Multi-vector positioner

Abstract

The utility model discloses a multi-sagittal positioner which comprises a fixing piece, a Z-axis rotating structure, an X-axis rotating structure and a Z-axis moving structure, and the fixing piece is used for fixing a satellite deck; the fixing piece rotates at multiple angles through the X-axis rotating structure, the X-axis rotating structure and the Z-axis moving structure, and the assembling actions of the two robots are flexibly matched when multiple cabin plates are assembled. For example, the positioner drives the cabin plate to rotate so that the to-be-installed edge of the cabin plate can rotate to the upper portion, the carrying robot places other cabin plates, meanwhile, the gluing robot is tightened for gluing and screwing, and after installation is completed, the actions are repeated till satellite assembly is completed. According to the utility model, the application range of the satellite assembly is increased in the satellite assembly, so that the satellite assembly is suitable for three-dimensional satellite assembly.

Description

TECHNICAL FIELD

[0001] The utility model relates to satellite assembly technical field, especially multi vector positioner. BACKGROUND

[0002] In prior art, satellite assembly work station usually adopts planar or simple structure positioner as basic platform, and its rotating direction is limited by fixed type or limited angle design (such as only supporting ±90° overturning), which leads to the failure to adapt to multi-angle assembly requirement of three-dimensional satellite (such as square satellite general assembly). In addition, when positioner cooperates with robot, due to insufficient rotating freedom, multi-robot cooperation is often realized through fixed station switching, but this way easily causes mechanical interference risk, and is difficult to adapt to dynamically changing assembly process. SUMMARY

[0003] The utility model aims at providing multi vector positioner to solve one or more technical problems existing in prior art, and at least provides a beneficial selection or creates conditions.

[0004] The utility model provides a multi vector positioner to solve the above technical problem, and the technical scheme adopted is as follows:

[0005] The utility model provides a multi vector positioner, including fixed part, Z axle rotating structure, X axle rotating structure and Z axle moving structure, and the fixed part is used for fixing satellite cabin plate;Z axle rotating structure includes rotating frame, and the fixed part is arranged on the rotating frame and rotates around Z axle;X axle rotating structure includes two rotating shaft assemblies and X axle rotating drive unit, two rotating shaft assemblies are rotatably connected with two ends of the rotating frame, and the X axle rotating drive unit is used for driving the rotating frame to rotate around X axle;Z axle moving structure includes two bases and Z axle moving drive unit, two rotating shaft assemblies are slidably arranged on two bases respectively, and the Z axle moving drive unit is used for driving the rotating shaft assembly to move along Z axle direction.

[0006] The utility model has the advantages of:

[0007] The fixed part is rotatable at multiple angles through X axle rotating structure, X axle rotating structure and Z axle moving structure, and can flexibly cooperate with the assembly action of two robots when assembling multiple cabin plates. For example, the positioner drives the cabin plate to rotate so that the to-be-installed edge of the cabin plate is rotated to the upper side, the carrying robot places other cabin plates, the screwing and gluing robot glues and screws, after installation, the above action is repeated until the satellite assembly is completed. The utility model increases the application range of satellite assembly in satellite assembly, and is suitable for three-dimensional satellite assembly.

[0008] As a further improvement of the above technical scheme, the rotating frame is provided with a circular track, the fixed part includes a plurality of fixed plates, the plurality of fixed plates are slidably arranged on the circular track, and the fixed plates are provided with first positioning portions.

[0009] As a further improvement of the above technical solution, the inner side or the outer side of the circular track is evenly spaced with a plurality of second positioning parts.

[0010] As a further improvement of the above technical solution, the second positioning part comprises a positioning plate, and a second positioning hole is arranged at the middle position of the positioning plate.

[0011] As a further improvement of the above technical solution, the first positioning part comprises a first positioning hole.

[0012] As a further improvement of the above technical solution, the fixed plate is provided with a plurality of fixed parts extending to the inner side of the circular track.

[0013] As a further improvement of the above technical solution, the base is provided with a sliding rail extending in the Z-axis direction, and the rotating shaft assembly is slidingly arranged in the sliding rail.

