Satellite cabin plate clamping device

Abstract

The utility model discloses a satellite deck clamping device which comprises two clamping arms and a clamping driving unit, the bottom of each clamping arm is provided with two clamping structures arranged at intervals, and each clamping structure comprises a clamping driving unit, a first clamping part and a clamping plate. The clamping driving unit is used for driving the clamping plate to move upwards so that the satellite cabin plate can be clamped to the bottom of the clamping arm. And the clamping driving unit is used for driving the two clamping arms to get close to each other, so that the first clamping part is clamped with a second clamping part arranged on the satellite deck. The clamping driving unit drives the two clamping arms to get close to each other, so that the four first clamping parts are clamped with four second clamping parts arranged on the satellite cabin plate, the satellite cabin plate is fixed in the left-right direction, and meanwhile, the clamping driving unit drives the clamping plates to move, so that the satellite cabin plate is locked in the up-down direction; the four positions of the satellite cabin plate are locked and fixed by the clamping devices, the satellite cabin plate clamping devices clamp the satellite cabin plate clamp in any direction, the satellite cabin plate cannot fall off, and carrying of the cabin plate in any direction is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to satellite assembly technical field, especially in satellite cabin board clamping device. BACKGROUND

[0002] In batch satellite, satellite cabin board's clamping mainly realizes through the way of clamp. Because satellite's cabin board has the characteristics such as expensive, high precision, assembly safety requirement is high, so require clamp to catch accurately, can prevent falling, high reliability, flexible application range is wide.

[0003] At present, cabin board is mainly grabbed in two ways: one is through suction cup adsorption fixed, two is using strong power clamping clamp to clamp directly. However, the structural design of suction cup type clamp has many factors influencing safety coefficient, such as the damage or defect of suction cup, the stability of gas supply system and the reliability of valve etc. As for strong power clamping clamp, it requires very high alignment accuracy when clamping, and because the force arm is short, it limits its application range.

[0004] In industrial production, due to the reasons such as processing quality difference, improper product placement and robot's own error, strong power clamping clamp often needs to be repositioned repeatedly when clamping cabin board, and even needs manual auxiliary positioning. In addition, because the force arm is short, this clamp can usually only be used for hoisting relatively light objects. When heavy, eccentric-shaped cabin board needs to be carried and assembled, if hoisting mode cannot be maintained, the structure of the clamp cannot be adapted. SUMMARY

[0005] The utility model aims at providing satellite cabin board clamping device to solve one or more technical problems existing in prior art, at least provides a beneficial choice or creates conditions.

[0006] The technical scheme adopted to solve the above technical problems is:

[0007] The utility model provides a satellite cabin board clamping device, including two clamping arms and clamping drive unit, two clamping arms each clamping arm bottom is equipped with two interval arrangement's clamping structure, the clamping structure includes clamping drive unit, first joint part, clamping plate, the clamping drive unit is used to drive the clamping plate and moves upwards so that satellite cabin board is clamped in the bottom of clamping arm, clamping drive unit is used to drive two clamping arms and each other is close to first joint part and the second joint part of satellite cabin board is clamped.

[0008] The utility model has the advantages of:

[0009] The clamping driving unit drives the two clamping arms to approach each other, so that the four first clamping parts are clamped with the four second clamping parts arranged on the satellite cabin plate, and the satellite cabin plate is fixed in the left-right direction; meanwhile, the clamping driving unit drives the clamping plate to move, so that the satellite cabin plate is locked in the up-down direction, and the four positions of the satellite cabin plate are all locked and fixed by the clamping device; the satellite cabin plate clamping device clamps the satellite cabin plate in any direction, and the satellite cabin plate will not fall, thereby ensuring the carrying of the satellite cabin plate in any direction.

[0010] As a further improvement of the above technical solution, the first clamping part comprises a clamping block.

[0011] As a further improvement of the above technical solution, the clamping block is provided with a V-shaped clamping surface.

[0012] As a further improvement of the above technical solution, the first clamping part comprises a clamping groove.

[0013] As a further improvement of the above technical solution, the clamping groove is provided with a V-shaped clamping interface.

[0014] As a further improvement of the above technical solution, the clamping driving unit is arranged on the outer side of the clamping arm.

