A bracket displacement assembly platform for satellite assembly and an assembly system thereof

Abstract

The utility model discloses a bracket variable position assembly platform and assembly system for satellite assembly, include: the opposite variable position device, and set up on the opposite face of every variable position device's support device, be provided with the positioning platform on the support device, the positioning platform between define the positioning space, opposite limit holding subassembly is restrained bracket in the positioning space, be equipped with the adjusting plate of translation in the positioning space on the bracket, the adjusting plate is used for supporting satellite, the variable position device includes linearly arranged first linear module, and set up on the lifting module group of first linear module action end, be equipped with the rotation module group between the action end of lifting module group and support device, the positioning platform is equipped with the limit holding subassembly, and the limit holding subassembly is restrained in the bracket end portion, to make the bracket rotate with rotation module group.

Description

Technical Field

[0001] This utility model relates to the field of satellite assembly equipment technology, specifically to a bracket displacement assembly platform and its assembly system for satellite assembly. Background Technology

[0002] In the field of satellite manufacturing, satellite assembly is a complex and highly precision-required process. With the development of aerospace technology, the types and specifications of satellites are becoming increasingly diverse, placing higher demands on the flexibility, precision, and reliability of satellite assembly equipment.

[0003] Currently, satellite assembly mainly relies on manual operation and specialized large-scale assembly equipment. During the assembly process, the disassembly and assembly of satellite panels and the entire satellite require precise alignment and clamping to ensure accurate connections between the various satellite components.

[0004] However, existing assembly equipment often suffers from insufficient adaptability when dealing with satellites of different sizes and specifications. Some equipment has a fixed structure, making it difficult to adjust to the actual size of the satellite. This results in the need to replace different equipment or perform complex modifications when assembling different types of satellites, reducing production efficiency. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a bracket displacement assembly platform for satellite assembly.

[0006] The above-mentioned technical objective of this utility model is achieved through the following technical solution: a bracket displacement assembly platform for satellite assembly, comprising: The satellite includes a positioning device arranged opposite to each other, and a support device arranged on the opposite surface of each positioning device. The support device is equipped with a positioning platform, and the positioning platforms define a positioning space. Opposite limiting clamping components constrain the bracket within the positioning space. The bracket is equipped with an adjusting plate that can translate within the positioning space. The adjusting plate is used to support the satellite. The displacement device includes a first linear module arranged linearly, and a lifting module disposed on the actuating end of the first linear module. A rotating module is provided between the actuating end of the lifting module and the support device. A limit clamping component is configured on the positioning platform, and the limit clamping component is constrained at the end of the bracket so that the bracket rotates with the rotating module.

[0007] Furthermore, the positioning platform is equipped with: A coarse positioning module acting on the bottom of the bracket includes a first positioning block set on a positioning platform and a first positioning pin passing through the first positioning block. The first positioning block is provided with a positioning groove facing the bracket. The bracket is provided with a second positioning block that cooperates with the positioning groove. The bottom of the positioning platform is provided with a lifting cylinder that drives the first positioning pin to extend out of the positioning groove and cooperate with the second positioning block.

[0008] Furthermore, the positioning groove is a V-shaped groove, the second positioning block is provided with a V-shaped protrusion, and there is also a mating plane between the first positioning block and the second positioning block for mutual engagement.

[0009] Furthermore, the second positioning block is provided with a first positioning hole for inserting the first positioning pin, and the first positioning hole is connected to the bracket so that the first positioning pin is inserted into the bracket.

[0010] Furthermore, the positioning platform is also provided with a clamping module configured on one side of the coarse positioning module. The clamping module includes a clamping cylinder and a clamping arm disposed on the actuating end of the clamping cylinder. The clamping arm is configured to perform a rotating clamping action and vertically press against the surface of the bracket.

[0011] Furthermore, the first positioning pin is located within the projection range of the working surface of the clamping arm on the bracket.

[0012] Furthermore, the positioning platform is also provided with a clamping and anti-drop module, which includes: a first drive cylinder disposed toward the end of the bracket, and at least two first top-holding members disposed on the actuating end of the first drive cylinder, wherein the end of the bracket is provided with a top-holding hole that matches the contour of the first top-holding member.

[0013] Furthermore, the clamping and anti-drop module also includes a second drive cylinder, the actuating end of which is provided with a top holding block, the top holding block is supported on the end face of the bracket, and the opposite top holding blocks are clamped at both ends of the bracket.

