Automatic assembly system for satellite precision shafting

Abstract

The invention relates to an automatic satellite precision shafting assembling system which comprises a supporting device, a horizontal supporting table top is fixedly connected to the interior of the supporting device, and the interior of the supporting device is divided into an upper working area and a lower working area by the supporting table top; the upper working area module is arranged on the supporting table top and used for operating and positioning shafting parts; and the lower working area module is arranged below the supporting table top and is used for fixing and providing a vertically upward process mandrel as an assembly reference. According to the system, the supporting table top is arranged, the system is divided into the upper working area and the lower working area, the lower working area module is arranged and used for fixing and providing the vertically-upward process core shaft, and the process core shaft and the upper working area module cooperate to achieve centering assembly after vertically penetrating through the assembly interaction part; the vertical assembling direction with the static mandrel as the unique reference is determined, and compared with the assembling mode of circulation in the horizontal plane in the prior art, the reference transmission accumulative error is eliminated, so that the assembling precision required by the spaceflight shafting is met.

Description

Technical Field

[0001] This invention relates to the field of assembly equipment technology, and more specifically to an automated assembly system for satellite precision shafting. Background Technology

[0002] The shafting system is the core of many critical moving components in a spacecraft, and its assembly quality directly determines the precision, lifespan, and reliability of the entire system. Spacecraft operate in harsh environments (high vacuum, extreme temperatures, launch shocks) and are not repairable, thus placing stringent requirements on shafting system assembly.

[0003] With the continuous development of technology, automated assembly technology has been widely applied in the aerospace field. For example, Chinese patent CN117549061A discloses an automated assembly system for aero-engine power turbine units, and Chinese patent CN114485631A proposes an automated assembly system for inertial devices. However, currently, there are few automated shaft assembly devices in the aerospace field, relying heavily on manual operation and "feel" from highly skilled technicians. While such devices exist, their assembly accuracy is low and cannot meet the requirements of the aerospace field. For instance, Chinese patent CN115847033A discloses an automated assembly equipment for aerospace servo bearings, which effectively improves the efficiency and consistency of bearing press-fitting and hemming through a planar assembly line layout and multi-station turntables. However, the workpiece and its reference point need to be transferred between multiple stations, inevitably introducing cumulative errors from reference point conversion and repeated positioning, resulting in low accuracy and difficulty in meeting the micron-level centering accuracy requirements for shaft components in the aerospace field.

[0004] To address the aforementioned problems, this invention proposes an automated assembly system for satellite precision shafting. Summary of the Invention

[0005] (1) Technical problems to be solved The purpose of this invention is to overcome the shortcomings of the prior art, adapt to practical needs, and provide an automated assembly system for satellite precision shafting to solve the above-mentioned technical problems.

[0006] (2) Technical solution To achieve the objectives of this invention, the technical solution adopted is as follows: An automated assembly system for satellite precision shafting includes: a support device with a horizontal support table fixedly connected inside, the support table dividing the interior of the support device into an upper working area and a lower working area; an upper working area module disposed on the support table for operating and positioning shafting components; a lower working area module disposed below the support table for fixing and providing a vertically upward process mandrel as an assembly reference; and an assembly interaction unit disposed on the support table. The lower working area module and the upper working area module are configured to: after the process mandrel passes vertically through the assembly interaction unit, it achieves centering assembly with the shafting components whose orientation has been adjusted; and a central control system for coordinating the control of the upper and lower working area modules.

[0007] Furthermore, the upper work area module includes a component assembly device, a robotic arm, and a feeding device, all mounted on a supporting table.

[0008] Furthermore, the component assembly device includes a first vertical support member fixedly connected to the upper side of the support table. A first stepper motor is fixedly connected to the top of the first vertical support member. The output end of the first stepper motor is fixedly connected to a first ball screw slide via a coupling. The first ball screw slide is fixedly connected to the first vertical support member. The first ball screw slide includes a first linear module slider. A first loading L-shaped plate is fixedly connected to the side of the first linear module slider away from the first vertical support member, and the first linear module slider is connected to the long side end of the first loading L-shaped plate. Pull plates are fixedly connected to both sides of the short side end of the first loading L-shaped plate. A first spring is fixedly connected to the center of the short side end of the first loading L-shaped plate, and a pull plate is fixedly connected to the lower end of the first spring. The guide shaft and the component assembly device further include a first lower L-shaped plate. A first guide rail is fixedly connected to one side of the first vertical support. A first slider is slidably connected to the first guide rail. The short side of the first lower L-shaped plate is fixedly connected to the first slider. A multi-folded edge connector is fixedly connected to the base of the first vertical support. Linear motor module B and linear motor module C are fixedly connected to both ends of the multi-folded edge connector. Linear motor module B and linear motor module C are fixedly installed on the support table. A single bearing flange with a buckle is fixedly connected above the long side of the first lower L-shaped plate. A first force sensor is fixedly connected below the long side of the first lower L-shaped plate. A bearing pressure head is fixedly connected to the lower end of the first force sensor. The assembly interaction part corresponds to the bearing pressure head.

