CN112873103A - Method and system for assembling satellite deck and satellite main body frame and adjusting device - Google Patents
Method and system for assembling satellite deck and satellite main body frame and adjusting device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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Abstract
The invention provides a method, a system and an adjusting device for assembling a satellite deck and a satellite main body frame, wherein the assembling method comprises the following steps: respectively obtaining state information of the satellite deck to be assembled and the satellite main body frame, wherein the state information comprises at least one of position information and attitude information; and generating an adjusting signal according to the state information, and sending the adjusting signal to an adjusting device so that the adjusting device controls the state of the satellite main body frame and the satellite deck plate to be relatively changed according to the adjusting signal, and then the satellite main body frame and the satellite deck plate can be butted in a corresponding state.
Description
Technical Field
The invention relates to the technical field of satellites, in particular to a method and a system for assembling a satellite deck and a satellite main body frame and an adjusting device.
Background
With the development of the satellite industry and the opening of the civil satellite market, the demand of the satellite is more and more increased, with the development trend that the satellite configuration is diversified, the difference of satellites with different models is more and more increased, and how to improve the universality of assembly, the satellite can be suitable for satellites with different models and sizes, and the satellite is more and more urgent.
At present, a manual assembling and adjusting mode is adopted in the assembling process of a satellite deck plate and a satellite main body frame, and satellite parts and finished products are large in size and heavy in weight compared with manual work, so that the labor intensity of the manual work is high in the assembling process, the dependence of the assembling and adjusting process on the manual experience of operators is high, the risks that the parts are not assembled in place in products or equipment, the products are damaged and the like are judged manually according to personal experience, the assembling quality consistency of the product parts cannot be guaranteed, the product quality and the production progress of the whole satellite are affected, and the efficiency is low.
Meanwhile, in the technical field of modern satellites, a mode of transition from large-batch single-model production to small-batch customized multi-model collinear production gradually exists, however, the existing tool is often only used for one specific model and cannot be used for assembling satellite deck plates and satellite main body frames of different configurations and sizes, the universality is poor, and the intelligent degree is low.
Disclosure of Invention
In order to solve at least one of the above problems, an embodiment of a first aspect of the present invention provides an assembling method of a satellite deck and a satellite main body frame, including: respectively obtaining state information of the satellite deck to be assembled and the satellite main body frame, wherein the state information comprises at least one of position information and attitude information; and generating an adjusting signal according to the state information, and sending the adjusting signal to an adjusting device so that the adjusting device controls the relative change of the states of the satellite main body frame and the satellite deck plate according to the adjusting signal, and then the satellite main body frame and the satellite deck plate can be butted in a corresponding state.
In some embodiments, the satellite body frame comprises a threaded interface, the satellite pod plate comprises a threaded fitting, and the interface is such that the interface is threadably engaged with the fitting by a tightening device; after completing the docking, the method further comprises:
sensing pressure information of the tightening device during assembly;
generating an adjusting instruction for adjusting the pretightening force of the tightening device according to the pressure information;
and adjusting the pretightening force of the tightening device according to the adjusting instruction so as to enable the butt joint piece and the corresponding assembly piece to be in a fastening state.
In some embodiments, the status information includes position information, and correspondingly, the adjustment signal includes a position adjustment signal; the generating of the adjusting signal according to the state information and the sending of the adjusting signal to an adjusting device so that the adjusting device controls the state relative change of the satellite main body frame and the satellite deck plate according to the adjusting signal, and then the docking can be performed in a corresponding state, including:
generating a position adjusting signal according to the position information of the satellite deck and the satellite main body frame;
and controlling the relative change of the positions of the satellite main body frame and the satellite deck plate according to the position adjusting signal, so that the satellite main body frame and the satellite deck plate can be butted at corresponding positions.
In some embodiments, the generating a position adjustment signal according to the position information of the satellite deck and the satellite main body frame specifically includes:
determining butt joint position information according to the position information of the satellite deck and the satellite main body frame;
generating displacement amounts of the satellite main body frame and the satellite deck plate according to the satellite deck plate, the position information of the satellite main body frame and the butt joint position information;
and generating the position adjusting signal according to the displacement of the satellite main body frame and the satellite deck.