[0014] Furthermore, the second drive cylinder is disposed between the two first top holding members, the clamping cylinder is arranged on the outside of the top tooth member, and the clamping anti-drop module is arranged at intervals about the linear direction at the end of the positioning platform facing the bracket.

[0015] This utility model also provides a bracket displacement assembly system for satellite assembly, including the above-mentioned bracket displacement assembly platform. The positioning platform is also equipped with a detachable split support frame, which has a first support state and a second support state. In the first support state, the support device is fixed to the first bracket by the positioning platform through the limiting clamping component. In the second support state, the split support frame is engaged with the positioning platform and extends out of the positioning platform. The support device is fixed to the second bracket by the split support frame.

[0016] Furthermore, the split support frame is provided with a third drive cylinder facing the positioning space, and a second top holding member is provided on the actuating end of the third drive cylinder, the second top holding member being arranged on the outside of the first positioning block; The outer side of the split support frame is also provided with a third positioning block, and the third positioning block is provided with a second positioning pin; The second bracket is provided with a fourth positioning block, the fourth positioning block is provided with a top holding hole that engages with the second top holding member, and the bottom of the second bracket is provided with a second positioning hole that engages with the second positioning pin.

[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects: This invention utilizes two opposing positioning devices to achieve left-right movement, vertical lifting, and rotation of the support device. A positioning platform constrains and fixes the bracket between the opposing support devices. The bracket is equipped with a linearly movable adjusting plate, on which a fixed satellite is positioned, providing a fixed area for the satellite to be assembled. When accommodating satellites of different sizes, only the position of the adjusting plate on the bracket needs to be adjusted. If the satellite needs to be flipped during assembly, a limiting clamping component clamps and fixes the bracket, flexibly adapting to the needs of different sized satellite panels and the separate assembly and reassembly of the entire satellite. The positioning platform on the support device, through the cooperation of the limiting clamping component and the adjusting plate, constructs a dynamically adjustable positioning space. This not only constrains the translational freedom of the bracket but also supports the satellite through the adjusting plate, ensuring the satellite's positional stability during assembly without requiring additional fixing devices or bracket disassembly.

[0018] In terms of positioning and clamping satellite brackets, the positioning accuracy and reliability of satellite brackets are improved. Toothed blocks are used to eliminate positioning errors of the satellite brackets themselves and the matching errors between the satellite brackets and the positioning mechanism, thereby reducing deviations of satellite components during assembly and ensuring the overall performance of the satellite. In terms of safety assurance during satellite assembly, especially during the satellite bracket flipping process, the satellite compartment and the entire machine are very valuable. Sturdy fixing brackets during the flipping process reduce safety hazards and falling accidents, and ensure the reliability of the satellite bracket in complex assembly environment and frequent flipping operations. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the displacement assembly platform of this utility model; Figure 2 This is a top view of the displacement assembly platform of this utility model; Figure 3 This is a schematic diagram of the structure of the support removal device on the displacement assembly platform of this utility model. Figure 4 This is a schematic diagram of the support device of this utility model; Figure 5 This is a schematic diagram of the displacement device of this utility model; Figure 6 This is another structural schematic diagram of the displacement device of this utility model; Figure 7 This is a cross-sectional view of the support device of this utility model in cooperation with the first bracket; Figure 8 This is a schematic diagram of the structure of the support device and the first bracket of this utility model. Figure 9 This is a schematic diagram of the displacement assembly system of this utility model; Figure 10 for Figure 9 Enlarged view of point A in the middle; Figure 11 This is a structural schematic diagram of the support device and the split support frame of this utility model; Figure 12 This is a structural schematic diagram of the displacement assembly system and the split support frame of this utility model; Figure 13 for Figure 12 Enlarged view of point B in the middle; Figure 14 This is a cross-sectional view of the split support frame and the second bracket of this utility model in cooperation; In the picture: 1. Positioning device; 1.1. First linear module; 1.11. Rack; 1.12. Gear; 1.13. First platform; 1.14. Gear wheel; 1.15. First contact sensor; 1.2. Lifting module; 1.21. Second platform; 1.22. Second contact sensor; 1.3. Rotating module; 1.4. Outer frame; 1.5. Base frame; 2. Support device; 3. Positioning platform; 4. Bracket; 4.1 First bracket; 4.11 Second positioning block; 4.12 First positioning hole; 4.13 First top-holding hole; 4.14 Mounting rail; 4.2 Second bracket; 4.21 Fourth positioning block; 4.22 Second top-holding hole; 4.23 Second positioning hole; 4.24 Sliding rail; 4.3 Adjusting plate; 4.31 Mounting plate; 4.32 Waist groove; 4.4 Indexing fastener; 4.5 Mounting hole; 5. Limiting and clamping components; 6. Coarse positioning module; 6.1 First positioning block; 6.2 First positioning pin; 6.3 Positioning groove; 6.4 Mating plane; 6.5 Lifting cylinder; 7. Clamping module; 7.1. Clamping cylinder; 7.2. Clamping arm; 8. Anti-fall module; 8.1. First drive cylinder; 8.2. First support member; 8.3. Second drive cylinder; 8.4. Support block; 8.5. Linear bearing seat; 9. Split support frame; 9.1. Third drive cylinder; 9.2. Second top support; 9.3. Third positioning block; 9.4. Second positioning pin; 10. Moving cart; Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] It should be understood that although the terms upper, middle, lower, top, one end, etc., appear in this document to describe various elements, these elements are not limited by these terms. These terms are only used to distinguish the elements from each other for ease of understanding, and are not used to define any directional or sequential restrictions.