[0009] Furthermore, the assembly interaction part is a self-opening and closing door, which includes a motor base and two door bodies that can move towards or away from each other. Two linear guide rails are fixedly connected to the motor base, and sliders are slidably connected to the linear guide rails. The two door bodies are fixedly connected to the tops of the two sliders, and a first rack and a second rack are fixedly connected to the bottom sides of the two door bodies, respectively. A first gear is fixedly connected to the inner bottom wall of the motor base, and the first gear meshes with the first rack and the second rack. Both ends of the motor base are fixedly connected to the inner walls of the door openings on the supporting table. A servo motor is fixedly connected below the middle rectangular plate of the motor base, and the output end of the servo motor is fixedly connected to the first gear.

[0010] Furthermore, the feeding device includes a clamping device, which includes a bearing support plate and a V-shaped clamp, with the bearing support plate fixedly connected to the end of the V-shaped clamp. The feeding device also includes an electric gripper, with one end of the V-shaped clamp away from the bearing support plate fixedly connected to the electric gripper. An L-shaped plate connector is fixedly connected to the upper end of the electric gripper, and the short side of the L-shaped plate connector is fixedly connected to the end of the electric cylinder push rod.

[0011] Furthermore, a vision camera A is fixedly connected to the inner top wall of the support device, and a vision camera B is installed at the end effector of the robotic arm for image acquisition and coarse positioning of the scene on the support table; a first laser interferometer and a second laser interferometer are respectively set in the X and Y directions of the support table for micron-level precision measurement and real-time compensation.

[0012] Furthermore, the lower working area module is fixedly connected to the second base plate of the inner cavity of the support device. The lower working area module includes a clamping unit for fixing the process mandrel and a vertical drive unit that is drivenly connected to the clamping unit and is used to drive the clamping unit and the fixed process mandrel to move in the vertical direction.

[0013] Furthermore, the upper working area module also includes a spindle replacement device. The spindle replacement device includes a second vertical support member fixedly connected to the upper side of the supporting table. A second stepper motor is fixedly connected to the top of the second vertical support member. The output end of the second stepper motor is fixedly connected to a second ball screw slide via a coupling. The second ball screw slide is fixedly connected to the second vertical support member. The second ball screw slide includes a second linear module slider. A second loading L-shaped plate is fixedly connected to the side of the second linear module slider away from the second vertical support member, and the second linear module slider is connected to the long side end of the second loading L-shaped plate. A second spring is fixedly connected to the center of the short side end of the second loading L-shaped plate. The second spring has a second lower L-shaped plate fixedly connected to its lower end. A second guide rail is fixedly connected to one side of the second vertical support. A second slider is slidably connected to the second guide rail. The short side of the second lower L-shaped plate is fixedly connected to the second slider. A second force sensor is fixedly connected to the lower side of the second lower L-shaped plate. A core-changing pressure head is fixedly connected to the lower end of the second force sensor. A locking handle is installed on the lower cylindrical surface of the core-changing pressure head. A core-changing station hole is also provided on the support table. The core-changing pressure head of the core-changing device is vertically corresponding to the core-changing station hole. A self-opening and closing door is also provided at the core-changing station hole, and its structure is the same as the opening and closing door at the assembly station hole.

[0014] Furthermore, the lower working area module is a mobile clamping device located in the lower working area. The clamping unit is a three-finger pneumatic gripper, the vertical drive unit is a Z-axis lifting platform, and the mobile clamping device also includes a horizontal drive unit. The horizontal drive unit is drivenly connected to the vertical drive unit and is used to drive the vertical drive unit and the clamping unit to move in the horizontal plane. The horizontal drive unit is an XY-axis moving platform. The XY-axis moving platform is connected to the three-finger pneumatic gripper through a first long plate and to the Z-axis lifting platform through a second long plate. The Z-axis lifting platform is fixedly connected to the linear motor module A through a third long plate. The bottom of the linear motor module A is fixedly connected to the second base plate of the support device.

[0015] Furthermore, the upper working area module also includes a bearing ball adjustment device. This device includes a third vertical support fixedly connected to the upper side of the supporting tabletop. A first electric slide is fixedly connected to the upper end of the third vertical support. A Z-shaped connector is fixedly connected to the push rod end of the first electric slide. An upper slider connector is fixedly connected to the upper side of the Z-shaped connector. An upper linear guide is fixedly connected to the side of the third vertical support. An upper slider is slidably connected to the upper linear guide. The upper slider connector is fixedly connected to the upper slider. The upper end of the Z-shaped connector is also tightened to an upper ball adjusting head. An upper ball adjusting fastener is also fixedly connected to the side of the third vertical support. A first flange linear bearing is fixedly connected to the upper end of the upper ball adjusting fastener. The lower end of the upper ball adjusting fastener is provided with… The device includes a boss that engages with the upper end of a lower ball adjusting fastener. The lower end of the lower ball adjusting fastener is fixedly connected to the boss of the third vertical support. A second flanged linear bearing is also fixedly connected to the inner bottom wall of the lower ball adjusting fastener. The bearing ball adjusting device also includes a second electric slide. A ball adjusting head fixing component is fixedly connected to the push rod end of the second electric slide. A lower ball adjusting head is screwed to one end of the ball adjusting head fixing component, and a lower slide block connecting component is fixedly connected to the other end of the ball adjusting head fixing component. A lower linear guide rail is fixedly connected to the bottom of the side of the third vertical support. A lower slide block is slidably connected to the lower linear guide rail, and the lower slide block connecting component is fixedly connected to the lower slide block. The upper working area module also includes an electromagnetic heater, which includes a high-frequency induction heating coil and a temperature sensor.

