A glue coating and tightening system for satellite automatic assembly line

Abstract

The utility model discloses a kind of glueing and tightening systems for satellite automatic assembly line, comprising: assembly station, including assembly clamping module;Operating manipulator, including Y-axis track frame, and multiple-axis mechanical arm being set on Y-axis track frame;Quick-change loading library, including placement area, and multiple batch head units and tightening gun components, tightening gun component and the execution end of multiple-axis mechanical arm are matched with first quick-change structure, second quick-change mechanism is equipped between tightening gun component and batch head unit, and power supply unit is configured on tightening gun component;Thread glueing tool and bolt support seat are also equipped in placement area, and thread glueing tool includes first glueing head, and displacement module, and first glueing head is obliquely arranged to the thread surface of assembly bolt;Bolt support seat includes fixed shaft seat and driven shaft seat, and bolt centering component is equipped on driven shaft seat, and assembly bolt is vertically abutted between bolt centering component and batch head unit rotation.

Description

Technical Field

[0001] This utility model relates to the field of satellite assembly equipment technology, specifically to an adhesive application and tightening system for satellite automated assembly lines. Background Technology

[0002] In the field of satellite manufacturing, panel assembly and overall satellite assembly are critical stages in the satellite final assembly process, and their assembly quality directly affects the satellite's structural stability, thermal control performance, and overall reliability. Among these, the adhesive application and screw tightening processes, as core procedures in panel and overall satellite assembly, play a decisive role in assembly accuracy, sealing performance, and mechanical properties. However, in traditional satellite assembly processes, adhesive application and tightening operations mainly rely on manual operation or decentralized automated equipment, resulting in significant efficiency bottlenecks and technical shortcomings. On the one hand, traditional manual gluing and tightening methods suffer from low precision and poor consistency. The processes involved in satellite assembly, such as thermal grease application, thread-locking adhesive application, and pin installation, all require extremely high operational precision. For example, the coating thickness of the thermal grease needs to be controlled within a specific range to ensure thermal control effectiveness; the mixing ratio and application amount of the thread-locking adhesive directly affect the durability of the screw connection; and deviations in the pin installation position can lead to misalignment of the panel components. Manual operation is limited by the operator's experience and fatigue, making it difficult to ensure precise control of the adhesive layer thickness, coating uniformity, and pin pressing force. This easily leads to problems such as excessive / insufficient adhesive application and overly tight pin pressing, damaging the panel and seriously affecting the quality of satellite assembly.

[0003] On the other hand, existing decentralized automation equipment suffers from poor adaptability and low collaborative efficiency. To improve the efficiency of gluing and tightening, some technical solutions employ fixed equipment designed for a single process, requiring independent tools and workstations for each process. While this approach can automate a single function, it results in a large number of assembly line devices.

[0004] In addition, satellite modules typically have large planar dimensions, and the assembly process requires multiple robotic arms to perform multi-point gluing and tightening operations. These robotic arms need to avoid each other, increasing the design difficulty and cost. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a glue application and tightening system for satellite automated assembly lines.

[0006] The above-mentioned technical objective of this utility model is achieved through the following technical solution: a glue application and tightening system for an automated satellite assembly line, comprising: An assembly station includes an assembly clamping module, which fixes the satellite and adjusts the satellite's assembly posture. The robotic arm includes a Y-axis track frame set along the assembly station and a multi-axis robotic arm set on the Y-axis track frame; The quick-change loading chamber includes a placement area, and multiple bit units and tightening gun assemblies arranged in the placement area. The tightening gun assembly is a first-stage quick-change structure that cooperates with the end effector of a multi-axis robot. A second-stage quick-change mechanism is provided between the tightening gun assembly and the bit units. A power supply unit is configured on the tightening gun assembly. The placement area is also equipped with a thread-applying adhesive tool and a bolt support seat located on one side of the thread-applying adhesive tool. The threaded adhesive application tool includes a first adhesive application head and a displacement module that slides to support the first adhesive application head. The first adhesive application head is inclined toward the threaded surface of the assembly bolt. The bolt support includes at least a fixed shaft seat and a driven shaft seat floating on the fixed shaft seat. The driven shaft seat is provided with a bolt centering member, and the assembly bolt is rotated between the bolt centering member and the bit unit by being vertically abutted against it.

[0007] Furthermore, the fixed shaft seat is provided with a floating space for the driven shaft seat to move. A first guide rod is fixedly installed in the floating space. The driven shaft seat is slidably installed on the first guide rod. A floating spring is provided between the driven shaft seat and the bottom of the floating space. The floating spring is sleeved on the first guide rod.

[0008] Furthermore, a first bearing is provided between the bolt centering member and the upper end of the driven shaft seat, and the bolt centering member is rotatably configured through the first bearing; a linear bearing is provided inside the driven shaft seat, and the linear bearing is sleeved on the first guide rod.

[0009] Furthermore, the fixed shaft seat is provided with a detection seat arranged opposite to it, and the detection seat is provided with a fiber optic sensor arranged opposite to it. The fiber optic sensor is located above the bolt centering component to detect whether the assembly bolt is present.

[0010] Furthermore, the displacement module includes a first linear module arranged horizontally, a second linear module vertically arranged on the actuating end of the first linear module, and a glue gun mounting plate and a glue gun adjusting plate arranged on the actuating end of the second linear module. The glue gun adjusting plate is angle-adjustable on the glue gun mounting plate and is rotatable on a vertical plane. One of the glue gun adjusting plate or the glue gun mounting plate is provided with an arc-shaped adjusting groove, and the other of the glue gun adjusting plate or the glue gun mounting plate is provided with an adjusting bolt located in the arc-shaped adjusting groove.