In some embodiments, the status information includes attitude information, and correspondingly, the adjustment signal includes an attitude adjustment signal; the generating of the adjusting signal according to the state information and the sending of the adjusting signal to an adjusting device so that the adjusting device controls the state relative change of the satellite main body frame and the satellite deck plate according to the adjusting signal, and then the docking can be performed in a corresponding state, including:
generating an attitude adjusting signal according to the attitude information of the satellite deck and the satellite main body frame;
and controlling the relative change of the postures of the satellite main body frame and the satellite deck plate according to the posture adjusting signal, so that the satellite main body frame and the satellite deck plate can be butted under the corresponding postures.
In some embodiments, the generating an attitude adjustment signal according to the attitude information of the satellite deck and the satellite main body frame specifically includes:
determining docking attitude information according to the attitude information of the satellite deck and the satellite main body frame;
generating attitude regulating quantities of the satellite main body frame and the satellite deck plate according to the satellite deck plate, the attitude information of the satellite main body frame and the butt joint attitude information;
and generating the attitude adjusting signal according to the attitude adjusting quantity of the satellite main body frame and the satellite deck.
In some embodiments, the status information includes position information and attitude information, and the adjustment signal includes a position adjustment signal and an attitude adjustment signal, correspondingly; the generating of the adjusting signal according to the state information and the sending of the adjusting signal to an adjusting device so that the adjusting device controls the state relative change of the satellite main body frame and the satellite deck plate according to the adjusting signal, and then the docking can be performed in a corresponding state, including:
generating a position adjusting signal according to the position information of the satellite deck and the satellite main body frame, and generating an attitude adjusting signal according to the attitude information of the satellite deck and the satellite main body frame;
and controlling the relative change of the positions and the attitudes of the satellite main body frame and the satellite deck plate according to the position adjusting signal and the attitude adjusting signal, so that the satellite main body frame and the satellite deck plate can be butted at corresponding positions and attitudes.
In some embodiments, the generating a position adjustment signal according to the position information of the satellite deck and the satellite main body frame, and generating an attitude adjustment signal according to the attitude information of the satellite deck and the satellite main body frame specifically include:
determining a docking position information according to the position information of the satellite deck and the satellite main body frame, an
Determining docking attitude information according to the attitude information of the satellite deck and the satellite main body frame;
generating displacement amounts of the satellite main body frame and the satellite deck plate according to the satellite deck plate, the position information of the satellite main body frame and the butt joint position information, and
generating attitude regulating quantities of the satellite main body frame and the satellite deck plate according to the satellite deck plate, the attitude information of the satellite main body frame and the butt joint attitude information;
generating the position adjusting signal according to the displacement amount of the satellite main body frame and the satellite deck, and generating the attitude adjusting signal according to the attitude adjusting amount of the satellite main body frame and the satellite deck.
In a second aspect, an embodiment of the present invention provides an assembly system of a satellite deck and a satellite main body frame, including:
the state information obtaining module is used for respectively obtaining state information of the satellite deck to be assembled and the satellite main body frame, and the state information comprises at least one of position information and attitude information;
and the docking module is used for generating an adjusting signal according to the state information and sending the adjusting signal to an adjusting device so that the adjusting device controls the relative change of the states of the satellite main body frame and the satellite deck plate according to the adjusting signal, and further docking can be carried out in a corresponding state.
In a third aspect, the present invention provides an adjusting device for assembling a satellite deck and a satellite main body frame, including:
a driver and an adjusting component which is fixedly combined with at least one of the satellite deck and the satellite main body frame; the driver drives the adjusting assembly to move according to the adjusting signal so that the states of the satellite deck and the satellite main body frame are relatively changed, and then the satellite deck and the satellite main body frame can be butted in a corresponding state; wherein,
the adjustment signal is generated from state information of the satellite deck to be assembled and the satellite main body frame, the state information including at least one of position information and attitude information.