[0016] (3) Beneficial effects: In this invention, by setting a supporting desktop, the system is divided into an upper working area and a lower working area. By setting a lower working area module, a vertically upward process mandrel is fixed and provided, and it works in conjunction with the upper working area module to achieve centered assembly after passing vertically through the assembly interaction part. This establishes a vertical assembly direction with the stationary mandrel as the sole reference. Compared with the existing technology that uses a horizontal plane flow assembly mode, this eliminates the cumulative error of reference transfer, so as to meet the assembly accuracy required by aerospace shaft systems.

[0017] In this invention, by setting up a feeding device, a robotic arm, a mandrel assembly device, and a mandrel replacement device, the assembly process of the shaft system is automated, which improves the assembly efficiency and breaks down the barrier of traditional "master-apprentice" experience transmission, so that the assembly capability is no longer restricted by the scarcity of specific technical personnel.

[0018] In this invention, by setting up V-shaped grippers, vision camera A, vision camera B, and a laser interferometer, combined with a closed-loop controlled precision servo press-fitting unit, high-precision movement and positioning of parts are achieved, ensuring that the centering accuracy of each assembly is at the preset optimal level, reducing the dispersion of product performance, and improving the quality and reliability of batch production.

[0019] In this invention, by setting a first force sensor and a second force sensor, a precision press-fitting strategy of force-displacement coordinated control is adopted to accurately control the application of load, ensure that the press-fitting force is consistent for each assembly, minimize the generation of internal assembly stress, eliminate the risk of early failure in orbit, and extend the service life in orbit. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the internal structure of the support device of the present invention; Figure 2 This is a three-dimensional structural diagram of the present invention; Figure 3 This is a three-dimensional structural diagram of the visual camera A of the present invention; Figure 4 This is a three-dimensional structural diagram of the movable clamping device and the opening / closing door of the present invention; Figure 5 This is a three-dimensional structural diagram of the movable clamping device of the present invention; Figure 6 This is a three-dimensional structural diagram of the feeding device of the present invention; Figure 7 This is a three-dimensional structural diagram of the component assembly device and the spindle replacement device of the present invention; Figure 8 This is a side view of the component assembly device of the present invention; Figure 9 This is a three-dimensional structural diagram of the component assembly device of the present invention; Figure 10 This is a three-dimensional structural diagram of the opening and closing door of the present invention; Figure 11 This is a three-dimensional structural diagram of the gear rack of the present invention; Figure 12 This is a three-dimensional structural schematic diagram of the bearing steel ball adjustment device of the present invention; Figure 13 For the present invention Figure 12 Enlarged structural diagram at point A; Figure 14 For the present invention Figure 12 Enlarged structural diagram at point B; Figure 15 This is a three-dimensional structural diagram of the spindle replacement device of the present invention; Figure 16 This is a side view of the spindle replacement device of the present invention. Figure 17 This is a three-dimensional structural diagram of the robotic arm of the present invention.

[0021] The attached figures are labeled as follows: 1. Support device; 101. Support frame; 102. Support tabletop; 103. First base plate; 104. Second base plate; 105. Glass cover; 2. Central control system; 21. Industrial computer; 22. Control panel; 3. Moving clamping device; 301. Three-finger pneumatic gripper; 302. First long plate; 303. XY axis moving platform; 304. Second long plate; 305. Z axis lifting platform; 306. Third long plate; 307. Linear motor module A; 4. Feeding device; 401. Clamping device; 4011. Bearing support plate; 4012. V-shaped clamp; 402. Electric gripper; 403. L-shaped plate connector; 404. Electric cylinder; 5. Component assembly device; 501. First stepper motor; 502. First ball screw slide; 503. First vertical support; 504. First linear module slider; 505. First loading L-shaped plate; 506. Pull plate; 507. First spring; 508. Guide shaft; 509. First lower L-shaped plate; 510. First slider; 511. First guide rail; 512. Multi-folded connecting piece; 513. Linear motor module B; 514. Linear motor module C; 515. Single bearing flange with buckle; 516. First force sensor; 517. Bearing pressure head; 6. Electromagnetic heater; 7. Bearing steel ball adjustment device; 701. 702. Electric slide table; 703. Third vertical support; 704. Z-type connector; 705. Upper slide block connector; 706. Upper slide block; 707. Linear guide rail; 708. Upper ball adjustment head; 709. Upper ball adjustment fastener; 710. First flange linear bearing; 711. Lower ball adjustment fastener; 712. Second electric slide table; 713. Ball adjustment head fixing component; 714. Lower ball adjustment head; 715. Lower slide block connector; 716. Lower slide block; 717. Lower linear guide rail; 8. Spindle replacement device; 801. Second stepper motor; 802. Second ball screw slide table; 803. Second vertical support; 804. Straight support component; 805. Second linear module slider; 806. Second loading L-shaped plate; 807. Second lower L-shaped plate; 808. Second slider; 809. Second guide rail; 810. Second force sensor; 811. Core changing pressure head; 812. Locking handle; 9. Opening and closing door; 901. Door body; 902. Motor base; 903. Linear guide rail; 904. Slider; 905. First gear; 906. First rack; 907. Second rack; 908. Servo motor; 10. Robotic arm; 11. Vision camera A; 12. Vision camera B; 13. First laser interferometer; 14. Second laser interferometer. Detailed Implementation