[0011] Furthermore, the glue gun adjustment plate is provided with an extension plate arranged radially for rotation, and the extension plate is provided with a first slide rail slider assembly. The first glue applicator includes a glue dispensing part and a glue inlet part. The glue dispensing part is constrained on the moving end of the first slide rail slider assembly. The extension plate is provided with a limiting member to constrain the sliding position of the glue dispensing part. The glue inlet part is fixedly arranged on the extension plate.

[0012] Furthermore, the execution end is provided with a rotating frame, and a first bracket and a second bracket are respectively provided on both sides of the rotating frame. The first bracket is provided with a pipeline clamp, and the second bracket is arranged with a laser rangefinder and a second vision module in sequence.

[0013] Furthermore, the tightening gun assembly includes a mounting base plate, a linear track mounted on the mounting base plate, and a feed cylinder, a driving slider, and a driven slider mounted on the linear track. The feed cylinder is connected to the driving slider, and an electric tightening gun is fixedly connected to the driving slider. The driven slider is connected to the bit unit via a two-stage quick-change mechanism. A second guide rod is provided between the driving slider and the driven slider, and a flexible spring is sleeved on the second guide rod, abutting against the driving slider and the driven slider. Intermediate limit blocks are also provided at intervals at the lower end of the linear track, and the driven slider is slidably constrained between the intermediate limit blocks and the end of the linear track.

[0014] Furthermore, the placement area is also equipped with a pin clamping tool and a pin tray. The pin clamping tool includes opposing clamping arms and a clamping cylinder for providing clamping power to the clamping arms. An elastic element is provided between the clamping arms and the power end of the clamping cylinder, and a V-groove is provided at the opposite end of the clamping arms.

[0015] Furthermore, the placement area is also equipped with a thread coating inspection platform, a thermal grease coating tool, and a screw dispensing tool. The quick-change loading bin is also equipped with a bolt tray on one side of the placement area. The thermal grease coating tool, screw dispensing tool, and pin clamping tool are all connected to the execution end via a primary quick-change mechanism.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects: By setting a Y-axis track frame on one side of the assembly station, the operating range of the multi-axis robot is increased. A quick-change loading library is set at the end of the assembly station, and a placement area is set on the quick-change loading library to integrate thread-applying tools, multiple bit units, and tightening gun assemblies. Each tightening gun assembly is equipped with a power supply unit. Quick-change mechanisms consisting of a first-level quick-change disc and a second-level quick-change mechanism realize quick-change between bit units and tightening gun assemblies, and between tightening gun assemblies and the execution end of the multi-axis robot. Through the collaborative design of the multi-axis robot, the quick-change loading library, and the thread-applying tool, the problems of low precision due to manual operation, poor adaptability of decentralized automated equipment, and low collaborative efficiency in the traditional satellite assembly of gluing and tightening processes are solved. According to different bolt types, different bit units and tightening gun assemblies in the quick-change loading library can be used to adapt to the process parameters of different satellite models, realizing flexible adjustment of bolt assembly and tightening. There is no need to redesign or modify tools, resulting in low maintenance costs and high compatibility between equipment, thereby improving overall efficiency.

[0017] When the multi-axis robot moves the bolt from the assembly station to the satellite, it first centers the bolt on the bolt support and rotates it under the actuation of the bit unit and tightening gun assembly. At the same time, the first glue applicator on one side applies glue to the thread surface of the bolt, thus completing the glue application to the bolt thread. This achieves automation, flexibility and high precision in the glue application and tightening process. The robot with a wide range of movement, combined with quick tool change, realizes an integrated system for multi-process collaboration, replacing traditional decentralized equipment, simplifying the assembly line layout, and improving operational flexibility and assembly consistency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall layout of this utility model; Figure 2 This is a schematic diagram of the overall structure of this utility model; Figure 3 This is a structural schematic diagram of the quick-change loading bin of this utility model; Figure 4 This is a schematic diagram of the thread-applying adhesive tool of this utility model. Figure 5 This is a cross-sectional view of the bolt support seat of this utility model; Figure 6 This is a schematic diagram of the displacement module of this utility model; Figure 7 This is a schematic diagram of the pin clamping tool of this utility model; Figure 8 This is a cross-sectional view of the pin clamping tool of this utility model; Figure 9 This is a schematic diagram of the tightening gun assembly of this utility model at the execution end; Figure 10This is a structural schematic diagram of the tightening gun assembly of this utility model; In the picture: 1. Assembly station; 1.1 Assembly clamping module; 2. Y-axis track frame; 2.1. Multi-axis robot arm; 2.2. End effector; 2.3. Rotating frame; 2.31. First support; 2.32. Laser rangefinder sensor; 2.33. Second vision module; 3. Quick-change loading bay; 3.1. Placement area; 3.2. Bit unit; 3.21. Bit body; 3.22. Bit mounting block; 3.3 Positioning stand; 3.4 Presence or absence of sensors; 3.5 Positioning pin assembly; 4. Tighten the gun assembly; 4.1. Mount the base plate; 4.2. Linear rail; 4.3. Feed cylinder; 4.4 Active slider; 4.41 Side plate mounting; 4.5 Driven slider; 4.51 Quick-change connecting block; 4.6 Electric tightening gun; 4.61 Power supply unit; 4.7 Second guide rod; 4.8 Flexible spring; 4.9 Intermediate limit block; 5. Thread adhesive application tool; 5.1 First applicator head; 5.11 Glue dispensing part; 5.12 Glue inlet part; 5.2 Displacement Module; 5.21 First Linear Module; 5.22 Second Linear Module; 5.23 Glue Gun Mounting Plate; 5.24 Glue Gun Adjustment Plate; 5.25 Arc-shaped Adjustment Slot; 5.26 Extension Plate; 5.3 Bolt support seat; 5.31 Fixed shaft seat; 5.32 Driven shaft seat; 5.33 Bolt centering component; 5.34 Floating space; 5.35 First bearing; 5.36 Linear bearing; 5.37 First guide rod; 5.38 Floating spring; 5.4 Detection base; 5.41 Fiber optic sensor; 5.5 First slide rail slider assembly; 5.6 Limiting component; 6. Pin clamping tool; 6.1 Clamping arm; 6.11 Mounting block; 6.12 Linkage rod; 6.13 Clamping block; 6.2 Clamping cylinder; 6.3 Elastic element; 6.4 Pressure sensor; 7. Pin tray; 8. Thread coating inspection platform; 9. Thermal grease application tool; 10. Screw dispensing tool; 11. Bolt tray; 12. First-stage quick-change mechanism; 12.1. First-stage quick-change main panel; 12.2. First-stage quick-change connector; 13. Secondary quick-change mechanism; 13.1 Secondary quick-change main plate; 13.2 Secondary quick-change connector; Detailed Implementation