[0015] As a further improvement of the above technical solution, the clamping structure further comprises a sliding seat, the clamping plate is arranged on the sliding seat, the sliding seat is slidably arranged on the clamping arm, and the clamping driving unit is in transmission connection with the sliding seat.

[0016] As a further improvement of the above technical solution, the sliding seat is connected with the clamping plate through the first clamping part.

[0017] As a further improvement of the above technical solution, the clamping driving unit is in transmission connection with the sliding seat through a floating joint.

[0018] As a further improvement of the above technical solution, the clamping driving unit comprises a linear module, the two clamping arms are in transmission connection with the linear module, and the linear module is provided with a quick-change joint. BRIEF DESCRIPTION OF DRAWINGS

[0019] The utility model will be further explained in connection with the drawings and embodiments;

[0020] Figure 1 is the structure schematic diagram of an embodiment of the satellite cabin plate clamping device provided by the utility model, wherein the six arrows respectively represent forward, backward, leftward, rightward, upward and downward directions;

[0021] Figure 2 is the structure schematic diagram of the satellite cabin plate;

[0022] Figure 3This is a schematic diagram of the structure of the clamping arm of an embodiment of the satellite cabin clamping device provided by this utility model, wherein the six arrows represent forward, backward, left, right, upward and downward directions respectively;

[0023] Figure 4 This is the existing clamping method;

[0024] Figure 5 This is the existing clamping method. Detailed Implementation

[0025] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0026] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] In the description of this utility model, if there are words such as "several", they mean one or more, "multiple" means two or more, "greater than", "less than", "exceeding" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself.

[0028] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0029] Reference Figure 5 The suction cup method of fixation cannot hold the excessively heavy satellite module 300, and there is a risk of it falling off. (Refer to...) Figure 4 When it is necessary to handle and assemble heavy-load, eccentrically shaped cabin panels, the clamping structure cannot be adapted if the hoisting method cannot be maintained. The satellite cabin panel clamping device of this application mainly uses a servo-driven linear module 200, in conjunction with V-coupling and cylinder clamping, to clamp the satellite cabin panel 300.

[0030] Specifically, refer to Figures 1 to 3 This utility model provides a satellite cabin panel clamping device, and the following embodiments are provided:

[0031] The satellite panel gripping device includes two gripping arms 100 and a gripping drive unit. The gripping drive unit is a linear module 200, which includes a support base, a lead screw drive structure, and a servo motor. The upper end of each gripping arm 100 is connected to a slider of the lead screw drive structure. The servo motor and the lead screw drive structure are located on the support base. The servo motor drives the two gripping arms 100 to move away from or closer to each other via the lead screw drive structure. In some other embodiments, the lead screw drive structure can be replaced by a gear drive or a transmission belt, and the servo motor can be replaced by a stepper motor or a cylinder. A coupling is also provided to connect the drive device and the transmission system, transmit torque, and compensate for possible deviations. A photoelectric switch is also provided to detect the position of the slider and achieve precise motion control. A quick-connect coupling 210 is provided in the middle of the support base for quick connection with other robotic arms.

[0032] Each clamping arm 100 has two clamping structures 110 arranged at a distance from each other at its bottom. Each clamping structure 110 includes a clamping drive unit 111, a first snap-fit ​​part, a clamping plate 113, and a sliding seat 114. The clamping drive unit 111 is a cylinder. In some other embodiments, the clamping drive unit 111 can be a drive structure such as a motor. The cylinder is located on the outside of the clamping arm 100 via a support plate. The outer wall of the clamping arm 100 is also provided with a slide rail 116 extending vertically. The sliding seat 114 is slidably disposed on the slide rail 116. The bottom of the sliding seat 114 is provided with a first snap-fit ​​part. The output end of the cylinder is connected to the sliding seat 114 via a floating joint 115. The floating joint 115 can absorb installation errors such as eccentricity and angular deviation between the cylinder or oil cylinder and the driven body, and protect the cylinder piston rod and internal sealing ring from damage.

[0033] The bottom of the first snap-fit ​​part is provided with a clamping plate 113, which is also located at the bottom of the clamping arm 100. When the cylinder drives the clamping plate 113 to move upward, the satellite cabin panel 300 is locked in the vertical direction.