[0022] The following is in conjunction with the appendix Figure 1-17 The present invention is further illustrated by the embodiments: like Figure 1-17As shown, an automated assembly system for satellite precision shafting includes: a support device 1, with a horizontal support table 102 fixedly connected inside, the support table 102 dividing the interior of the support device 1 into an upper working area and a lower working area; an upper working area module, disposed on the support table 102, for operating and positioning shafting components; a lower working area module, disposed below the support table 102, for fixing and providing a vertically upward process mandrel as an assembly reference; and an assembly interaction unit, disposed on the support table 102; wherein, the lower working area module and the upper working area module are configured to: after the process mandrel passes vertically through the assembly interaction unit, it achieves alignment with the shafting components whose orientation has been adjusted. The system is assembled in a central control system 2, which coordinates the upper and lower work area modules. The support device 1 also includes a support frame 101 and a glass cover 105. The central control system 2 includes an industrial computer 21 and a control screen 22. The industrial computer 21 is installed on the first base plate 103 inside the support device 1, and the control screen 22 is installed on the top of the outer wall of the support device 1. It is the brain of the system. It not only coordinates the sequential assembly of each device, but also performs data fusion and intelligent decision-making based on multi-source sensor information. Furthermore, the system can integrate digital twin technology to build a virtual assembly model, perform process simulation and optimization before physical assembly, and realize virtual-real interaction and iterative learning during the assembly process.

[0023] Specifically, by setting up a support desktop 102, the system is divided into an upper working area and a lower working area. By setting up a lower working area module, a vertically upward process mandrel is fixed and provided, and it works in conjunction with the upper working area module to achieve centering assembly after vertically passing through the assembly interaction part. This establishes a vertical assembly direction with the stationary mandrel as the sole reference. Compared with the existing technology that uses a horizontal plane flow assembly mode, this eliminates the cumulative error of reference transfer, so as to meet the assembly accuracy required by aerospace shaft systems.

[0024] The upper work area module includes a component assembly device 5, a robotic arm 10, and a loading device 4, which are respectively installed on the support table 102. The component assembly device 5 is responsible for providing pressing force, the robotic arm 10 is responsible for flexible handling and positioning, and the loading device 4 is responsible for the fixed-point delivery of parts. This enables the gripping, transfer, positioning, and pressing of shaft components to be performed continuously and automatically, reducing manual intervention and improving the automation and reliability of the assembly process.

[0025] The component assembly device 5 includes a first vertical support member 503 fixedly connected to the upper side of the support table 102. A first stepper motor 501 is fixedly connected to the top of the first vertical support member 503. A first ball screw slide 502 is fixedly connected to the output end of the first stepper motor 501 via a coupling. The first ball screw slide 502 is fixedly connected to the first vertical support member 503. The first ball screw slide 502 includes a first linear module slider 504. A first loading device is fixedly connected to the side of the first linear module slider 504 away from the first vertical support member 503. An L-shaped plate 505 is included, and the first linear module slider 504 is connected to the long side of the first loading L-shaped plate 505. Pull plates 506 are fixedly connected to both sides of the short side of the first loading L-shaped plate 505. A first spring 507 is fixedly connected to the center of the short side of the first loading L-shaped plate 505. A guide shaft 508 is fixedly connected to the lower end of the first spring 507. The component assembly device 5 also includes a first lower L-shaped plate 509. A first guide rail 511 is fixedly connected to one side of the first vertical support 503. A first slider 510 is slidably connected to the first guide rail 511. The first lower L-shaped plate 509... The short side of the profile plate 509 is fixedly connected to the first slider 510. The base of the first vertical support 503 is fixedly connected to a multi-folded connector 512. Linear motor modules B513 and C514 are fixedly connected to both ends of the multi-folded connector 512. Linear motor modules B513 and C514 are fixedly mounted on the support table 102. A single-bearing flange 515 with a buckle is fixedly connected above the long side of the first lower L-shaped plate 509. A first force sensor 516 is fixedly connected below the long side of the first lower L-shaped plate 509. The lower end of the force sensor 516 is fixedly connected to the bearing pressure head 517. The assembly interaction part corresponds to the bearing pressure head 517. The drive part, which consists of the first stepper motor 501, the first ball screw slide 502 and the first linear module slider 504, provides high-precision vertical feed. The first force sensor 516 realizes real-time monitoring and feedback of the pressing force. The linear motor modules B513 and C514 enable the entire device to have precise adjustment capability in the Y direction, so as to ensure that the pressing process has both high positional accuracy and controllable pressing force, ensuring the consistency of assembly quality and preventing parts from being crushed.