[0014] As a further improvement of the above technical solution, the multi-vector displacement machine further comprises a base, and the two bases are arranged at intervals on the base.

[0015] As a further improvement of the above technical solution, the top of the base is provided with a buffer limiting part.

[0016] As a further improvement of the above technical solution, the buffer limiting part comprises an elastic block extending towards the rotating shaft assembly. BRIEF DESCRIPTION OF DRAWINGS

[0017] The utility model will be further described below in combination with the drawings and examples;

[0018] Figure 1 is a structure schematic view of one embodiment of the multi-vector displacement machine provided by the utility model, wherein the three arrows are X-axis, Y-axis and Z-axis respectively;

[0019] Figure 2 is a structure schematic view of one embodiment of the multi-vector displacement machine provided by the utility model, wherein the three arrows are X-axis, Y-axis and Z-axis respectively;

[0020] Figure 3 is a multi-vector displacement machine of the prior art;

[0021] Figure 4 is a hatch plate diagram;

[0022] Figure 5 is a satellite schematic diagram;

[0023] Figure 6 is a flow chart of the use method of the multi-vector displacement machine.

[0024] REFERENCE NUMERALS:

[0025] The fixed plate 100, the screw hole 110, the first positioning hole 120, the rotating frame 200, the circular track 210, the positioning plate 211, the second positioning hole 212, the rotating shaft assembly 300, the rotating base 310, the base 400, the Z-axis moving driving unit 410, the sliding rail 420, the elastic block 430, the base 500. DETAILED DESCRIPTION

[0026] This part will describe the specific embodiments of the utility model in detail, the preferred embodiments of the utility model are shown in the drawings, the role of the drawings is to supplement the description of the text part with graphics, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the utility model, but it cannot be understood as the limitation of the protection scope of the utility model.

[0027] In the description of the utility model, it is understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or position relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and is not indicative or implied that the indicated device or element must have a particular orientation, a particular orientation and operation, therefore, it cannot be understood as the limitation of the utility model.

[0028] In the description of the utility model, if there is a word such as “several” description, its meaning is one or more, the meaning of more than two, greater than, less than, more than, etc. is not included in the number, above, below, within, etc. is understood as including the number.

[0029] In the description of the utility model, unless otherwise explicitly limited, the words such as setting, installation, connection, etc. should be understood broadly, and the person skilled in the art can determine the specific meaning of the above words in the utility model in combination with the specific content of the technical scheme.

[0030] Referring to Figure 3 , the left and right rotating functions of the positioner are used to assist the assembly action of the robot or manual, which can only be used for the installation of the plane type or simple structure satellite, and cannot be used for the installation of the three-dimensional type, such as the four-square satellite assembly. For example, Figure 4 and Figure 5 The four-square satellite is shown.

[0031] Therefore, referring to Figures 1 to 2 , the multi-vector positioner of the utility model is made as follows:

[0032] The multi-vector positioner comprises a fixing part, a Z-axis rotating structure, an X-axis rotating structure and a Z-axis moving structure, the fixing part is used for fixing a satellite cabin plate, the Z-axis rotating structure is used for driving the satellite cabin plate to rotate around the Z-axis, the X-axis rotating structure is used for driving the satellite cabin plate to rotate around the X-axis, and the Z-axis moving structure is used for driving the rotating shaft assembly 300 to move along the Z-axis direction, the satellite cabin plate is installed on the fixing part, the fixing part is rotated at multiple angles through the X-axis rotating structure, the X-axis rotating structure and the Z-axis moving structure, and the assembly actions of two robots are flexibly matched when multiple cabin plates are assembled. For example, the positioner drives the cabin plate to rotate so that the to-be-installed edge of the cabin plate is rotated to the upper side, the carrying robot places other cabin plates, meanwhile, the screwing and gluing robot glues and screws, after installation, the above actions are repeated until the satellite is assembled. The carrying robot and the screwing and gluing robot are located on the two sides of the multi-vector positioner and are matched to install, so that the interference is reduced, and the use range of the satellite assembly is expanded, so that the satellite assembly is suitable for three-dimensional satellite assembly.