The invention has the advantages of
The invention provides a method, a system and an adjusting device for assembling a satellite deck and a satellite main body frame, wherein the assembling method comprises the following steps: respectively obtaining state information of the satellite deck to be assembled and the satellite main body frame, wherein the state information comprises at least one of position information and attitude information; the assembling method provided by the invention has the advantages that the principle is clear, the assembling method can adapt to accurate butt joint assembly of different products, the intelligent degree is high, the dependence on manual experience of operators is greatly reduced, the assembling method has the characteristics of high butt joint precision, high automation degree and strong universality, in addition, the satellite obtained by the assembling method has good structural stability, the operation is simple, the assembling efficiency can be greatly improved, and the like, and the requirement of satellite production line assembly is met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of an assembly method of a satellite deck and a satellite main body frame according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an assembly system of a satellite deck and a satellite main body frame according to an embodiment of the present invention;
fig. 3 shows a schematic structural diagram of an adjusting device for assembling a satellite deck and a satellite main body frame in an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a main adjustment assembly fixed in combination with a satellite main body frame according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a deck plate adjusting assembly fixedly combined with a satellite deck plate according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
At present, a manual assembling and adjusting mode is adopted in the assembling process of a satellite deck plate and a satellite main body frame, and satellite parts and finished products are large in size and heavy in weight compared with manual work, so that the labor intensity of the manual work is high in the assembling process, the dependence of the assembling and adjusting process on the manual experience of operators is high, the risks that the parts are not assembled in place in products or equipment, the products are damaged and the like are judged manually according to personal experience, the assembling quality consistency of the product parts cannot be guaranteed, the product quality and the production progress of the whole satellite are affected, and the efficiency is low. Meanwhile, in the technical field of modern satellites, a mode of transition from large-batch single-model production to small-batch customized multi-model collinear production gradually exists, however, the existing tool is often only used for one specific model and cannot be used for assembling satellite deck plates and satellite main body frames of different configurations and sizes, the universality is poor, and the intelligent degree is low.
In view of the above, as shown in fig. 1, an embodiment of the first aspect of the present invention provides an assembling method of a satellite deck and a satellite main body frame, the assembling method including:
s11: respectively obtaining state information of the satellite deck to be assembled and the satellite main body frame, wherein the state information comprises at least one of position information and attitude information;
s12: and generating an adjusting signal according to the state information, and sending the adjusting signal to an adjusting device so that the adjusting device controls the relative change of the states of the satellite main body frame and the satellite deck plate according to the adjusting signal, and then the satellite main body frame and the satellite deck plate can be butted in a corresponding state.
The assembly method provided by the invention is clear in principle, can adapt to accurate butt joint assembly of different products, is high in intelligent degree, greatly reduces the dependence on the manual experience of operators, and has the characteristics of high butt joint precision, high automation degree and strong universality.
It should be noted that before assembly, whether the materials of the products to be assembled are completely sleeved or not needs to be checked, manual inspection can be performed, a machine vision identification detection system can also be used for checking, for example, a device with a camera is used for identifying the type of each satellite deck plate to be assembled and the type of each satellite main body frame, so that the satellite deck plate to be assembled and the satellite main body frame are matched with each other, and whether other parts and tools needed in the assembly process are matched and complete or not is identified according to the type, such as screws, nuts, tightening devices and the like, and warning is performed according to the conditions of mismatching and the existence of lack or surplus objects.
Similarly, the state information of the satellite deck to be assembled and the satellite main body frame can be obtained manually, or can be obtained by a machine vision recognition detection system, such as a device with a camera, to obtain the position information and the attitude information of the satellite deck and the satellite main body frame respectively.
It can be known that the adjustment signal is generated according to state information of the satellite deck to be assembled and the satellite main body frame, where the state information includes at least one of position information and attitude information, and the acquired attitude information is different in a docking manner, which will be described in detail below.
In some embodiments, the acquired status information includes position information, and correspondingly, the adjustment signal includes a position adjustment signal; the generating of the adjusting signal according to the state information and the sending of the adjusting signal to an adjusting device so that the adjusting device controls the state relative change of the satellite main body frame and the satellite deck plate according to the adjusting signal, and then the docking can be performed in a corresponding state, including: generating a position adjusting signal according to the position information of the satellite deck and the satellite main body frame; and controlling the relative change of the positions of the satellite main body frame and the satellite deck plate according to the position adjusting signal, so that the satellite main body frame and the satellite deck plate can be butted at corresponding positions.
It can be understood that when the attitudes of the satellite deck to be assembled and the satellite main body frame can be matched, the docking can be performed at the corresponding positions only by knowing the corresponding positions and then generating position adjusting signals according to the corresponding positions.