[0026] The assembly interface is a self-opening and closing door 9. The door 9 includes a motor base 902 and two door bodies 901 that can move towards or away from each other. Two linear guide rails 903 are fixedly connected to the motor base 902, and sliders 904 are slidably connected to the linear guide rails 903. The two door bodies 901 are fixedly connected to the tops of the two sliders 904, and a first rack 906 and a second rack 907 are fixedly connected to the bottom sides of the two door bodies 901, respectively. A first gear 9 is fixedly connected to the inner bottom wall of the motor base 902. 05. The first gear 905 meshes with the first rack 906 and the second rack 907. The two ends of the motor base 902 are fixedly connected to the inner wall of the door opening on the support table 102. A servo motor 908 is fixedly connected below the middle rectangular plate of the motor base 902. The output end of the servo motor 908 is fixedly connected to the first gear 905. When the door is opened, it forms a channel for the process spindle to pass through. Its "self-opening and closing" characteristic allows the opening and closing action of the door to be precisely controlled by the central control system 2 and strictly synchronized with the assembly process.

[0027] The feeding device 4 includes a clamping device 401, which includes a bearing support plate 4011 and a V-shaped clamp 4012. The bearing support plate 4011 is fixedly connected to the end of the V-shaped clamp 4012. The feeding device 4 also includes an electric gripper 402. The end of the V-shaped clamp 4012 away from the bearing support plate 4011 is fixedly connected to the electric gripper 402. An L-shaped plate connector 403 is fixedly connected to the upper end of the electric gripper 402. The short side of the L-shaped plate connector 403 is connected to the electric cylinder 404. The push rod end is fixedly connected. By setting a V-shaped clamp 4012, the geometric characteristics are used to realize the automatic centering of shaft parts. The bearing support plate 4011 provides a stable support surface for bearing parts. The combination of electric gripper 402 and electric cylinder 404 realizes reliable clamping of parts and precise pushing in the linear direction. This enables the feeding device 4 to transport parts from the preparation position to the assembly position with high repeatability and positioning accuracy, providing a reliable positional prerequisite for subsequent precision centering and press-fitting.

[0028] A vision camera A11 is fixedly connected to the inner top wall of the support device 1, and a vision camera B12 is installed at the end effector of the robotic arm 10 for image acquisition and coarse positioning of the scene on the support table 102. A first laser interferometer 13 and a second laser interferometer 14 are respectively set in the X and Y directions of the support table 102 for micron-level precision measurement and real-time compensation. The vision camera A11 provides global scene monitoring, and the vision camera B12 provides local fine recognition. The combination of the two realizes the coarse positioning of the parts. The first laser interferometer and the second laser interferometer can perform micron-level precision measurement of the micro-shape and position deviations of the parts and the reference. The real-time data provided provides a direct basis for the central control system 2 to realize dynamic compensation and closed-loop control, which is the core technical guarantee for achieving the system's "high precision" index.

[0029] The lower working area module is fixedly connected to the second base plate 104 inside the support device 1. The lower working area module includes a clamping unit for fixing the process mandrel and a vertical drive unit that is drivenly connected to the clamping unit and is used to drive the clamping unit and the fixed process mandrel to move in the vertical direction. The clamping unit is used to clamp the mandrel, and the vertical drive unit is used to provide power for the vertical movement of the mandrel.