[0019] 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.

[0020] 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.

[0021] like Figure 1-10 As shown, a gluing and tightening system for an automated satellite assembly line includes: Assembly station 1 includes an assembly clamping module 1.1, which is set along the Y-axis. The assembly clamping module 1.1 fixes the satellite and adjusts the satellite's assembly posture. The assembly clamping module 1.1 controls the satellite to rotate around the Y-axis, thereby controlling the satellite's assembly posture. The assembly clamping module 1.1 only needs to clamp and rotate the satellite assembly, which will not be described in detail here. The operating robot includes a Y-axis track frame 2 set along the assembly station 1, and a multi-axis robot arm set on the Y-axis track frame 2. The Y-axis track frame 2 is set parallel to the assembly station 1 and is located on one side of the assembly station 1. The Y-axis track frame 2 is used to drive the multi-axis robot arm 2.1 to move on the Y-axis, thereby cooperating with the assembly station 1 to perform multi-angle and wide-range operations on the satellite. A quick-change loading chamber 3 is located between the assembly station 1 and the end of the Y-axis track frame 2. A multi-axis robot arm 2.1 operates the quick-change loading chamber 3 through the Y-axis track frame 2. The quick-change loading chamber 3 includes a placement area 3.1, and multiple bit units 3.2 and a tightening gun assembly 4 are set on the placement area 3.1. The tightening gun assembly 4 is a primary quick-change structure that cooperates with the execution end 2.2 of the multi-axis robot arm 2.1. A secondary quick-change mechanism 13 is provided between the tightening gun assembly 4 and the bit units 3.2. A power supply unit 4.61 is configured on the tightening gun assembly 4. During operation, the multi-axis robot 2.1 moves to the placement area 3.1 of the quick-change loading bin 3, picks up the tightening gun assembly 4 through the first-level quick-change mechanism 12, then adjusts the position of the tightening gun assembly 4, and picks up the bit unit 3.2 through the second-level quick-change mechanism 13, thereby handling the quick change of tools for different types of bolts. The placement area 3.1 is also equipped with a threaded adhesive applicator 5 and a bolt support seat 5.3 located on one side of the threaded adhesive applicator 5. Before the assembly bolt is tightened, the multi-axis robot 2.1 transfers the assembly bolt to the threaded adhesive applicator 5. The threaded adhesive applicator 5 includes a first adhesive applicator head 5.1 and a displacement module 5.2 that slides to support the first adhesive applicator head 5.1. The first adhesive applicator head 5.1 is inclined toward the threaded surface of the mounting bolt. The first adhesive applicator head 5.1 is used to output adhesive, and the displacement module 5.2 is used to adjust the relative position between the first adhesive applicator head 5.1 and the mounting bolt. The bolt support 5.3 includes at least a fixed bearing 5.31 and a driven bearing 5.32 floating on the fixed bearing 5.31. The driven bearing 5.32 is provided with a bolt centering member 5.33. When applying adhesive to the threads, the assembly bolt is first centered on the bolt centering member 5.33 by tightening the gun assembly 4 and the bit unit 3.2. Then, the displacement module 5.2 adjusts the position of the first adhesive head 5.1 to align with the thread. Finally, the tightening gun assembly 4 and the bit unit 3.2 drive the assembly bolt to rotate. The assembly bolt is vertically abutted between the bolt centering member 5.33 and the bit unit 3.2 and rotates. At the same time, the first adhesive head 5.1 dispenses adhesive, completing the adhesive application work on the periphery of the thread surface.

[0022] (Thread glue application tool 5) like Figure 4 and Figure 5 As shown, as a further embodiment of the first glue applicator 5.1, the first glue applicator 5.1 includes a glue dispensing part 5.11 and a glue inlet part 5.12. The glue inlet part 5.12 is provided with two glue tanks and a dual-liquid screw valve connecting the two glue tanks. The dual-liquid screw valve is connected to the glue inlet part 5.12, thereby uniformly controlling the glue dispensing amount.