In some further embodiments, generating a position adjustment signal according to the position information of the satellite deck and the satellite main body frame specifically includes: determining butt joint position information according to the position information of the satellite deck and the satellite main body frame; generating displacement amounts of the satellite main body frame and the satellite deck plate according to the satellite deck plate, the position information of the satellite main body frame and the butt joint position information; and generating the position adjusting signal according to the displacement of the satellite main body frame and the satellite deck.
It can be understood that after determining the respective position information of the satellite deck and the satellite main body frame, the specific position relationship between the two can be determined, that is, the docking position information enabling the two to be docked can be determined, for example, the satellite deck is located 30 degrees and 5 meters north and east of the satellite main body frame, the satellite deck is located 10 meters east and rightly of the satellite main body frame, and the displacement amount between the satellite main body frame and the satellite deck is generated according to the docking position information.
In some embodiments, the status information includes attitude information, and correspondingly, the adjustment signal includes an attitude adjustment signal; generating an adjusting signal according to the state information and sending the adjusting signal to an adjusting device, so that the adjusting device controls the state of the satellite main body frame and the satellite deck plate to be relatively changed according to the adjusting signal, and then the satellite main body frame and the satellite deck plate can be butted in a corresponding state, and the method comprises the following steps: generating an attitude adjusting signal according to the attitude information of the satellite deck and the satellite main body frame; and controlling the relative change of the postures of the satellite main body frame and the satellite deck plate according to the posture adjusting signal, so that the satellite main body frame and the satellite deck plate can be butted under the corresponding postures.
It can be understood that when the positions of the satellite deck to be assembled and the satellite main body frame approach or contact, docking can be performed in the corresponding postures only by adjusting the corresponding postures and then generating posture adjustment signals according to the corresponding postures.
In some further embodiments, generating an attitude adjustment signal according to the attitude information of the satellite deck and the satellite main body frame specifically includes: determining docking attitude information according to the attitude information of the satellite deck and the satellite main body frame; generating attitude regulating quantities of the satellite main body frame and the satellite deck plate according to the satellite deck plate, the attitude information of the satellite main body frame and the butt joint attitude information; and generating the attitude adjusting signal according to the attitude adjusting quantity of the satellite main body frame and the satellite deck.
It can be understood that after determining the respective attitude information of the satellite deck and the satellite main body frame, the specific attitude relationship between the two can be determined, that is, the attitude information of the two in butt joint can be determined, so as to generate the attitude adjustment amount of the satellite main body frame and the satellite deck according to the butt joint attitude information, for example, the satellite deck rotates by 30 degrees along a certain axis, or the main body frame rotates by 50 degrees along a certain axis, or the satellite deck rotates by 30 degrees along a certain axis while the main body frame rotates by 50 degrees along a certain axis.
In some embodiments, combining all the above embodiments, the status information includes position information and attitude information, and correspondingly, the adjustment signal includes a position adjustment signal and an attitude adjustment signal; generating an adjusting signal according to the state information and sending the adjusting signal to an adjusting device, so that the adjusting device controls the state of the satellite main body frame and the satellite deck plate to be relatively changed according to the adjusting signal, and then the satellite main body frame and the satellite deck plate can be butted in a corresponding state, and the method comprises the following steps: generating a position adjusting signal according to the position information of the satellite deck and the satellite main body frame, and generating an attitude adjusting signal according to the attitude information of the satellite deck and the satellite main body frame;
and controlling the relative change of the positions and the attitudes of the satellite main body frame and the satellite deck plate according to the position adjusting signal and the attitude adjusting signal, so that the satellite main body frame and the satellite deck plate can be butted at corresponding positions and attitudes.
It can be understood that in most cases, the positions and attitudes of the satellite deck and the satellite main body frame need to be adjusted to be in butt joint in a corresponding state, and therefore, after the position adjustment signal and the attitude adjustment signal are established, adjustment is performed according to the position adjustment signal and the attitude adjustment signal, the relative position between the satellite deck and the satellite main body frame can be adjusted first, then the relative attitude can be adjusted, and the relative attitude between the satellite deck and the satellite main body frame can be adjusted first, then the position between the satellite deck and the satellite main body frame can be adjusted, or synchronous adjustment can be performed, which is not limited by the present invention.