[0022] like Figure 1-8 As shown, a bracket 4 displacement assembly platform for satellite assembly includes: The system includes a displacement device 1 positioned opposite to each displacement device 1, and a support device 2 positioned on the opposite surface of each displacement device 1. A positioning platform 3 is mounted on the support device 2, and a positioning space is defined between the positioning platforms 3. A limiting clamping component 5 is mounted on each positioning platform 3, and the opposing limiting clamping components 5 constrain the bracket 4 within the positioning space. The bracket 4 is equipped with an adjusting plate 4.3 that can translate within the positioning space. The adjusting plate 4.3 supports the satellite. The bracket 4 serves as an intermediate support, and the adjusting plate 4.3 has an installation area. Preferably, there are two adjusting plates 4.3, thus providing an installation position for the satellite to be assembled. By using the movable adjusting plate 4.3 on the bracket 4, installation positions for satellites of different specifications can be provided. When assembling a satellite that fits within the movable range of the adjusting plate 4.3 of the current bracket 4, it is not necessary to disassemble the bracket 4; only the position of the adjusting plate 4.3 needs to be adjusted. The positioning device 1 includes a first linear module 1.1 arranged linearly, and a lifting module 1.2 arranged on the actuating end of the first linear module 1.1. A rotating module 1.3 is provided between the actuating end of the lifting module 1.2 and the support device 2. The first linear module 1.1 is specifically arranged along the arrangement direction of the two positioning devices 1. During the assembly process, the AGV mobile vehicle 10 carries the bracket 4 and pre-installs the satellite to be assembled on the bracket 4. At this time, the mobile vehicle 10 moves and aligns itself in the middle position of the two positioning devices 1. The positioning device 1 retracts through the first linear module 1.1, thereby releasing the vertical movement space of the bracket 4. Then the mobile vehicle 10 lifts the bracket 4. The support device 2 is constrained at the end of the bracket 4 by the limiting clamping component 5 through the cooperation of the linear movement and vertical movement of the positioning device 1, so that the bracket 4 rotates with the rotating module 1.3.

[0023] Preferably, the support device 2 is first moved to the lower part of both ends of the bracket 4 by the displacement device 1, and then moved upward by the displacement device 1 to engage with the bottom of the end of the bracket 4 from bottom to top. Then the limiting clamping assembly 5 further clamps and fixes the bracket 4 so that the bracket 4 moves synchronously with the rotating module 1.3. For this purpose, the support device 2 and the limiting clamping assembly 5 are provided with a coarse positioning module 6 that cooperates with the bottom of the bracket 4 in the vertical direction, and a clamping module 7 that acts on the upper surface of the bracket 4. A fall prevention module 8 that cooperates and fixes with the end face of the end of the bracket 4 can be further provided.

[0024] The two ends of the bracket 4 mentioned above specifically refer to the two ends of the bracket 4 along the arrangement direction of the displacement device 1, or the two ends along the direction of the first linear module 1.1, with the direction closer to the positioning space being the front end and the front side, and the direction farther away from the positioning space being the rear end and the rear side.