[0033] It should be noted that the above-mentioned mutually orthogonal X-axis, Y-axis and Z-axis are virtually set for the convenience of description, and do not specifically limit the utility model.

[0034] Specifically, the Z-axis rotating structure comprises a rotating frame 200, the rotating frame 200 is a rectangular frame, the rotating frame 200 is provided with a circular ring-shaped track 210, the fixing part comprises two fixing plates 100, the two fixing plates 100 are slidingly arranged in the circular ring-shaped track 210, the fixing plate 100 is provided with two fixing blocks extending to the inner side of the circular ring-shaped track 210, the fixing block is provided with a plurality of screw holes 110, the cabin plate is fixed on the fixing block through a plurality of screws, and the cabin plate is slidingly arranged in the circular ring-shaped track 210 through the fixing block. Figure 2 In the utility model, the fixing part is arranged on the rotating frame 200 and rotates around the Z-axis. The Z-axis rotating structure comprises a Z-axis rotating driving unit, which drives the fixing part to rotate.

[0035] In other embodiments, the fixing part can be a clamping and locking structure. The two fixing plates 100 are independent of each other and can adapt to different cabin plate fixing. The satellite cabin in the embodiment is substantially columnar, and the cabin plate is rectangular, so the two fixing plates 100 are symmetrically arranged. When the cabin plate is triangular, three fixing plates 100 are arranged, and the three fixing plates 100 fix three positions of the cabin plate. When the cabin plate is irregular triangular, the fixing plate 100 can also be adjusted accordingly, so as to improve the fixing flexibility of the fixing part and adapt to the installation of satellites with different shapes and structures.

[0036] The fixing plate 100 is provided with a first positioning part, which can be positioned through vision or mechanical clamping. For example, the first positioning part in the embodiment is a first positioning hole 120, which is used for visual reference to improve the assembly accuracy.

[0037] Similarly, the inner side of the circular track 210 is evenly spaced with two second positioning parts, which can be positioned by vision or mechanical clamping. For example, the second positioning part in this embodiment includes a positioning plate 211, which is provided with a second positioning hole 212 at the middle position. The second positioning hole 212 is used as a visual reference to improve the accuracy of assembly. In other embodiments, the outer side of the circular track 210 is evenly spaced with multiple second positioning parts.

[0038] The X-axis rotation structure includes two shaft assemblies 300 and an X-axis rotation driving unit. The two shaft assemblies 300 are rotationally connected to the two ends of the rotating frame 200. The X-axis rotation driving unit is used to drive the rotating frame 200 to rotate around the X-axis. The shaft assembly 300 includes a rotating base 310 and a rotating seat. The rotating seat is rotationally arranged in the rotating base 310 through a bearing. The X-axis rotation driving unit is rotationally connected to the rotating seat through a coupling or other structure.

[0039] The Z-axis movement structure includes two bases 400 and a Z-axis movement driving unit 410. The two bases 400 are spaced apart. The rotating bases 310 of the two shaft assemblies 300 are respectively slidably arranged in the two bases 400. The Z-axis movement driving unit 410 drives the two shaft assemblies 300 to move along the Z-axis direction by using a servo motor and a screw transmission structure. The base 400 is provided with a slide rail 420 extending in the Z-axis direction. The shaft assembly 300 is slidably arranged in the slide rail 420, which improves the sliding stability. Since the first cabin plate needs to be flipped by 90 degrees later, the first cabin plate is adjusted to an appropriate height according to its width or height, which reserves space for subsequent first cabin plate flipping processing. This structure greatly increases the satellite assembly range and can assemble satellites of different sizes.

[0040] The top of the base 400 is provided with a buffer limiting part. The buffer limiting part includes an elastic block 430 extending towards the shaft assembly 300. The number of elastic blocks 430 is two, which are in the shape of a cylinder. In other embodiments, the buffer limiting part includes a buffer plate and a buffer spring. The spring is arranged between the base 400 and the buffer plate. When the shaft assembly 300 hits the buffer plate, the buffer spring has a buffering effect due to its elasticity.