In some further embodiments, generating a position adjustment signal according to the position information of the satellite deck and the satellite main body frame, and generating an attitude adjustment signal according to the attitude information of the satellite deck and the satellite main body frame specifically includes:
determining docking position information according to the position information of the satellite deck and the satellite main body frame, and determining docking attitude information according to the attitude information of the satellite deck and the satellite main body frame;
generating displacement amounts of the satellite main body frame and the satellite deck plate according to the satellite deck plate, the position information of the satellite main body frame and the butt joint position information, and
generating attitude regulating quantities of the satellite main body frame and the satellite deck plate according to the satellite deck plate, the attitude information of the satellite main body frame and the butt joint attitude information;
generating the position adjusting signal according to the displacement amount of the satellite main body frame and the satellite deck, and generating the attitude adjusting signal according to the attitude adjusting amount of the satellite main body frame and the satellite deck.
It can be understood that after determining the respective position information of the satellite deck and the satellite main body frame, the specific position relationship between the two can be determined, that is, the docking position information enabling the two to be docked can be determined, for example, the satellite deck is located 30 degrees and 5 meters north and east of the satellite main body frame, the satellite deck is located 10 meters east and rightly of the satellite main body frame, and the displacement amount between the satellite main body frame and the satellite deck is generated according to the docking position information.
After determining the respective attitude information of the satellite deck and the satellite main body frame, the specific attitude relationship between the two can be determined, that is, the attitude information of the two in butt joint can be determined, so that the attitude adjustment amount of the satellite main body frame and the satellite deck is generated according to the butt joint attitude information, for example, the satellite deck rotates 30 degrees along a certain axis, or the main body frame rotates 50 degrees along a certain axis, or the satellite deck rotates 30 degrees along a certain axis, and the main body frame rotates 50 degrees along a certain axis, and the like.
In some preferred embodiments, the satellite body frame comprises a threaded interface, the satellite deck comprises a threaded fitting, and the interface is such that the interface is threadedly engaged with the fitting by a tightening device; after the docking is completed, the assembling method further includes: firstly, sensing pressure information of the tightening device in the assembling process; then generating an adjusting instruction for adjusting the pretightening force of the tightening device according to the pressure information; and adjusting the pretightening force of the tightening device according to the adjusting instruction so as to enable the butt joint piece and the corresponding assembly piece to be in a fastening state.
It can be understood that this embodiment avoids twisting askew and twisting hourglass etc. and leads to the risk that the assembly is not in place through the atress condition in the real-time supervision assembling process to guarantee assembly quality uniformity improves assembly efficiency, and intelligent degree is high.
Referring to fig. 5, in some embodiments, the assembling method specifically includes:
and partially installing the AGV to consign the + X (-X) cabin plate to a cabin plate overturning station, automatically completing the butt joint installation of the cabin plate adjusting assembly and the + X (-X) cabin plate module by adjusting the horizontal state of the connecting table, and monitoring whether the installation is in place in real time through a sensor in the installation process. After the installation is finished, the overturning platform carries the + X (-X) cabin board module to move to the grabbing position of the mechanical arm 3 in a translation mode, the mechanical arm 3 carries a camera to carry out vision measurement, then a grab hand is automatically replaced, and the + X (-X) cabin board module is installed to the main adjusting component 11 and the main adjusting component 12 left (right) side rotating mechanism. Whether the machine is installed in place is monitored in real time through a sensor in the installation process, and the machine vision identification and detection system 5 carries a camera to carry out vision measurement.
The heavy-load AGV carries a general assembly moving connection frame with a main structure frame back to enter a rotary table station, and the moving connection frame is connected with the ground in place. The main adjusting assemblies 11 and 12 are in butt joint with the main structure frame by adjusting the height of a Z axis of the left-right rotating tool, the distance of a Y axis and a corner around the Y axis, and are lifted off the ground. The machine vision identification detection system 5 carries out vision measurement in the assembly process of the main structural frame, and a mechanics sensor and a position sensor monitor pressure in real time and determine whether the pressure is installed in place.
The left and right side rotary tools of the main adjusting assemblies 11 and 12 synchronously rotate under servo control, and the screwing assembly 4 automatically changes the screw gun module to complete the installation and screwing work of screws between the +/-X cabin plate module and the main structure frame. In the screw tightening process, the mechanical arm 3 carries a camera to perform vision measurement, and the machine vision identification detection system 5 records the screw tightening torque.