[0025] (Coarse positioning module 6) like Figure 1 and Figure 2 , and diagrams and Figure 8 As shown, the positioning platform 3 is equipped with a coarse positioning module 6 that acts on the bottom of the bracket 4, and the coarse positioning module 6 is located at the front end of the positioning platform 3. The coarse positioning module 6 includes a first positioning block 6.1 disposed on the positioning platform 3 and a first positioning pin 6.2 passing through the first positioning block 6.1. The first positioning block 6.1 is provided with a positioning groove 6.3 facing the bracket 4. The bracket 4 is provided with a second positioning block 4.11 that cooperates with the positioning groove 6.3. The relative direction of the positioning groove 6.3 and the second positioning block 4.11 is preferably in the vertical direction relative to the bracket 4. The bottom of the positioning platform 3 is provided with a lifting cylinder 6.5 that drives the first positioning pin 6.2 to extend out of the positioning groove 6.3 and cooperate with the second positioning block 4.11. During the docking process between the bracket 4 and the positioning platform 3, after the first positioning block 6.1 and the second positioning block 4.11 are engaged, the lifting cylinder 6.5 is activated and the first positioning pin 6.2 is inserted into the first positioning block 6.1 to complete the preliminary positioning of the bracket 4.

[0026] The positioning groove 6.3 is contour-fitted with the second positioning block 4.11 so that the bracket 4 can be quickly and coarsely positioned on the positioning platform 3, which can eliminate the initial position deviation caused by transportation to a certain extent. The lifting cylinder 6.5 drives the first positioning pin 6.2 to cooperate precisely with the second positioning block 4.11, which further improves the reliability of coarse positioning.

[0027] Specifically, the positioning groove 6.3 is a V-shaped groove, and the second positioning block 4.11 has a V-shaped protrusion. Furthermore, there is a mating plane 6.4 between the first positioning block 6.1 and the second positioning block 4.11. The mating plane 6.4 extends to both sides of the V-shaped protrusion and the positioning groove 6.3. When the first positioning block 6.1 and the second positioning block 4.11 engage, the corresponding mating planes 6.4 also abut against each other. The design of the mating plane 6.4 enhances the contact area between the positioning blocks, improves positioning stability, and prevents the bracket 4 from shifting during subsequent clamping or flipping. This lays the foundation for subsequent precise positioning and clamping operations. The V-shaped groove design has a certain degree of self-adaptability to the placement angle of the bracket 4. In particular, the self-centering characteristic of the inclined surface can compensate for slight positional deviations, improve coarse positioning accuracy, simplify the alignment operation before assembly, and improve positioning efficiency.

[0028] like Figure 7 As shown, specifically, the second positioning block 4.11 is provided with a first positioning hole 4.12 for inserting the first positioning pin 6.2. The first positioning hole 4.12 is connected to the bracket 4 so that the first positioning pin 6.2 can be inserted into the bracket 4. The first positioning pin 6.2 not only mates with the surface of the second positioning block 4.11, but also extends into the first positioning hole 4.12 inside the bracket 4, forming a secondary positioning, which improves the fixing reliability of the bracket 4 on the positioning platform 3, and reduces the displacement of the bracket 4 caused by vibration or external force during clamping or flipping, ensuring the positional accuracy of the bracket 4 during satellite assembly and thus improving the reliability of coarse positioning fit.

[0029] Alternatively, the end of the first locating pin 6.2 may be an arc surface or a conical surface to ensure smoothness during the lifting and positioning process.

[0030] (Clamping Module 7) Reference Figure 2 and Figure 8 , Figure 9 As shown, specifically, the positioning platform 3 is also equipped with a clamping module 7 configured on one side of the coarse positioning module 6. The clamping module 7 acts on the upper surface of the bracket 4, thereby cooperating with the coarse positioning module 6 to apply a vertical clamping action to the bracket 4.

[0031] The clamping module 7 includes a clamping cylinder 7.1 and a clamping arm 7.2 disposed on the actuating end of the clamping cylinder 7.1. The clamping arm 7.2 is configured to perform a rotating clamping action and vertically press against the surface of the bracket 4.

[0032] Specifically, the clamping cylinder 7.1 provides rotation stroke for the clamping arm 7.2. In the initial state, the clamping arm 7.2 is vertically positioned to avoid interference when the positioning platform 3 and the bracket 4 are vertically engaged. After the bracket 4 is coarsely positioned, the clamping cylinder 7.1 is activated and clamps onto the upper surface of the end of the bracket 4.

[0033] In some embodiments, the clamping cylinder 7.1 may also be selected as an elbow clamping cylinder.