[0023] The first adhesive applicator 5.1 is located on the final actuating end of the displacement module 5.2. The displacement module 5.2 moves the first adhesive applicator 5.1 to a specified distance according to the bolt diameter and pitch. The driven shaft seat 5.32 and the bolt centering component 5.33 support the bolt and achieve driven rotation under the force of the tightening gun assembly 4 and the bit unit 3.2, so that the thread outer ring can be evenly coated with thread glue.

[0024] Further reference Figure 5As shown, as a further embodiment of the bolt support 5.3, the fixed shaft seat 5.31 is provided with a floating space 5.34 for the driven shaft seat 5.32 to move. Specifically, the driven shaft seat 5.32 moves vertically up and down and rotates around its axis within the floating space 5.34 defined by the fixed shaft seat 5.31. A first guide rod 5.37 is fixedly installed within the floating space 5.34. The first guide rod 5.37 is coaxially arranged with the driven shaft seat 5.32, and the driven shaft seat 5.32 is slidably mounted on the first guide rod 5.37. A floating spring 5.38 is provided between the driven shaft seat 5.32 and the bottom of the floating space 5.34, and the floating spring 5.38 is sleeved on the first guide rod 5.37. On rod 5.37, a floating spring 5.38 applies an upward axial force to the driven shaft seat 5.32. During the bolt centering process, the multi-axis robot 2.1 picks up the bolt and abuts it against the bolt centering component 5.33. The driven shaft seat 5.32, which is floating in the vertical direction, moves downward under the action of the abutment force. Under the action of the floating spring 5.38, the upwardly floating driven shaft seat 5.32 automatically compensates for the axial position deviation of the bolt, avoiding damage to the bolt or bit caused by rigid contact. At the same time, the floating spring 5.38 reduces the impact force during the bolt centering process, improves the stability of the bolt clamping, and ensures the reliability of subsequent tightening operations. It also plays an auxiliary role in the centering of the bolt.

[0025] As a further improvement to the fit between the driven shaft seat 5.32 and the fixed shaft seat 5.31, a first bearing 5.35 is provided between the bolt centering member 5.33 and the upper end of the driven shaft seat 5.32. The upper end of the driven shaft seat 5.32 is provided with a first recess, and the first bearing 5.35 is placed in the first recess. The bolt centering member 5.33 fits with the inner ring of the first bearing 5.35, so that the bolt centering member 5.33 is rotatably disposed on the top of the driven shaft end through the first bearing 5.35. The driven shaft seat 5.32 is equipped with a linear bearing 5.36, which is sleeved on the first guide rod 5.37. The driven shaft seat 5.32 has a sliding channel for the first guide rod 5.37 to slide axially within it. A second recess is provided within the sliding channel, and the linear bearing 5.36 abuts against the second recess, which is positioned with its opening facing downwards. A radially extending first stop is provided on the first guide rod 5.37, which is engaged with the inner wall of the driven shaft seat 5.32 by a snap ring. The first stop is used to abut against the bottom of the linear bearing 5.36, thereby constraining the linear bearing 5.36 to the driven shaft seat 5.32.

[0026] Specifically, the floating spring 5.38 abuts against the bottom of the first stop portion, thereby acting on the driven shaft seat 5.32. The first guide rod 5.37 is preferably connected to the bottom of the fixed shaft seat 5.31 by bolt fixing and passes through the floating space 5.34.

[0027] The first bearing 5.35 enables the bolt centering component 5.33 to rotate synchronously with the bolt, avoiding frictional resistance between the bolt and the centering component during bolt rotation and ensuring that the bolt maintains accurate axial positioning during tightening. The linear bearing 5.36 reduces the frictional force of the driven shaft seat 5.32 sliding along the first guide rod 5.37, improves the floating response speed, makes the bolt centering process smoother, and further improves the bolt positioning accuracy.

[0028] As a further embodiment of the bolt centering member 5.33, the bolt centering member 5.33 refers to a rotating member with a frustum-shaped surface, which has a radial second stop at one end of the first bearing 5.35 and another second stop at the other end of the first bearing 5.35. The other second stop can be formed by a retaining spring or a baffle fixed to the bottom of the bolt centering member 5.33 by bolts, thereby realizing the cooperation between the bolt centering member 5.33 and the first bearing 5.35.

[0029] As a further embodiment of the fixed bearing 5.31, the fixed bearing 5.31 has an upward cavity, and a cover plate is provided at the upper end of the cavity to form a floating space 5.34. The outer wall of the driven bearing 5.32 has a radially extending third stop portion, which abuts against the cover plate to restrict the driven bearing 5.32 from disengaging from the fixed bearing 5.31.

[0030] Further reference Figure 4 and Figure 5 In other embodiments, to detect whether the assembly bolt is in place on the bolt centering member 5.33, the fixed shaft seat 5.31 is provided with a detection seat 5.4 disposed opposite to it. The detection seat 5.4 is provided with a fiber optic sensor 5.41 disposed opposite to it. The fiber optic sensor 5.41 is located above the bolt centering member 5.33, and the opposite connection line of the fiber optic sensor 5.41 passes through the central axis of the bolt centering member 5.33 to detect whether the assembly bolt is present or not.

[0031] In this embodiment, the fiber optic sensor 5.41 can determine in real time whether the bolt is correctly placed on the bolt centering component 5.33 through non-contact detection, avoiding tightening failure caused by bolt omission or positional deviation; the detection position is set above the centering component, which facilitates rapid screening before the bolt enters the centering station, improving the automation level and error prevention capability of the assembly process.