[0030] The upper working area module also includes a spindle replacement device 8. The spindle replacement device 8 includes a second vertical support 803 fixedly connected to the upper side of the support table 102. A second stepper motor 801 is fixedly connected to the top of the second vertical support 803. The output end of the second stepper motor 801 is fixedly connected to a second ball screw slide 802 via a coupling. The second ball screw slide 802 is fixedly connected to the second vertical support 803. The second ball screw slide 802 includes a second linear module slider 804. A second loading L-shaped plate 805 is fixedly connected to the side of the second linear module slider 804 away from the second vertical support 803, and the second linear module slider 804 is connected to the long side end of the second loading L-shaped plate 805. A second spring 806 is fixedly connected to the center of the short side end of the second loading L-shaped plate 805. A second lower L-shaped plate 807 is fixedly connected to the lower end of the second spring 806. One side of the second vertical support 803 is fixedly connected to... A second guide rail 809 is connected, and a second slider 808 is slidably connected to the second guide rail 809. The short side of the second lower L-shaped plate 807 is fixedly connected to the second slider 808, and a second force sensor 810 is fixedly connected to the lower side of the second lower L-shaped plate 807. A core-changing pressure head 811 is fixedly connected to the lower end of the second force sensor 810, and a locking handle 812 is installed on the lower cylindrical surface of the core-changing pressure head 811. A core-spindle replacement station hole is also provided on the support table 102. The core-changing pressure head 811 of the core-spindle replacement device 8 is vertically corresponding to the core-spindle replacement station hole. A set of self-opening and closing doors is also provided at the core-spindle replacement station hole. Its structure is the same as the opening and closing door 9 at the assembly station hole. Pressure is provided by the second stepper motor 801 and the second ball screw slide 802. The core-changing force is monitored by the second force sensor 810. The operation is performed by the core-changing pressure head 811 and the locking handle 812 to realize the automatic replacement of the process core-spindle and the formal core-spindle. Meanwhile, by setting up a mandrel replacement station hole and its opening and closing door, an independent vertical interactive channel is provided for the mandrel replacement operation, enabling the system to complete the entire process of assembly and mandrel replacement on the same equipment, thereby improving the functional integration and process continuity of the equipment.

[0031] The lower working area module is a mobile clamping device 3 located in the lower working area. The clamping unit is a three-finger pneumatic gripper 301, and the vertical drive unit is a z-axis lifting platform 305. The mobile clamping device 3 also includes a horizontal drive unit, which is drivenly connected to the vertical drive unit and is used to drive the vertical drive unit and the clamping unit to move in the horizontal plane. The horizontal drive unit is an xy-axis moving platform 303, which is connected to the three-finger pneumatic gripper 301 through a first long plate 302 and to the z-axis lifting platform 305 through a second long plate 304. The z-axis lifting platform 305 is fixedly connected to the linear motor module A307 through a third long plate 306. The linear motor module A307 is fixedly connected to the second base plate 104 of the support device 1. The three-finger gripper 301, as a specific implementation of the clamping unit, provides reliable clamping force. The z-axis lifting platform 305, as a specific implementation of the vertical drive unit, provides vertical movement. The xy-axis moving platform 303, as a horizontal drive unit, enables the entire device to have positioning capability in the horizontal plane. This allows the lower working area module to not only complete basic vertical lifting assembly, but also drive the process spindle to move between multiple stations such as the assembly station and the steel ball adjustment station, realizing more complex multi-process automated flow and improving the flexibility and intelligence level of the equipment.

[0032] The upper work area module also includes a bearing ball adjustment device 7. The bearing ball adjustment device 7 includes a third vertical support member 702 fixedly connected to the upper side of the support tabletop 102. A first electric slide table 701 is fixedly connected to the upper end of the third vertical support member 702. A Z-shaped connector 703 is fixedly connected to the push rod end of the first electric slide table 701. An upper slider connector 704 is fixedly connected to the upper side of the Z-shaped connector 703. An upper linear guide rail 706 is fixedly connected to the side of the third vertical support member 702. An upper slider 705 is slidably connected to the upper linear guide rail 706. The slider connector 704 is fixedly connected to the upper slider 705. The upper end of the Z-shaped connector 703 is also tightened to the upper ball adjusting head 707. The side of the third vertical support 702 is also fixedly connected to the upper ball adjusting fastener 708. The upper end of the upper ball adjusting fastener 708 is fixedly connected to the first flange linear bearing 709. The lower end of the upper ball adjusting fastener 708 is provided with a boss that cooperates with the upper end of the lower ball adjusting fastener 710. The lower end of the lower ball adjusting fastener 710 is fixedly connected to the boss of the third vertical support 702, and the inner bottom wall of the lower ball adjusting fastener 710 is also fixedly connected to... The device includes a second flange linear bearing 711, and a bearing ball adjusting device 7 further includes a second electric slide 712. A ball adjusting head fixing member 713 is fixedly connected to the push rod end of the second electric slide 712. One end of the ball adjusting head fixing member 713 is screwed tightly connected to a lower ball adjusting head 714, and the other end of the ball adjusting head fixing member 713 is fixedly connected to a lower slider connecting member 715. A lower linear guide rail 717 is fixedly connected to the bottom of the side of the third vertical support member 702. A lower slider 716 is slidably connected to the lower linear guide rail 717. The lower slider connecting member 715 and the lower slider 716 are connected to each other. 6. Fixed connection; the upper working area module also includes an electromagnetic heater 6, which includes a high-frequency induction heating coil and a temperature sensor. The bearing ball adjustment device 7, through the independently driveable upper ball pressure head 707 and lower ball pressure head 714 arranged vertically, can precisely adjust the clearance of the assembled bearing to ensure the final rotational performance of the shaft system. The electromagnetic heater 6 provides local rapid heating of the parts through the high-frequency induction heating coil, providing a controllable heat source for the thermal expansion assembly of the bearing, which can effectively reduce the resistance and damage risk of interference fit assembly.