[0034] As one arrangement of the clamping module 7, the clamping module 7 is located behind the coarse positioning module 6, preferably aligned with the coarse positioning module 6 in the front-rear direction, so that the first positioning pin 6.2 is located within the projection range of the action surface of the clamping arm 7.2 on the bracket 4. That is, the clamping force of the clamping cylinder 7.1 can be effectively applied to the bracket 4, and the bracket 4 and the coarse positioning module 6 can form a reliable fit. Through this arrangement, the synergistic effect of positioning and clamping functions is ensured. The first positioning pin 6.2 first fixes the horizontal position of the bracket 4, and the clamping arm 7.2 then locks its vertical position through vertical pressure. The two work together to avoid the bracket 4 from shifting due to positioning failure during the clamping process, improve the consistency of positioning and clamping, and ensure the accuracy of satellite assembly.

[0035] (Clamping anti-drop module 8) Reference Figure 4 and Figure 8 As shown, as a further embodiment of the limiting clamping component 5, the positioning platform 3 is also provided with a clamping anti-drop module 8. The clamping anti-drop module 8 is used to act on the end of the bracket 4 and apply clamping force between the front and rear ends of the bracket 4 in the opposite direction. Preferably, it provides a top holding member that passes through the end of the bracket 4, so as to prevent the bracket 4 from falling when the displacement device 1 flips the bracket 4.

[0036] The clamping anti-drop module 8 includes a first drive cylinder 8.1 facing the end of the bracket 4, and at least two first supporting members 8.2 disposed on the actuating end of the first drive cylinder 8.1. The first drive cylinder 8.1 is arranged in a linear direction along the front and rear of the positioning space. The two ends of the bracket 4 are provided with supporting holes that mate with the contours of the first supporting members 8.2. Before the clamping module 7 is working, the first drive cylinder 8.1 is activated and the first supporting members 8.2 are inserted into the supporting holes, thereby achieving mechanical locking of the end of the bracket 4. Even if the clamping cylinder 7.1 fails or an unexpected vibration occurs during the flipping process, the first supporting members 8.2 can still provide reliable anti-drop protection to prevent the bracket 4 from slipping off the support device 2, which significantly improves the safety of the assembly process.

[0037] As a further improvement to the first support member 8.2, a connecting plate extending laterally is provided on the actuating end of the first drive cylinder 8.1, the first support member 8.2 is disposed on the connecting plate, and a linear bearing seat 8.5 is provided in the path of the first support member 8.2, the first support member 8.2 passing through the linear bearing seat 8.5.

[0038] Specifically, the clamping anti-fall module 8 also includes a second drive cylinder 8.3. The actuating end of the second drive cylinder 8.3 is provided with a top holding block 8.4. The top holding block 8.4 is supported on the end face of the bracket 4, and the opposite top holding blocks 8.4 clamp the two ends of the bracket 4, thereby fixing the bracket 4. The second drive cylinder 8.3 applies clamping force from both ends of the bracket 4 through the top holding blocks 8.4, forming a lateral constraint on the bracket 4. The oppositely arranged second drive cylinders 8.3 can balance the force on both ends of the bracket 4, preventing the bracket 4 from tilting or shifting due to uneven force on one side, and further enhancing the reliability of the anti-fall effect.

[0039] like Figure 2 As shown, specifically, the second drive cylinder 8.3 is positioned between the two first supporting members 8.2, the clamping cylinder 7.1 is arranged on the outside of the first supporting member 8.2, and the clamping anti-drop module 8 is arranged at intervals in the linear direction at the end of the positioning platform 3 facing the bracket 4. The clamping cylinder 7.1, the first supporting member 8.2, and the second supporting member 9.2 are all arranged in the width direction of the end of the bracket 4. The end of the bracket 4 in the front-rear direction can be defined as the clamping and positioning end, which is used to cooperate with the above-mentioned clamping and limiting components to uniformly and fully implement the limiting, positioning, and clamping functions on the end of the bracket 4. Through reasonable spatial layout, the clamping force, anti-drop force and the center of gravity of the bracket 4 are optimized and matched, ensuring that the functional modules do not interfere with each other when working together, while maximizing the use of the limited space of the positioning platform 3 and improving the compactness and functionality of the structure.

[0040] (Displacement device 1) like Figure 5 and Figure 6As shown, as a further embodiment of the displacement device 1, the first linear module 1.1 is arranged about the length of the bracket 4 and is used to move in the front-rear direction to bring the positioning platform 3 closer to or away from the end of the bracket 4. The lifting module 1.2 is used to drive the positioning platform 3 to move up and down in the vertical direction, thereby positioning and engaging with the bracket 4. In some embodiments, the first linear module 1.1 may also provide a feed stroke in the front-rear direction to further ensure the clamping force on the bracket 4.