[0032] like Figure 6As shown, as a further embodiment of the displacement module 5.2, the displacement module 5.2 includes a first linear module 5.21 arranged horizontally, a second linear module 5.22 vertically disposed on the operating end of the first linear module 5.21, and a glue gun mounting plate 5.23 and a glue gun adjusting plate 5.24 disposed on the operating end of the second linear module 5.22. The glue gun mounting plate 5.23 is disposed on the operating end of the second linear module 5.22, and the glue gun adjusting plate 5.24 is disposed on the glue gun mounting plate 5.23. Preferably, the glue gun adjusting plate 5.24 is disposed on the glue gun mounting plate 5.23 with adjustable angle, and the glue gun adjusting plate 5.24 is disposed on a vertical plane for rotation.

[0033] The first linear module 5.21 moves in the horizontal direction, specifically along a linear direction that is close to or away from the bolt support seat 5.3. The second linear module 5.22 moves in the vertical direction. The glue gun adjusting plate 5.24 and the glue gun mounting plate 5.23 rotate on the plane defined by the first linear module 5.21 and the second linear module 5.22.

[0034] As one embodiment of the angle setting of the glue gun adjusting plate 5.24, the glue gun adjusting plate 5.24 is preferably fixed to the glue gun mounting plate 5.23 by manual locking. The glue gun adjusting plate 5.24 is set vertically and diagonally downward. The first glue applicator 5.1 is set on the glue gun mounting plate 5.23. One of the glue gun adjusting plate 5.24 or the glue gun mounting plate 5.23 is provided with an arc-shaped adjusting groove 5.25, and the other of the glue gun adjusting plate 5.24 or the glue gun mounting plate 5.23 is provided with an adjusting bolt located within the arc-shaped adjusting groove 5.25. Figure 6 For example, the arc-shaped adjustment groove 5.25 is set on the glue gun adjustment plate 5.24, and the glue gun mounting plate 5.23 is provided with adjustment bolt holes, which are used for inserting adjustment bolts. The adjustment bolts press the glue gun adjustment plate 5.24 to fix the angle.

[0035] Optionally, the angle of the first glue applicator head 5.1 can also be adjusted by an electric or pneumatic turntable via the glue gun adjustment plate 5.24.

[0036] The first linear module 5.21 and the second linear module 5.22 constitute a two-dimensional planar adjustment mechanism, which can precisely adjust the spatial position of the first glue applicator 5.1 to ensure that it is accurately aligned with the threaded surface. The adjustable angle design of the glue gun adjustment plate 5.24 further enables fine adjustment of the glue application angle, ensuring that the glue evenly covers the threaded surface when applying glue at an angle. This avoids the problem of insufficient glue or overflow caused by traditional fixed-angle glue application, and improves the coating quality of the thread glue.

[0037] Specifically, the glue gun adjusting plate 5.24 is provided with an extension plate 5.26 arranged radially for rotation. The extension plate 5.26 extends along the extension direction of the glue gun adjusting plate 5.24. The extension plate 5.26 is provided with a first slide rail slider assembly 5.5. The first glue applicator head 5.1 includes a glue dispensing part 5.11 and a glue inlet part 5.12. The glue dispensing part 5.11 is constrained on the moving end of the first slide rail slider assembly 5.5. The extension plate 5.26 is provided with a limiting member 5.6 to constrain the sliding position of the glue dispensing part 5.11. The glue inlet part 5.12 is fixedly arranged on the extension plate 5.26.

[0038] Specifically, the glue dispensing part 5.11 is located on the first slider of the first slide rail slider assembly 5.5. The first slider has a constraint hole, and the glue dispensing head of the glue dispensing part 5.11 is inserted into the constraint hole. The limiting member 5.6 specifically refers to the limiting pin, which is inserted and fixed to the glue gun adjusting plate 5.24 to limit the linear position of the glue dispensing part 5.11 relative to the first slide rail slider assembly 5.5.

[0039] The first slide rail slider assembly 5.5 works in conjunction with the limiting component 5.6 to achieve independent linear adjustment of the glue dispensing part 5.11, which can compensate for the relative positional deviation between the threaded surface and the glue applicator head, ensuring that the glue is accurately applied to the threaded area. The fixed setting of the glue inlet part 5.12 ensures the stability of the glue supply, while the adjustability of the glue dispensing part 5.11 further enhances the precise control capability of the glue application position, meeting the process requirements of satellite precision assembly.

[0040] (Operating the robotic arm) from Figure 2 As can be seen, the Y-axis track frame 2 is preferably mounted above the assembly station 1 and located on one side of the assembly station 1, thereby freeing up more operating space and reducing interference.

[0041] like Figure 9 As shown, as a further explanation of the multi-axis manipulator 2.1, the end effector 2.2 includes a rotating frame 2.3 connected to the end of the multi-axis manipulator 2.1, and a first bracket 2.31 and a second bracket extending on both sides of the rotating frame 2.3. The rotating frame 2.3 is configured to perform a rotational action through the end of the multi-axis manipulator 2.1. The first bracket 2.31 and the second bracket provide mounting positions on both sides of the rotating frame 2.3 and rotate synchronously with the rotating frame 2.3. A cable bundle bracket, a laser rangefinder 2.32, and a second vision module 2.33 are arranged on the first bracket 2.31 and the second bracket. Preferably, the laser rangefinder 2.32 and the second vision module 2.33 are arranged on the first bracket 2.31, the cable bundle bracket is arranged on the second bracket, and the first-stage quick-change mechanism 12 is arranged at the bottom of the rotating frame 2.3.