[0041] The multi-vector displacement machine further includes a base 500. The two bases 400 are spaced apart on the base 500, which improves the stability of the entire device.

[0042] It should be noted that various drive units of the utility model are prior art, and the above-mentioned rotary motion, lifting motion and moving motion can adopt a cylinder, an electric push rod and a motor screw transmission as a drive unit. In linear motion, a corresponding slide rail 420 is arranged to improve the accuracy of motion, and in rotary motion, a corresponding rotating shaft is arranged to improve the accuracy and stability of rotation.

[0043] Referring to Figure 4 and Figure 5 , the multi-vector displacement machine plays an important role in the assembly of a single deck and a satellite assembly composed of multi-face decks, especially in the overall assembly of a satellite.

[0044] The application principle of the satellite overall assembly is as follows:

[0045] 1. The displacement machine lifts the rotating frame 200 to a suitable position through a Z-axis rotating structure, the rotating frame 200 is rotated by a flange assembly of a rotating shaft driven by a servo motor, so that the rotating frame is horizontal to the ground. The handling robot places the bottom deck on the fixed plate 100 through a clamp, the pin is positioned and fixed by screws, the displacement machine is rotated by 90 degrees;

[0046] 2. The handling robot carries the side deck A to the installation position through the clamp, and the screw tightening glue applying robot tightens the screws according to the requirements, after all the screws are tightened, the clamp is loosened, and the handling robot moves to the next deck to be installed.

[0047] 3. The displacement machine is reversely rotated by 90 degrees, the rotating frame 200 is horizontal to the ground, the pin is loosened manually to drive the bottom deck to rotate horizontally by 90 degrees, the pin is positioned and inserted into the positioning hole. The displacement machine is rotated by 90 degrees. The action of 2 is repeated.

[0048] 4. Repeat 3 until the satellite assembly is completed.

[0049] Referring to Figure 6 , the utility model also provides a use method of the multi-vector displacement machine, which is applied to the multi-vector displacement machine described in any one of the above, and comprises:

[0050] Step S100: adjusting the height of the fixing part according to the width and height of the first deck plate, and placing the fixing part horizontally, then placing the first deck plate and fixing the first deck plate on the fixing part;

[0051] Step S200: rotating the first deck plate by a first angle through the fixing part to expose the installation edge of the first deck plate upward;

[0052] Step S300: placing the first deck plate and the second deck plate at a first included angle, and gluing and screwing the connection between the first side deck plate and the second deck plate;

[0053] Step S400: After fixing the first and second panels, the second panel is rotated by the fixing member by a second angle, so that the mounting edge of the second panel is exposed above;

[0054] Step S500: The third panel is placed at a second included angle with the second panel, and the connection between the third panel and the second panel is glued and screwed;

[0055] Step S600: Referring to the above steps, the panel is rotated by the positioner to rotate the mounting edge of the panel to the upper side, and the carrying robot places other panels on both sides, while the screwing and gluing robot glues and screws, until the satellite assembly is completed.

[0056] The following will be specifically described according to the satellite shown in the assembly Figure 5 The carrying robot and the screwing and gluing robot are respectively located on both sides of the multi-vector positioner, reducing mutual interference. During the assembly process, the carrying robot and the screwing and gluing robot can cooperate to fix the satellite.

[0057] In step S100, since the first panel needs to be flipped by 90 degrees subsequently, according to the width or height of the first panel, the first panel is adjusted to an appropriate height to reserve space for subsequent first panel flipping processing, greatly increasing the satellite assembly range, and different size satellites can be assembled. The X-axis rotating drive unit drives the fixing member to rotate to horizontally place the fixing member, facilitating the horizontal placement of the first panel on the fixing member.

[0058] In step S200, the X-axis rotating drive unit drives the fixing member to rotate, and the fixing member drives the first panel to rotate clockwise around the X-axis by 90 degrees, so that the mounting edge on the upper side of the first panel is exposed above.