[0041] The first linear module 1.1 can be a linear electric cylinder or a linearly arranged slide rail slider. In this embodiment, the first linear module 1.1 is set as a slide rail slider, and a rack 1.11 is provided on one side of the slide rail slider. The linear driving force is provided by the vertically arranged electric cylinder that outputs rotational torque and the gear 1.12 on its output end.

[0042] Preferably, in order to ensure the reliability of the linear movement of the displacement device 1, a protective shell is also arranged on the upper side of the rack 1.11. The protective shell at least partially covers the tooth gap of the rack 1.11. The rack 1.11 is arranged laterally, and the axis of the gear 1.12 is set vertically.

[0043] Furthermore, the first linear module 1.1 has a horizontally arranged first platform 1.13 on its actuating end. The lifting module 1.2 and the electric cylinder are mounted on the first platform 1.13. A brush wheel 1.14 is also mounted on the first platform 1.13, located in front of the gear 1.12. The brush wheel 1.14 can also be located behind the gear 1.12 or in front of or behind the gear 1.12, so as to pre-clean the rack 1.11 during travel and ensure the smooth operation of the first linear module 1.1.

[0044] The lifting module 1.2 is preferably a vertically arranged lead screw and nut module, with slide rails and sliders located on both sides of the lead screw and nut module. The actuating end of the lifting module 1.2 is connected to the nut of the lead screw and nut module and the slider of the slide rails and sliders, and is connected to the rotating module 1.3. The output end of the rotating module 1.3 is connected to the support device 2 through the second platform 1.21 on the vertical surface. The rotating module 1.3 can be selected as a rotating electric cylinder that provides rotational torque.

[0045] In the above embodiment, the rear end of the first platform 1.13 is provided with a first contact sensor 1.15, and the positioning device 1 also includes a base frame 1.5 for arranging the first linear module 1.1. The base frame 1.5 is provided with a first protrusion and a second protrusion in the front-rear direction of the first linear module 1.1. When the positioning device 1 retracts to the position, the first contact sensor 1.15 contacts the first protrusion at the rear, thereby obtaining a linear return to position signal. When the positioning device 1 needs to perform clamping and limiting actions on the bracket 4, as the first linear module 1.1 moves, the first contact sensor 1.15 approaches the second protrusion in the positioning space and contacts it, thereby obtaining a linear position signal. The second platform 1.21 has a second contact sensor 1.22 on its side. The positioning device 1 also includes an outer frame 1.4 for arranging the lifting linear module. The outer frame 1.4 has a third protrusion and a fourth protrusion in the vertical direction of the lifting module 1.2. When the positioning device 1 descends to the position, the second contact sensor 1.22 contacts the lower third protrusion to obtain a lifting return signal. When the positioning device 1 needs to perform clamping and limiting actions on the bracket 4, as the lifting module 1.2 moves, the second contact sensor 1.22 approaches the third protrusion of the bracket 4 to contact it, thereby obtaining a lifting return signal.

[0046] (Split support frame 9) like Figure 9 and Figure 10 As shown, this utility model also provides a bracket 4 displacement assembly system for satellite assembly, including the aforementioned bracket 4 displacement assembly platform, and is also equipped with a movable AGV trolley 10. The trolley 10 is used to carry the bracket 4 and lift the bracket 4, which is pre-installed with the satellite to be assembled, to the positioning space. During the process of loading the bracket 4 to the support device 2, the trolley 10 first loads the satellite to be assembled and the bracket 4 to the middle position of the two displacement devices 1, and aligns the two ends of the bracket 4 with the positioning platform 3. At this time, the displacement devices 1 are in the retracted position, allowing the trolley 10 to lift the trolley 10 to the positioning space. Then the displacement devices 1 move closer to each other and move from bottom to top so that the coarse positioning module 6 on the positioning platform 3 cooperates with the two ends of the bracket 4. Then the clamping module 7 and the clamping anti-drop module 8 are activated to complete the fixation of the bracket 4. When the satellite to be assembled begins, the trolley 10 moves away from the bracket 4.

[0047] The positioning platform 3 is also equipped with a detachable split support frame 9, and the support device 2 has a first support state and a second support state. It should be noted that the two opposing displacement devices 1 have relatively close extreme proximity positions, and the positioning platforms 3 on the two displacement devices 1 are at their closest extreme proximity distance to each other at this time. In this embodiment, the split support frame 9 is used to match the bracket 4 whose length dimension is smaller than the extreme proximity distance. Therefore, in this embodiment, the bracket 4 is defined as the first bracket 4.1 and the second bracket 4.2, which aims to compensate for the distance between the small second bracket 4.2 and the two positioning platforms 3 by setting the detachable split support frame 9.