The method comprises the steps that AGV consignment and Y cabin boards are partially installed to a cabin board overturning station, the cabin board adjusting assemblies 21 and 22 are matched to automatically complete butt joint installation with cabin board modules through adjustment of the horizontal state of a connecting table, and whether installation is in place or not is monitored in real time through a sensor in the installation process. After the installation is completed, the overturning platform carries the deck plate module to move in a translation mode to the main adjusting assemblies 11 and 12. The main adjusting assemblies 11 and 12 complete the Z-axis height and the Y-axis distance of the left-right rotating tool and the rotation angle around the Y axis and the Z axis through matching adjustment and correct the position of the main structure frame, the cabin plate adjusting assemblies 21 and 22 complete the automatic butt joint of the Y cabin plate module and the main structure frame through matching adjustment of the X-axis distance and the rotation angle around the Y axis, and the machine vision identification and detection system 5 carries a camera to perform vision measurement in the butt joint process. After the butt joint is completed, the screwing component 4 automatically changes the screw gun module, and the screw installation and screwing work of the Y cabin board module and the main structure frame are completed.
And assembling the Y cabin plate module, the Z cabin plate module and the Z cabin plate module according to the same steps.
And finally, carrying the heavy-load AGV to a rotary table station with the empty movable connecting frame and positioning, and installing the main structure frame to the movable connecting frame by the main adjusting assemblies 11 and 12 through adjusting the Z-axis height, the Y-axis distance and the rotation angle around the Y axis of the left-right rotating tool to complete the whole off-line star work. In the installation process, the machine vision identification detection system 5 carries out vision measurement, and a sensor monitors whether the installation is in place in real time.
The method for assembling the satellite has the advantages that the principle is clear, the method can adapt to accurate butt joint assembly of different products, the intelligent degree is high, the dependence on manual experience of operators is greatly reduced, the method has the characteristics of high butt joint precision, high automation degree and high universality, in addition, the satellite obtained by the method has good structural stability, the operation is simple, the assembly efficiency can be greatly improved, and the like, and the requirement of the satellite production line assembly is met.
As shown in fig. 2, a second embodiment of the present invention provides an assembly system of a satellite deck and a satellite main body frame, including:
a state information obtaining module 21, configured to obtain state information of the satellite deck to be assembled and the satellite main body frame, where the state information includes at least one of position information and attitude information;
and the docking module 22 is configured to generate an adjustment signal according to the state information, and send the adjustment signal to an adjustment device, so that the adjustment device controls the state of the satellite main body frame and the state of the satellite deck plate to change relatively according to the adjustment signal, and further enables docking in a corresponding state.
The assembly system provided by the invention has the advantages of simple structure, high intelligence degree, high docking precision, high automation degree and strong universality, can adapt to accurate docking assembly of different products, greatly reduces the dependence on the manual experience of operators, and can be used for obtaining satellites with good structural stability, simple operation, greatly improving the assembly efficiency and the like, thereby meeting the requirement of satellite production line assembly.
Referring to fig. 3 to 5, in a third aspect of the present invention, an adjusting device for assembling a satellite deck and a satellite main body frame is provided, including: a driver (not shown in the figure) and an adjusting component (such as the main adjusting components 11 and 12 fixed and combined with the satellite body frame and the deck adjusting components 21 and 22 fixed and combined with the satellite deck), wherein the driver drives the adjusting component to move according to an adjusting signal so as to enable the states of the satellite deck and the satellite body frame to change relatively, and therefore the satellite deck and the satellite body frame can be butted in the corresponding states.
Wherein the adjustment signal is generated from state information of the satellite deck to be assembled and the satellite main body frame, the state information including at least one of position information and attitude information.
Specifically, the deck plate adjusting assemblies 21 and 22 are matched to realize overturning and linear movement of the +/-Y and +/-Z deck plate modules, and are matched with the main adjusting assemblies 11 and 12 to realize automatic assembly with the main body frame. The main adjustment assemblies 11 and 12 are used to achieve involutive assembly of X, Y, Z deck modules and the main structural frame.
In some embodiments, with continuing reference to fig. 3 to 5, the adjusting device further includes: and the mechanical arm 3 is used for assembling, photographing, detecting and positioning the +/-X cabin board module.