[0042] In this embodiment, the relative positions of the second vision module 2.33 and the laser rangefinder 2.32 with respect to the quick-change loading magazine 3 are adjusted by rotating the rotating frame 2.3, thereby identifying and accurately locating the quick-change position and quick-change tool.

[0043] Multi-axis robotic arms 2.1 are a conventional method in this field and will not be elaborated on further here.

[0044] (Placement space) As a further implementation of the placement space, a bolt tray 11 is also arranged on the placement platform, wherein the assembly bolts are positioned vertically on the bolt tray 11.

[0045] In other embodiments, in addition to applying thread adhesive and tightening the assembly bolts of the satellite, it is also necessary to inspect the assembly bolts after applying thread adhesive to ensure the quality of the assembly bolts, and to apply thermal conductive silicone grease and apply screw adhesive to the satellite assembly at assembly station 1.

[0046] Specifically, the placement area 3.1 is also equipped with a pin clamping tool 6 and a pin tray 7.

[0047] For this purpose, the placement area 3.1 is also equipped with a thread coating inspection platform 8, a thermal grease coating tool 9, and a screw dispensing tool 10. The quick-change loading bin 3 is also equipped with a bolt tray 11 on one side of the placement area 3.1. The thermal grease coating tool 9, the screw dispensing tool 10, and the pin clamping tool 6 are all connected to the execution end 2.2 through the first-level quick-change mechanism 12.

[0048] The structures of the thermal grease application tool 9 and the screw dispensing tool 10 are basically the same as the structure of the first dispensing head 5.1 of the thread dispensing tool 5. They all include a glue bucket, a screw valve and a dispensing nozzle. They will not be explained in detail here. The main difference is that the multi-axis robot 2.1 can quickly switch between the tightening gun assembly 4, the thermal grease application tool 9, the screw dispensing tool 10 and the pin clamping tool 6 through the first-level quick-change mechanism 12.

[0049] The thread coating inspection platform 8 is used to verify the quality of thread coating, the thermal grease coating tool 9 is used to apply thermal grease to the mating surfaces of the satellite module, the screw dispensing tool 10 is used to dispense adhesive to the assembly screws, and the bolt tray 11 provides a standardized supply of assembly bolts. All tools are quickly connected to the end effector 2.2 through the first-level quick-change mechanism 12, which allows the same robotic arm to switch functions in different steps without reconfiguring the equipment. This significantly improves the efficiency of multi-process collaboration and system flexibility, and meets the integration needs of diverse processes in satellite assembly.

[0050] like Figure 3 and Figure 9As shown, as a further embodiment of the first-level quick-change mechanism 12, the first-level quick-change mechanism 12 includes a first-level quick-change master disk 12.1 disposed on the execution end 2.2 of the six-axis robot, and a first-level quick-change connector 12.2 disposed on the quick-change tool. The quick-change tool refers to the aforementioned thermal grease application tool 9, screw dispensing tool 10, pin clamping tool 6, and tightening gun assembly 4. As a further embodiment of the secondary quick-change mechanism 13, the secondary quick-change mechanism 13 includes a secondary quick-change main disc 13.1 disposed at the end of the tightening gun assembly 4, and a secondary quick-change connector 13.2 disposed at the upper end of the bit unit 3.2. It should be noted that the secondary quick-change main disc 13.1 does not serve as the power output end of the tightening gun, but only provides a connection position for the bit unit 3.2 on the tightening gun assembly 4.

[0051] The aforementioned quick-change main plate and quick-change connector are both disc-shaped, and they are connected and separated by vertical docking. As an example, the quick-change main plate is equipped with a piston rod, which is pneumatically or hydraulically driven to perform telescopic movements to implement relative engagement and separation with respect to the quick-change connector. The quick-change main plate and quick-change connector can be commercially available quick-change plates, such as ATI quick-change plates, with the optional model being 9120-160FT.

[0052] like Figure 7 and Figure 8 As shown, in a further embodiment of the pin clamping tool 6, the pin clamping tool 6 includes clamping arms 6.1 disposed opposite to each other, and a clamping cylinder 6.2 for providing clamping power to the clamping arms 6.1. The opposite ends of the clamping arms 6.1 are provided with V-grooves. An elastic element 6.3 is provided between the clamping arms 6.1 and the power end of the clamping cylinder 6.2. Specifically, the clamping arms 6.1 include a mounting block 6.11 fixedly disposed on the power end of the clamping cylinder 6.2, a linkage rod 6.12 fixed within the mounting block 6.11, and a clamping block 6.13 slidably disposed on the linkage rod 6.12. The elastic element 6.3 is sleeved on the linkage rod 6.12, with one end of the elastic element 6.3 abutting against the mounting block 6.11 and the other end abutting against the clamping block 6.13. The clamping block 6.13 is slidably mounted on the linkage rod 6.12, thus providing a vertical floating space 5.34 for the clamping block 6.13. When clamping the pin, the pin clamping tool 6 drives the clamping arm 6.1 to close through the clamping cylinder 6.2. The V-groove can adapt to pins of different diameters, and the elastic element 6.3 provides buffering. Combined with the storage function of the pin tray 7, the automatic gripping and feeding of pins is realized. The V-groove design has low requirements for the positioning accuracy of the pin. Even if the pin has a slight positional deviation, it can still be clamped stably, which improves the versatility and adaptability of the pin installation tool. Moreover, the floating clamping block 6.13 allows the clamping block 6.13 to clamp the pin in an abutting posture with the pin tray 7, ensuring that the clamping is in place.