[0048] In the first support state, the support device 2 is fixed to the first bracket 4.1 by the positioning platform 3 through the limiting clamping component 5. In the second support state, the split support frame 9 is engaged with the positioning platform 3 and extends out of the positioning platform 3. The support device 2 is fixed to the second bracket 4.2 by the split support frame 9.

[0049] like Figure 11 and Figure 12 , Figure 14 As shown, in this embodiment, the split support frame 9 is arranged on the outer edge of the positioning platform 3 and mounted on the positioning platform 3, thereby avoiding interference with the clamping module 7, the clamping anti-drop module 8 and the coarse positioning module 6, and the split support frame 9 extends out of the end of the positioning platform 3.

[0050] Specifically, the split support frame 9 is provided with a third drive cylinder 9.1 facing the positioning space, and a second top holding member 9.2 provided on the actuating end of the third drive cylinder 9.1. The second top holding member 9.2 is arranged on the outside of the first positioning block 6.1. A third positioning block 9.3 extends from the outer side of the split support frame 9. The third positioning block 9.3 is provided with a second positioning pin 9.4 and is located on the lower end face of the split support frame 9. The second bracket 4.2 is equipped with a fourth positioning block 4.21, which is located on the upper surface of the second bracket 4.2. The fourth positioning block 4.21 has a top-holding hole that engages with the second top-holding member 9.2. The bottom of the second bracket 4.2 has a second positioning hole 4.23 that engages with the second positioning pin 9.4. The cooperation between the third drive cylinder 9.1 and the second top-holding member 9.2 achieves vertical support and fixation of the second bracket 4.2, and together with the first positioning block 6.1, constrains the vertical displacement of the second bracket 4.2. This ensures high-precision positioning and reliable fixation of the second bracket 4.2 on the split support frame 9, meets the special positioning requirements of the base plate bracket 4 during satellite assembly, and further enhances the platform's adaptability to various types of brackets 4.

[0051] The aforementioned third drive cylinder 9.1, second top support 9.2, and third positioning block 9.3 all extend toward the positioning space in the front and rear linear direction of the bracket 4, while the second positioning pin 9.4 and the second positioning hole 4.23 are vertically arranged.

[0052] like Figure 10 As shown, in the above embodiment, as one implementation of the adjusting plate 4.3, mounting rails 4.14 are provided on both sides of the first bracket 4.1. Multiple mounting holes 4.5 are arranged linearly on the mounting rails 4.14. The adjusting plate 4.3 is provided with an indexing fixing component, which can be an indexing pin or an indexing bolt. The indexing fixing component is fixed to the mounting holes 4.5, thereby adjusting the linear position of the mounting rails 4.14 on the bracket 4.

[0053] like Figure 13 As shown, in another embodiment of the adjusting plate 4.3, sliding rails 4.24 are provided on both end faces of the second bracket 4.2, and sliding blocks are provided at the bottom of the adjusting plate 4.3. The sliding blocks cooperate with the sliding rails 4.24. Multiple mounting holes 4.5 are provided on the side of the second bracket 4.2, and a vertically arranged mounting plate 4.31 is provided on the side of the adjusting plate 4.3. The mounting plate 4.31 is provided with a waist groove 4.32. As the adjusting plate 4.3 moves on the sliding rails 4.24, its relative position to the satellite to be assembled is adjusted. The adjusting plate 4.3 is fixed by inserting bolts through the waist grooves 4.32 and cooperating with the mounting holes 4.5.

[0054] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

Claims

1. A bracket displacement assembly platform for satellite assembly, characterized in that, include: The satellite is provided with a displacement device (1) arranged opposite to each other and a support device (2) arranged on the opposite surface of each displacement device (1). The support device (2) is provided with a positioning platform (3). The positioning platforms (3) define a positioning space. Opposite limiting clamping components (5) constrain the bracket (4) in the positioning space. The bracket (4) is provided with an adjustment plate (4.3) that can translate in the positioning space. The adjustment plate (4.3) is used to support the satellite. The displacement device (1) includes a first linear module (1.1) arranged linearly, and a lifting module (1.2) arranged on the moving end of the first linear module (1.1). A rotating module (1.3) is provided between the moving end of the lifting module (1.2) and the support device (2). A limit clamping component (5) is arranged on the positioning platform (3). The limit clamping component (5) is constrained at the end of the bracket (4) so ​​that the bracket (4) rotates with the rotating module (1.3).