[0033] Working Principle: In the high-precision automated assembly system for aerospace bearing shafts, before assembly, the center lines of the shaft holes of the shaft components are aligned in the X and Y directions. V-clamp 4012 and vision cameras A and B perform coarse positioning of the components. V-clamp 4012 utilizes its geometric symmetry to automatically guide the center of the component to the bisector of the V-groove, thus achieving horizontal centering. Vision cameras A11 and B12 acquire images of the desktop scene, use image processing algorithms to identify the contour features of the components and locate their center pixel coordinates, and then combine this with depth information to convert the two-dimensional pixel coordinates into three-dimensional world coordinates. The robotic arm 10 then grips, moves, and places the components based on the calculated position and orientation. The first laser interferometer 13 and the second laser interferometer 14 determine the spatial relative position of the axis and the hole centerline by measuring the straightness deviation. During the measurement, straightness reflectors are installed on the parts that need to be aligned to simulate their respective centerlines. If there is a deviation in the centerline position, the reflector will carry the laser and undergo a slight lateral shift. The first laser interferometer 13 and the second laser interferometer 14 capture these offsets, save the data, and transmit it to the central control system 2. The high-precision displacement in the Y direction by the linear motor module B513 and the linear motor module C514 and the push stroke of the push rod in the X direction controlled by the electric cylinder 404 servo motor in the feeding device 4 are adjusted until the offset reaches the positioning threshold required for assembly. After the micron-level alignment of the shaft holes of the shaft system parts is completed, assembly begins. The process mandrel is designed with a stepped surface that limits the inner ring of the upper bearing, and below the stepped surface, there is an external thread that fits into the bearing housing for limiting.

[0034] First, the robotic arm 10 grips the process mandrel on the table and moves it to the three-finger gripper 301. The three-finger gripper 301 clamps the process mandrel. The robotic arm 10 grips the bearing seat limit nut and completes the engagement with the external thread under the step surface of the process mandrel. The robotic arm 10 grips the process mandrel and turns the upper and lower ends. The three-finger gripper 301 clamps one end of the bearing seat limit nut of the process mandrel.

[0035] Next, the robotic arm 10 grips the upper bearing into the V-shaped clamp 4012 of the feeding device 4. Since the distance from the center of each of the various shaft parts gripped to the circular hole of the opening and closing door 9 is constant, the center distance is set. Then, the feeding device 4 pushes the upper bearing to the circular hole of the opening and closing door 9 under the action of the electric cylinder 404. The guide shaft 508 in the component assembly device 5 descends together with the bearing pressure head 517. After the guide shaft 508 is inserted into the inner ring of the bearing, the bearing pressure head 517 completely presses against the surface of the upper bearing. The process mandrel rises vertically under the action of the Z-axis lifting platform 305 of the moving clamping device 3. When the step surface contacts the lower surface of the inner ring of the upper bearing, the opening and closing door 9 opens. Then, the upper bearing descends together with the process mandrel below the support table 102.

[0036] The oil storage components are then installed following the above procedure.

[0037] Then, the lower bearing is installed. The robotic arm 10 clamps and removes the bearing to the lower bearing support plate 4011 of the feeding device 4. The feeding device 4 pushes the lower bearing to the round hole of the opening and closing door 9. The bearing pressure head 517 descends and presses down on the upper surface of the lower bearing. The process mandrel rises. When the upper surface of the oil storage component contacts the lower surface of the lower bearing support plate 4011, the support plate is released, and the lower bearing contacts the oil storage ring. The bearing pressure head 517 descends to press it in place.

[0038] Then, the bearing housing is installed. The robotic arm 10 clamps the bearing housing and places it on the electromagnetic heater 6 for heating. After heating to the specified temperature, the robotic arm 10 moves the bearing housing to the V-shaped clamp 4012 of the feeding device 4 and holds it in the clamped state. The feeding device 4 pushes it to the specified position. The bearing pressure head 517 is designed with two steps. The bearing pressure head 517 descends and presses against the upper surface of the bearing housing. At this time, the opening and closing door 9 opens and the process mandrel rises. After the limit nut contacts the bearing housing, the V-shaped clamp 4012 is released and the bearing pressure head 517 continues to descend to press it.

[0039] After adjusting the bearing steel balls, unscrew the bearing auxiliary lock nut.

[0040] Then, the lower cover is installed. The robotic arm 10 clamps the shaft assembly to the three-finger gripper 301 and clamps it. The lower cover is then clamped to the V-shaped clamp 4012 in the feeding device 4. The feeding device 4 pushes the lower cover to the round hole of the opening and closing door 9 and keeps it clamped. The guide shaft 508 descends. When the guide shaft 508 is inserted into the inner ring of the lower cover, the bearing pressure head 517 descends and presses down on the upper surface of the lower cover. At this time, the opening and closing door 9 opens and the process mandrel rises. When the upper surface of the bearing seat contacts the lower cover, the V-shaped clamp 4012 is released and the bearing pressure head 517 continues to descend to press it.