[0053] Preferably, a pressure sensor 6.4 is provided inside the mounting block, with the active end of the pressure sensor 6.4 extending toward the clamping block, so as to prevent excessive pressing force from damaging the compartment plate during the pin pressing process by monitoring the pressing force.

[0054] In the above embodiment, specifically, in order to locate the position in the quick-change loading chamber 3, the quick-change loading chamber 3 is provided with a positioning stand 3.3 that matches the quick-change tool. The positioning stand 3.3 will provide a support position for the quick-change tool and support the quick-change tool vertically. A positioning pin assembly 3.5 with plug-in cooperation is configured between the positioning stand 3.3 and the quick-change tool, and the positioning stand 3.3 is also provided with a presence or absence sensor 3.4 facing the quick-change tool.

[0055] (Tightening gun assembly 4) like Figures 9 to 10 As shown, as a further embodiment of the tightening gun assembly 4, the tightening gun assembly 4 includes a mounting base plate 4.1, a linear rail 4.2 disposed on the mounting base plate 4.1, and a feed cylinder 4.3, a driving slider 4.4, and a driven slider 4.5 disposed on the linear rail 4.2, with the driving slider 4.4 disposed above the driven slider 4.5; The driven slider 4.5 has a quick-change connecting block 4.51 at its bottom, and the quick-change connecting block 4.51 has a secondary quick-change main plate 13.1 at its bottom, which is used to connect with the secondary quick-change connector 13.2 on the bit unit 3.2; The feed cylinder 4.3 is connected to the active slider 4.4, and an electric tightening gun 4.6 is fixedly connected to the active slider 4.4. The driven slider 4.5 is connected to the bit unit 3.2 through a two-stage quick-change mechanism 13. A second guide rod 4.7 is provided between the active slider 4.4 and the driven slider 4.5. A flexible spring 4.8 is sleeved on the second guide rod 4.7 and abuts against the active slider 4.4 and the driven slider 4.5. An intermediate limit block 4.9 is also provided at intervals at the lower end of the linear track 4.2. The driven slider 4.5 is slidably constrained between the intermediate limit block 4.9 and the end of the linear track 4.2 to set a limit on the back of the driven slider 4.5 to prevent the bit unit 3.2 from excessively abutting.

[0056] Specifically, the upper end of the second guide rod 4.7 is fixedly connected to the active slider 4.4, and the lower end is movably connected to the driven slider 4.5.

[0057] The bit unit 3.2 includes a bit body 3.21 and bit mounting blocks 6.11 and 3.22. The bit mounting blocks 6.11 and 3.22 have a secondary quick-change connector 13.2, which is parallel to the axis of the bit body 3.21. The active slider 4.4 has a mounting side plate 4.41, and the electric tightening gun 4.6 is mounted on the mounting side plate 4.41, with its axis opposite to that of the bit unit 3.2. This forms a vertically arranged assembly on one side of the linear track 4.2, while the feed cylinder 4.3, linear track 4.2, active slider 4.4, driven slider 4.5, and secondary quick-change mechanism 13 form another vertically arranged assembly.

[0058] In this embodiment, the feed cylinder 4.3 is a double-stroke cylinder. The first stroke of the feed cylinder 4.3 provides the power connection between the electric tightening gun 4.6 and the bit unit 3.2, and the second stroke of the feed cylinder 4.3 provides the tightening stroke of the assembly bolts. The back of the mounting base plate 4.1 is equipped with a first-stage quick-change connector 12.2. Under normal conditions, the first-stage quick-change main plate 12.1 of the actuator 2.2 engages with the first-stage quick-change connector 12.2 on the tightening gun assembly 4. Subsequently, the multi-axis manipulator 2.1 moves the actuator 2.2, so that the tightening gun assembly 4 and the bit unit 3.2 are engaged. At this time, the input end of the bit unit 3.2 is opposite to the output end of the electric tightening gun 4.6. The feed cylinder 4.3 provides the first stroke, so that the bit unit 3.2 and the electric tightening gun 4.6 are connected. After the actuator 2.2 moves to the target assembly position of the compartment plate on the assembly station 1, the feed cylinder 4.3 provides the second stroke. The floating spring 5.38 provides a flexible force to the driven slider 4.5, so that the driven slider 4.5 drives the bit mounting block 6.113.22 downward and completes the tightening of the assembly bolt.

[0059] 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 gluing and tightening system for an automated satellite assembly line, characterized in that, include: Assembly station (1) includes an assembly clamping module (1.1), which fixes the satellite and adjusts the satellite's assembly posture; The operating robot includes a Y-axis track frame (2) set along the assembly station (1) and a multi-axis robotic arm set on the Y-axis track frame (2); The quick-change loading chamber (3) includes a placement area (3.1), and multiple bit units (3.2) and a tightening gun assembly (4) disposed on the placement area (3.1). The tightening gun assembly (4) is a first-level quick-change structure that cooperates with the end effector (2.2) of the multi-axis manipulator (2.1). A second-level quick-change mechanism (13) is provided between the tightening gun assembly (4) and the bit units (3.2). A power supply unit (4.61) is disposed on the tightening gun assembly (4). The placement area (3.1) is also provided with a thread-applying adhesive tool (5) and a bolt support seat (5.3) located on one side of the thread-applying adhesive tool (5). The threaded adhesive applicator (5) includes a first adhesive applicator head (5.1) and a displacement module (5.2) that slides to support the first adhesive applicator head (5.1). The first adhesive applicator head (5.1) is inclined toward the threaded surface of the mounting bolt. The bolt support (5.3) includes at least a fixed bearing (5.31) and a driven bearing (5.32) floating on the fixed bearing (5.31). The driven bearing (5.32) is provided with a bolt centering member (5.33). The assembly bolt is vertically abutted between the bolt centering member (5.33) and the bit unit (3.2) for rotation.