2. The bracket displacement assembly platform for satellite assembly according to claim 1, characterized in that: The positioning platform (3) is equipped with: The coarse positioning module (6) acts on the bottom of the bracket (4). The coarse positioning module (6) includes a first positioning block (6.1) set on the positioning platform (3) and a first positioning pin (6.2) passing through the first positioning block (6.1). The first positioning block (6.1) is provided with a positioning groove (6.3) facing the bracket (4). The bracket (4) is provided with a second positioning block (4.11) that cooperates with the positioning groove (6.3). The second positioning block (4.11) is provided with a first positioning hole (4.12) for the first positioning pin (6.2) to be inserted. The bottom of the positioning platform (3) is provided with a lifting cylinder (6.5) that drives the first positioning pin (6.2) to extend out of the positioning groove (6.3) and cooperate with the second positioning block (4.11).

3. The bracket displacement assembly platform for satellite assembly according to claim 2, characterized in that: The positioning groove (6.3) is a V-shaped groove, the second positioning block (4.11) is provided with a V-shaped protrusion, and there is also a mating plane (6.4) between the first positioning block (6.1) and the second positioning block (4.11) for mutual engagement.

4. A bracket displacement assembly platform for satellite assembly according to claim 3, characterized in that: The first positioning hole (4.12) is connected to the bracket (4) so ​​that the first positioning pin (6.2) is inserted into the bracket (4).

5. A bracket displacement assembly platform for satellite assembly according to claim 2, characterized in that: The positioning platform (3) is also provided with a clamping module (7) configured on one side of the coarse positioning module (6). The clamping module (7) includes a clamping cylinder (7.1) and a clamping arm (7.2) configured on the actuating end of the clamping cylinder (7.1). The clamping arm (7.2) is configured to perform a rotating clamping action and is vertically pressed against the surface of the bracket (4).

6. A bracket displacement assembly platform for satellite assembly according to claim 5, characterized in that: The first positioning pin (6.2) is located within the projection range of the action surface of the clamping arm (7.2) on the bracket (4).

7. A bracket displacement assembly platform for satellite assembly according to claim 1, characterized in that: The positioning platform (3) is also provided with a clamping anti-drop module (8), which includes a first drive cylinder (8.1) disposed toward the end of the bracket (4) and at least two first top holding members (8.2) disposed on the actuating end of the first drive cylinder (8.1). The end of the bracket (4) is provided with a top holding hole that matches the contour of the first top holding member (8.2).

8. A bracket displacement assembly platform for satellite assembly according to claim 7, characterized in that: The clamping anti-drop module (8) also includes a second drive cylinder (8.3). The actuating end of the second drive cylinder (8.3) is provided with a top holding block (8.4). The top holding block (8.4) is supported on the end face of the bracket (4), and the opposite top holding blocks (8.4) are clamped at both ends of the bracket (4).

9. A bracket displacement assembly system for satellite assembly, characterized in that, The bracket displacement assembly platform includes any one of claims 1 to 8, wherein the positioning platform (3) is further provided with a detachable split support frame (9) mounted on the positioning platform (3), the support device (2) has a first support state and a second support state, and the bracket (4) is configured as a first bracket (4.1) and a second bracket (4.2). In the first support state, the support device (2) is fixed to the first bracket (4.1) by the positioning platform (3) through the limiting clamping component (5). In the second support state, the split support frame (9) is engaged with the positioning platform (3) and extends out of the positioning platform (3). The support device (2) is fixed to the second bracket (4.2) by the split support frame (9).

10. A bracket displacement assembly system for satellite assembly according to claim 9, characterized in that: The split support frame (9) is provided with a third drive cylinder (9.1) facing the positioning space, and a second top support member (9.2) provided on the actuating end of the third drive cylinder (9.1), the second top support member (9.2) being arranged on the outside of the first positioning block (6.1); The split support frame (9) also extends a third positioning block (9.3) on its outer side, and the third positioning block (9.3) is provided with a second positioning pin (9.4); The second bracket (4.2) is provided with a fourth positioning block (4.21), the fourth positioning block (4.21) is provided with a top holding hole that engages with the second top holding member (9.2), and the bottom of the second bracket (4.2) is provided with a second positioning hole (4.23) that engages with the second positioning pin (9.4).

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