to the base. The size of the fixture frame can be adjusted according to actual needs to fix conformal frames of different sizes.

3. The movable flexible antenna board assembly system according to claim 1, characterized in that: The lifting assembly vehicle includes a lifting base, and a lifting platform is connected to the lifting base via a lifting transmission device to achieve vertical movement.

4. The movable flexible antenna board assembly system according to claim 3, characterized in that: An auxiliary support rod is provided between the lifting base and the lifting platform. One end of the auxiliary support rod is hinged to the lifting base, and the other end is hinged to the movable slider. The movable slider is slidably connected in the slide groove of the lifting base.

5. The movable flexible antenna board assembly system according to claim 3, characterized in that: The lifting platform is equipped with a horizontally movable traverse platform to move closer to or further away from the antenna tooling vehicle.

6. The movable flexible antenna board assembly system according to claim 5, characterized in that: The transverse platform is equipped with a movable slide for mounting a robotic arm; the movable slide is perpendicular to the transverse platform's movable direction and is used for assembling antenna board products.

7. The movable flexible antenna board assembly system according to claim 1, characterized in that: The robotic arm includes two mechanical joints, one for horizontal adjustment and the other for vertical adjustment. The end of the vertical adjustment robotic arm is equipped with a vacuum suction cup for picking up the antenna module to assemble it with the antenna frame.

8. The movable flexible antenna board assembly system according to claim 1, characterized in that: The automated guided vehicle has a built-in lifting mechanism to support the antenna tooling vehicle and the lifting assembly vehicle and move them to a designated position. When in operation, the lifting mechanism rises above the surface of the automated guided vehicle to achieve the lifting function.

9. The movable flexible antenna board assembly system according to claim 1, characterized in that: The antenna tooling vehicle and the lifting assembly vehicle are each equipped with a control cabinet.

10. An antenna board assembly method, employing the movable flexible antenna board assembly system according to any one of claims 1 to 9, characterized in that, Specifically, the following steps are included: The automated guided vehicle moves sequentially to the area below the antenna tooling vehicle and the lifting assembly vehicle, lifts and moves it to the designated position; Adjust the antenna fixture according to the actual size of the conformal frame, install the conformal frame and fix it in place; Insert the antenna frame into the conformal frame and secure it. Adjust the lifting assembly vehicle according to the position of the antenna frame, raise it and move it laterally closer to the conformal frame; The robotic arm picks up the antenna module and installs it onto the antenna frame; Disconnect the conformal frame from the antenna tooling cart and lift away the conformal frame and antenna board products; The automated guided vehicle (AGV) is assembled by repeating the above steps as needed.

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