[0041] Then, the disc spring is installed. The robotic arm 10 clamps the disc spring to the V-shaped clamp 4012, and the feeding device 4 pushes it to the round hole of the opening and closing door 9. The bearing pressure head 517 descends and presses down on the upper surface of the disc spring. At this time, the opening and closing door 9 opens, the process mandrel rises, and after the lower pressure cover contacts the disc spring, the V-shaped clamp 4012 is released, and the bearing pressure head 517 continues to descend to press it.

[0042] The robotic arm 10 grips the shaft assembly, rotates the upper and lower ends, and the three-finger gripper 301 clamps it.

[0043] According to the installation procedure of the lower pressure cover, the upper pressure cover is pressed in.

[0044] After replacing the spindle, install the lock nut according to the disc spring installation procedure.

[0045] The bearing steel ball adjustment method is as follows: After the bearing housing is installed, the three-finger pneumatic gripper 301 is released, the robotic arm 10 clamps the assembled shaft assembly, the bearing housing limit nut is unscrewed, the bearing auxiliary locking nut is tightened to restrict the lower bearing inner ring, the assembly is clamped to the bearing steel ball adjustment device 7, and the upper and lower steel balls are evenly distributed pressure heads to adjust the upper and lower bearing steel balls of the assembly respectively.

[0046] The spindle replacement method is as follows: Remove the shaft assembly, install the upper bearing cap and disc spring cap of the spindle replacement auxiliary parts, and the robotic arm 10 clamps the installed assembly to the designated position of the spindle replacement device 8. The replacement pressure head 811 descends until the pressure head presses against the upper surface of the assembly. Then, the robotic arm 10 clamps the spindle to the three-finger gripper 301. The three-finger gripper 301 holds the spindle and rises. During the rising process, the spindle pushes the process spindle into the interior of the replacement pressure head 811. When the upper surface of the end of the spindle contacts the opening and closing door corresponding to the spindle replacement device, the opening and closing door opens. The spindle continues to rise until the process spindle is completely pushed into the interior of the pressure head. Then, the robotic arm 10 locks the locking handle 812 to prevent the spindle from falling. Finally, the upper bearing cap and disc spring cap are removed.

[0047] Compared to existing technologies that use horizontal plane-based assembly methods, this eliminates the cumulative error of reference transfer, thus meeting the assembly accuracy requirements of aerospace shafting.

[0048] The embodiments disclosed herein are preferred embodiments, but are not limited thereto. Those skilled in the art can readily grasp the spirit of the present invention based on the above embodiments and make different extensions and variations, but as long as they do not depart from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. A satellite precision shafting automated assembly system, characterized by, include: The support device (1) has a horizontal support table (102) fixedly connected inside it, and the support table (102) divides the interior of the support device (1) into an upper working area and a lower working area. The upper working area module is set on the supporting desktop (102) and is used for operating and positioning shaft system components; The lower work area module is located below the support table (102) and is used to fix and provide a vertically upward process mandrel as an assembly reference. An assembly interaction unit is disposed on the supporting desktop (102); The lower working area module and the upper working area module are configured in concert to achieve the centering assembly of the process mandrel with the shaft components whose positions have been adjusted after the process mandrel passes vertically through the assembly interaction part. The central control system (2) is used to coordinate the control of the upper work area module and the lower work area module.

2. A satellite precision shafting automated assembly system as claimed in claim 1, characterized in that: The upper work area module includes a component assembly device (5), a robotic arm (10), and a feeding device (4) respectively installed on the support table (102).

3. The satellite precision shafting automated assembly system as described in claim 2, characterized in that: The feeding device (4) includes a clamping device (401), which includes a bearing support plate (4011) and a V-shaped clamp (4012). The bearing support plate (4011) is fixedly connected to the end of the V-shaped clamp (4012). The feeding device (4) also includes an electric gripper (402). The end of the V-shaped clamp (4012) away from the bearing support plate (4011) is fixedly connected to the electric gripper (402). An L-shaped plate connector (403) is fixedly connected to the upper end of the electric gripper (402). The short side of the L-shaped plate connector (403) is fixedly connected to the push rod end of the electric cylinder (404).

4. The satellite precision shafting automated assembly system as described in claim 3, characterized in that: The inner top wall of the support device (1) is fixedly connected to a vision camera A (11), and the end effector of the robotic arm (10) is equipped with a vision camera B (12), which is used to acquire images and perform coarse positioning of the scene on the support table (102). The supporting tabletop (102) is equipped with a first laser interferometer (13) and a second laser interferometer (14) in the X and Y directions, respectively, for performing micron-level precision measurements and real-time compensation.

5. The satellite precision shafting automated assembly system as described in claim 2, characterized in that: The lower working area module is fixedly connected to the second base plate (104) inside the support device (1). The lower working area module includes a clamping unit for fixing the process mandrel and a vertical drive unit that is drivenly connected to the clamping unit and is used to drive the clamping unit and the fixed process mandrel to move in the vertical direction.

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