[0059] In step S300, the carrying robot carries the second panel to the positioner so that the first and second panels are placed at a first included angle of 90 degrees, and the screwing and gluing robot glues and screws the connection between the first and second panels;

[0060] In step S400, after fixing the first and second panels, the X-axis rotating drive unit drives the fixing member to rotate, and the fixing member drives the second panel to rotate counterclockwise around the X-axis by 90 degrees, so that the mounting edge of the second panel is exposed above;

[0061] Step S500: The carrying robot places the third panel at a second included angle of 90 degrees with the second panel, and the screwing and gluing robot glues and screws the connection between the third panel and the second panel;

[0062] Step S600: Refer to the above steps, the cabin plate is rotated by the positioner to rotate the to-be-installed edge of the cabin plate to the upper side, the carrying robot places other cabin plates, and the screwing robot applies glue and screws, until the satellite assembly is completed.

[0063] The angle of rotation and the position of rotation need to be changed according to the satellite structure, for example, when the bottom cabin plate of the satellite is a hexagon, after the first cabin plate and the second cabin plate are fixed in step S400, the Z-axis rotation driving unit drives the fixing member to rotate around the Z-axis, and the second cabin plate is rotated counterclockwise around the Z-axis by 60 degrees by the fixing member, so that the installation edges of the second cabin plate and the first cabin plate are exposed on the upper side, in step S500, the carrying robot contacts the third cabin plate with the second cabin plate and the first cabin plate at the same time, the screwing robot applies glue and screws at the connection between the third cabin plate and the second cabin plate, and the third cabin plate and the first cabin plate, which can speed up the installation progress, and also indicates that the positioner increases the use range of satellite assembly, and increases the cooperative action assembly position of the two robots suitable for multiple faces.

[0064] The preferred embodiments of the present application are described above, but the present application is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application. The equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. Multi-vector shifter, characterized in that, The utility model relates to a multi-vector positioner, comprising: a fixing part for fixing a satellite cabin plate; a Z-axis rotating structure comprising a rotating frame, wherein the fixing part is arranged on the rotating frame and rotates around the Z-axis; an X-axis rotating structure comprising two rotating shaft assemblies and an X-axis rotating drive unit, wherein the two rotating shaft assemblies are rotatably connected to two ends of the rotating frame, and the X-axis rotating drive unit is used to drive the rotating frame to rotate around the X-axis; a Z-axis moving structure comprising two bases and a Z-axis moving drive unit, wherein the two rotating shaft assemblies are respectively slidably arranged on the two bases, and the Z-axis moving drive unit is used to drive the rotating shaft assemblies to move along the Z-axis direction.

2. The multi-vector positioner according to claim 1, wherein: the rotating frame is provided with a circular ring track, the fixing part comprises a plurality of fixing plates, the plurality of fixing plates are slidably arranged on the circular ring track, and the fixing plates are provided with first positioning parts.

3. The multi-vector positioner according to claim 2, wherein: a plurality of second positioning parts are arranged at intervals on the inner side or the outer side of the circular ring track.

4. The multi-vector positioner according to claim 3, wherein: the second positioning parts comprise positioning plates, and the positioning plates are provided with second positioning holes at the middle positions.

5. The multi-vector positioner according to claim 2, wherein: the first positioning parts comprise first positioning holes.

6. The multi-vector positioner according to claim 2, wherein: the fixing plates are provided with a plurality of fixing parts extending towards the inner side of the circular ring track.

7. The multi-vector positioner according to claim 1, wherein: the bases are respectively provided with sliding rails extending in the Z-axis direction, and the rotating shaft assemblies are slidably arranged on the sliding rails.

8. The multi-vector positioner according to claim 1, wherein: the multi-vector positioner further comprises a base, and the two bases are arranged at intervals on the base.

9. The multi-vector positioner according to claim 1, wherein: the top of the base is provided with a buffer limiting part.

10. The multi-vector positioner according to claim 9, wherein: the buffer limiting part comprises an elastic block extending towards the rotating shaft assembly.

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