2. The gluing and tightening system for an automated satellite assembly line according to claim 1, characterized in that: The fixed shaft seat (5.31) is provided with a floating space (5.34) for the movement of the driven shaft seat (5.32). A first guide rod (5.37) is fixedly installed in the floating space (5.34). The driven shaft seat (5.32) is slidably installed on the first guide rod (5.37). A floating spring (5.38) is provided between the driven shaft seat (5.32) and the bottom of the floating space (5.34). The floating spring (5.38) is sleeved on the first guide rod (5.37).

3. The gluing and tightening system for an automated satellite assembly line according to claim 1, characterized in that: A first bearing (5.35) is provided between the upper end of the bolt centering component (5.33) and the driven shaft seat (5.32), and the bolt centering component (5.33) is rotatably configured through the first bearing (5.35); a linear bearing (5.36) is provided inside the driven shaft seat (5.32), and the linear bearing (5.36) is sleeved on the first guide rod (5.37).

4. The gluing and tightening system for an automated satellite assembly line according to claim 1, characterized in that: The fixed shaft seat (5.31) is provided with a detection seat (5.4) arranged opposite to it. The detection seat (5.4) is provided with a fiber optic sensor (5.41) arranged opposite to it. The fiber optic sensor (5.41) is located above the bolt centering member (5.33) to detect whether the assembly bolt is present.

5. The gluing and tightening system for an automated satellite assembly line according to claim 1, characterized in that: The displacement module (5.2) includes a first linear module (5.21) arranged horizontally, a second linear module (5.22) arranged vertically on the actuating end of the first linear module (5.21), and a glue gun mounting plate (5.23) and a glue gun adjusting plate (5.24) arranged on the actuating end of the second linear module (5.22). The glue gun adjusting plate (5.24) is angle-adjustable on the glue gun mounting plate (5.23). The glue gun adjusting plate (5.24) is arranged to rotate on a vertical plane, and one of the glue gun adjusting plate (5.24) or the glue gun mounting plate (5.23) is provided with an arc-shaped adjusting groove (5.25). The other of the glue gun adjusting plate (5.24) or the glue gun mounting plate (5.23) is provided with an adjusting bolt located in the arc-shaped adjusting groove (5.25).

6. The gluing and tightening system for an automated satellite assembly line according to claim 5, characterized in that: The glue gun adjusting plate (5.24) is provided with an extension plate (5.26) arranged radially for rotation. The extension plate (5.26) is provided with a first slide rail slider assembly (5.5). The first glue applicator (5.1) includes a glue dispensing part (5.11) and a glue inlet part (5.12). The glue dispensing part (5.11) is constrained on the moving end of the first slide rail slider assembly (5.5). The extension plate (5.26) is provided with a limiting member (5.6) that constrains the sliding position of the glue dispensing part (5.11). The glue inlet part (5.12) is fixedly arranged on the extension plate (5.26).

7. The gluing and tightening system for an automated satellite assembly line according to claim 1, characterized in that: The execution end (2.2) is provided with a rotating frame (2.3). The rotating frame (2.3) has a first support (2.31) and a second support on its two sides respectively. The first support (2.31) is provided with a pipeline clamp, and the second support is arranged with a laser range sensor (2.32) and a second vision module (2.33) in sequence.

8. The gluing and tightening system for an automated satellite assembly line according to claim 1, characterized in that: The tightening gun assembly (4) includes a mounting base plate (4.1), a linear track (4.2) mounted on the mounting base plate (4.1), and a feed cylinder (4.3), a driving slider (4.4), and a driven slider (4.5) mounted on the linear track (4.2). The feed cylinder (4.3) is connected to the driving slider (4.4), and an electric tightening gun (4.6) is fixedly connected to the driving slider (4.4). The driven slider (4.5) is connected to the bit unit (3.2) via... A secondary quick-change mechanism (13) is connected. A second guide rod (4.7) is provided between the active slider (4.4) and the driven slider (4.5). A reset spring is sleeved on the second guide rod (4.7) and abuts against the active slider (4.4) and the driven slider (4.5). An intermediate limit block (4.9) is also provided at intervals at the lower end of the linear track (4.2). The driven slider (4.5) is slidably constrained between the intermediate limit block (4.9) and the end of the linear track (4.2).

9. The gluing and tightening system for an automated satellite assembly line according to claim 1, characterized in that: The placement area (3.1) is also equipped with a pin clamping tool (6) and a pin tray (7). The pin clamping tool (6) includes opposing clamping arms (6.1) and a clamping cylinder (6.2) for providing clamping power to the clamping arms (6.1). An elastic element (6.3) is provided between the power end of the clamping arms (6.1) and the clamping cylinder (6.2). A V-groove is provided at the opposite end of the clamping arms (6.1).

10. The gluing and tightening system for an automated satellite assembly line according to claim 1, characterized in that: The placement area (3.1) is also equipped with a thread coating inspection platform (8), a thermal grease coating tool (9), and a screw dispensing tool (10). The quick-change loading bin (3) is also equipped with a bolt tray (11) on one side of the placement area (3.1). The thermal grease coating tool (9), the screw dispensing tool (10), and the pin clamping tool (6) are all connected to the execution end (2.2) through a first-level quick-change mechanism (12).

Images