[0034] In this embodiment, the first engaging portion is a locking block 112, which has a V-shaped engaging surface. The satellite cabin panel 300 is correspondingly provided with an auxiliary plate 320, which has a second engaging portion 310, which is a V-shaped groove. When the clamping drive unit drives the two clamping arms 100 to approach each other, the first engaging portion engages with the second engaging portion 310 on the satellite cabin panel 300, achieving locking and fixation.

[0035] In some other embodiments, the first engaging portion is a slot with a V-shaped interface. The second engaging portion 310 is a corresponding matching V-shaped engaging surface. The engaging design of the V-shaped slot and the locking block 112 has a certain degree of self-locking, meaning that once engaged, it is not easily released on its own. This self-locking ensures the stability and reliability of the connection, reducing the risk of loosening or detachment due to vibration or external force. Since the two inclined surfaces of the V-shaped slot can closely fit the corresponding inclined surfaces of the locking block 112, the position of the locking block 112 in the slot can be ensured to be accurate. Furthermore, during repeated assembly and disassembly, the engaging design of the V-shaped slot and the locking block 112 can maintain high repeatability. In summary, the engagement and fixation using the V-shaped slot and the locking block 112 is more precise and secure.

[0036] The clamping drive unit 111 drives the two clamping arms 100 to move closer together, causing the four first engaging parts to engage with the four second engaging parts 310 on the satellite compartment panel 300, thus fixing the satellite compartment panel 300 in the left-right direction. Simultaneously, the clamping drive unit 111 drives the clamping plate 113 to move, locking the satellite compartment panel 300 in the up-down direction. All four positions of the satellite compartment panel 300 are locked and fixed by the clamping device. The satellite compartment panel 300 will not fall off even when the clamping device clamps it in any direction, ensuring the panel can be transported in any direction. Even when the satellite compartment panel 300 is heavy, it maintains good stability.

[0037] This application utilizes servo precision motion control and torque control, and compensates for other errors through the adaptive characteristics of V-coupling to achieve effective clamping of the cabin panel. Furthermore, the short-stroke cylinder and V-coupling clamping principle ensure the safety of cabin panel handling, improving clamping accuracy even in the event of cylinder or control air circuit failure. Moreover, the symmetrical four positions of the clamping device ensure handling of the cabin panel in any direction. The application of the linear module 200 in this structure expands the clamping adaptability range. Even for irregularly shaped satellite cabin panels 300, this application can still clamp and lock them effectively.

[0038] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A satellite panel clamping device, characterized in that, include: Two clamping arms, each with two spaced-apart clamping structures at its bottom. Each clamping structure includes a clamping drive unit, a first snap-fit ​​part, and a clamping plate. The clamping drive unit is used to drive the clamping plate to move upward so that the satellite cabin panel is clamped at the bottom of the clamping arm. A clamping drive unit is used to drive the two clamping arms to move closer to each other so that the first latching part latches with the second latching part provided on the satellite compartment panel.

2. The satellite panel clamping device according to claim 1, characterized in that: The first latching part includes a latching block.

3. The satellite cabin panel clamping device according to claim 2, characterized in that: The card block has a V-shaped card-connecting surface.

4. The satellite cabin panel clamping device according to claim 1, characterized in that: The first latching part includes a latching slot.

5. The satellite cabin panel clamping device according to claim 4, characterized in that: The card slot is equipped with a V-shaped card interface.

6. The satellite panel clamping device according to claim 1, characterized in that: The clamping drive unit is located on the outside of the clamping arm.

7. The satellite cabin panel clamping device according to claim 1, characterized in that: The clamping structure further includes a sliding seat, the clamping plate is disposed on the sliding seat, the sliding seat is slidably disposed on the clamping arm, and the clamping drive unit is connected to the sliding seat in a transmission manner.

8. The satellite panel clamping device according to claim 7, characterized in that: The sliding seat and the clamping plate are connected by a first snap-fit ​​part.

9. The satellite panel clamping device according to claim 7, characterized in that: The clamping drive unit is connected to the sliding seat via a floating joint.

10. The satellite cabin panel clamping device according to claim 1, characterized in that: The clamping drive unit includes a linear module, and the two clamping arms are connected to the linear module in a transmission manner. The linear module is equipped with a quick-change connector.

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