Preferably, a travel switch (not shown in the figure) is arranged on the end effector of the mechanical arm 3 to ensure that the product or the equipment is clamped in place and prevent the product from being damaged due to collision of the product.
In some embodiments, the adjustment device further comprises: a tightening assembly 4 comprising: the device comprises a tightening device, a regulator, a controller and a pressure sensor, wherein the pressure sensor senses pressure information of the tightening device in the assembling process and sends the pressure information to the controller, the controller generates a regulating instruction for regulating the pretightening force of the tightening device according to the pressure information, and regulates the pretightening force of the tightening device according to the regulating instruction, so that the installation work of the cabin plate modules of +/-X, +/-Y and +/-Z is completed.
In some embodiments, the adjustment device further comprises: the machine vision recognition detection system 5 is used for recognizing the types of the satellite deck boards and the satellite main body frames to be assembled, ensuring that the satellite deck boards and the satellite main body frames to be assembled are matched with each other, recognizing whether other parts and tools needed in the assembling process are matched and complete according to the types, such as screws, nuts, tightening devices and the like, and giving an alarm according to the conditions of mismatching, lack of the objects or redundant objects. The digital code, the bar code and the two-dimensional code can be automatically identified, the identity of product parts is identified, high-precision positioning is realized, and product material complete detection can also be carried out.
The adjusting device provided by the invention has the advantages that the structure is simple, the adjusting device can adapt to accurate butt joint assembly of different products, the intelligent degree is high, the dependence on the manual experience of operators is greatly reduced, the characteristics of high butt joint precision, high automation degree and strong universality are realized, in addition, the satellite obtained by using the adjusting device has good structural stability, the operation is simple, the assembly efficiency can be greatly improved, and the like, and the requirement of the satellite production line assembly is met.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as to the system and conditioning apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
In the description of the present specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present specification. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
Furthermore, the various embodiments or examples and features of the various embodiments or examples described in this specification can be combined and combined by those skilled in the art without contradiction. The above description is only an embodiment of the present disclosure, and is not intended to limit the present disclosure. Various modifications and changes may occur to those skilled in the art to which the embodiments of the present disclosure pertain. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present specification should be included in the scope of the claims of the embodiments of the present specification.
Claims (10)
1. A method for assembling a satellite deck and a satellite main body frame is characterized by comprising the following steps:
respectively obtaining state information of the satellite deck to be assembled and the satellite main body frame, wherein the state information comprises at least one of position information and attitude information;
and generating an adjusting signal according to the state information, and sending the adjusting signal to an adjusting device so that the adjusting device controls the relative change of the states of the satellite main body frame and the satellite deck plate according to the adjusting signal, and then the satellite main body frame and the satellite deck plate can be butted in a corresponding state.
2. The assembly method according to claim 1, wherein the satellite body frame comprises a threaded interface piece, the satellite deck comprises a threaded assembly piece, and the interface is such that the interface piece is in threaded engagement with the assembly piece by a tightening means; after completing the docking, the method further comprises:
sensing pressure information of the tightening device during assembly;
generating an adjusting instruction for adjusting the pretightening force of the tightening device according to the pressure information;
and adjusting the pretightening force of the tightening device according to the adjusting instruction so as to enable the butt joint piece and the corresponding assembly piece to be in a fastening state.
3. The assembly method of claim 1, wherein the status information includes position information, and correspondingly, the adjustment signal includes a position adjustment signal; the generating of the adjusting signal according to the state information and the sending of the adjusting signal to an adjusting device so that the adjusting device controls the state relative change of the satellite main body frame and the satellite deck plate according to the adjusting signal, and then the docking can be performed in a corresponding state, including:
generating a position adjusting signal according to the position information of the satellite deck and the satellite main body frame;
and controlling the relative change of the positions of the satellite main body frame and the satellite deck plate according to the position adjusting signal, so that the satellite main body frame and the satellite deck plate can be butted at corresponding positions.
4. The assembly method according to claim 3, wherein the generating a position adjustment signal according to the position information of the satellite deck and the satellite main body frame specifically comprises:
determining butt joint position information according to the position information of the satellite deck and the satellite main body frame;
generating displacement amounts of the satellite main body frame and the satellite deck plate according to the satellite deck plate, the position information of the satellite main body frame and the butt joint position information;
and generating the position adjusting signal according to the displacement of the satellite main body frame and the satellite deck.
5. The assembly method according to claim 2, characterized in that the status information comprises attitude information, correspondingly, the adjustment signal comprises an attitude adjustment signal; the generating of the adjusting signal according to the state information and the sending of the adjusting signal to an adjusting device so that the adjusting device controls the state relative change of the satellite main body frame and the satellite deck plate according to the adjusting signal, and then the docking can be performed in a corresponding state, including:
generating an attitude adjusting signal according to the attitude information of the satellite deck and the satellite main body frame;
and controlling the relative change of the postures of the satellite main body frame and the satellite deck plate according to the posture adjusting signal, so that the satellite main body frame and the satellite deck plate can be butted under the corresponding postures.
6. The assembly method according to claim 5, wherein the generating of the attitude adjustment signal according to the attitude information of the satellite deck and the satellite main body frame specifically comprises:
determining docking attitude information according to the attitude information of the satellite deck and the satellite main body frame;
generating attitude regulating quantities of the satellite main body frame and the satellite deck plate according to the satellite deck plate, the attitude information of the satellite main body frame and the butt joint attitude information;
and generating the attitude adjusting signal according to the attitude adjusting quantity of the satellite main body frame and the satellite deck.
7. The assembling method according to claim 2, wherein the state information includes position information and attitude information, and correspondingly, the adjustment signal includes a position adjustment signal and an attitude adjustment signal; the generating of the adjusting signal according to the state information and the sending of the adjusting signal to an adjusting device so that the adjusting device controls the state relative change of the satellite main body frame and the satellite deck plate according to the adjusting signal, and then the docking can be performed in a corresponding state, including:
generating a position adjusting signal according to the position information of the satellite deck and the satellite main body frame, and generating an attitude adjusting signal according to the attitude information of the satellite deck and the satellite main body frame;
and controlling the relative change of the positions and the attitudes of the satellite main body frame and the satellite deck plate according to the position adjusting signal and the attitude adjusting signal, so that the satellite main body frame and the satellite deck plate can be butted at corresponding positions and attitudes.
8. The assembling method according to claim 7, wherein the generating of the position adjustment signal according to the position information of the satellite deck and the satellite main body frame and the generating of the attitude adjustment signal according to the attitude information of the satellite deck and the satellite main body frame specifically include:
determining a docking position information according to the position information of the satellite deck and the satellite main body frame, an
Determining docking attitude information according to the attitude information of the satellite deck and the satellite main body frame;
generating displacement amounts of the satellite main body frame and the satellite deck plate according to the satellite deck plate, the position information of the satellite main body frame and the butt joint position information, and
generating attitude regulating quantities of the satellite main body frame and the satellite deck plate according to the satellite deck plate, the attitude information of the satellite main body frame and the butt joint attitude information;
generating the position adjusting signal according to the displacement amount of the satellite main body frame and the satellite deck, and generating the attitude adjusting signal according to the attitude adjusting amount of the satellite main body frame and the satellite deck.
9. An assembly system of a satellite deck and a satellite body frame, comprising:
the state information obtaining module is used for respectively obtaining state information of the satellite deck to be assembled and the satellite main body frame, and the state information comprises at least one of position information and attitude information;
and the docking module is used for generating an adjusting signal according to the state information and sending the adjusting signal to an adjusting device so that the adjusting device controls the relative change of the states of the satellite main body frame and the satellite deck plate according to the adjusting signal, and further docking can be carried out in a corresponding state.
10. An adjustment device for the assembly of a satellite deck with a satellite body frame, characterized in that it comprises:
a driver and an adjusting component which is fixedly combined with at least one of the satellite deck and the satellite main body frame; the driver drives the adjusting assembly to move according to the adjusting signal so that the states of the satellite deck and the satellite main body frame are relatively changed, and then the satellite deck and the satellite main body frame can be butted in a corresponding state; wherein,
the adjustment signal is generated from state information of the satellite deck to be assembled and the satellite main body frame, the state information including at least one of position information and attitude information.
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| CN202110007147.3A CN112873103A (en) | 2021-01-05 | 2021-01-05 | Method and system for assembling satellite deck and satellite main body frame and adjusting device |
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Application publication date: 20210601 |