CN116177201A - Satellite cabin plate grabbing device for batch mixed line production - Google Patents

Satellite cabin plate grabbing device for batch mixed line production Download PDF

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Publication number
CN116177201A
CN116177201A CN202310099259.5A CN202310099259A CN116177201A CN 116177201 A CN116177201 A CN 116177201A CN 202310099259 A CN202310099259 A CN 202310099259A CN 116177201 A CN116177201 A CN 116177201A
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CN
China
Prior art keywords
satellite
clamping
line production
plate
cabin
Prior art date
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Pending
Application number
CN202310099259.5A
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Chinese (zh)
Inventor
韩文鹏
刘峰
李超
高旭东
田杰
马赫
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CASIC Space Engineering Development Co Ltd
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CASIC Space Engineering Development Co Ltd
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Publication date
Application filed by CASIC Space Engineering Development Co Ltd filed Critical CASIC Space Engineering Development Co Ltd
Priority to CN202310099259.5A priority Critical patent/CN116177201A/en
Publication of CN116177201A publication Critical patent/CN116177201A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

The invention provides a satellite cabin board grabbing device for batch mixed line production, which comprises a clamping mechanism for clamping and fixing a satellite cabin board; the clamping mechanism comprises a main body, a displacement plate which is arranged on the main body and can be mutually close to or far from each other along a first direction, a rotation adjusting structure which is arranged on the displacement plate, and a clamping jaw which is combined and fixed with the rotation adjusting structure; the rotation adjusting structure is configured to drive the clamping jaw to rotate relative to the displacement plate by taking the third direction as an axis so as to adjust the clamping angle of the clamping jaw when clamping the satellite cabin plate; in the same plane, the first direction is perpendicular to the third direction. The grabbing device can be suitable for grabbing satellite cabin boards in different shapes and sizes, and has the characteristics of high automation degree, strong universality and good flexibility and adaptability.

Description

Satellite cabin plate grabbing device for batch mixed line production
Technical Field
The invention relates to the technical field of satellite assembly. And more particularly to a satellite deck gripping device for batch mixed line production.
Background
The development of satellite constellation is used as the basis of a novel space-earth integrated information technology for providing communication, observation, remote sensing and other services for various users on the ground, at sea, in the air and the like by utilizing high, medium and low orbit satellites, and is also an important strength for remolding the new pattern of national economy, culture and social development. The satellite is gradually developed and changed from single-piece independent development to variety-changing and batch-changing rapid development, so that the degree of automation, the assembly efficiency and the adaptability of multiple varieties of satellites in the production process are improved.
At present, the satellite assembly process mainly adopts a manual assembly mode, the assembly process relies on experience of operators, and meanwhile, the assembly process faces the problems of different cabin board forms of single satellites, poor tool universality, insufficient flexibility, overlong assembly time, insufficient assembly consistency and the like, and cannot meet the requirements of quick mass production of mixed lines of satellites of different types.
Disclosure of Invention
Aiming at the problems, the invention provides a satellite cabin board grabbing device for batch mixed line production, which is applicable to grabbing satellite cabin boards with different shapes and sizes and has the characteristics of high automation degree, strong universality and good flexibility and adaptability.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention provides a satellite cabin board grabbing device for batch mixed line production, which comprises:
the clamping mechanism is used for clamping and fixing the satellite cabin board;
the clamping mechanism comprises a main body, a displacement plate which is arranged on the main body and can be mutually close to or far from each other along a first direction, a rotation adjusting structure which is arranged on the displacement plate, and a clamping jaw which is combined and fixed with the rotation adjusting structure;
the rotation adjusting structure is configured to drive the clamping jaw to rotate relative to the displacement plate by taking the third direction as an axis so as to adjust the clamping angle of the clamping jaw when clamping the satellite cabin plate; in the same plane, the first direction is perpendicular to the third direction.
In addition, preferably, the clamping mechanism further comprises a driving mechanism configured on the main body and used for driving the displacement plate to move;
the main body comprises a sliding rail arranged along a first direction; the two displacement plates are respectively arranged on the slide rail through the slide blocks.
In addition, preferably, the driving mechanism comprises a driving motor and a screw rod combined and fixed with an output shaft of the driving motor; the displacement plate is arranged on the screw rod through a connecting piece; the connecting piece is configured to drive the displacement plate to reciprocate on the sliding rail under the drive of the driving motor, so that the two clamping jaws are close to or separated from each other.
Furthermore, preferably, the rotation adjustment structure is a rotation adjustment disc; the rotary adjusting structure comprises a fixing part which is combined and fixed with the displacement plate and an adjusting part which is combined and fixed with the clamping jaw; the adjusting part can rotate relative to the fixing part.
Furthermore, preferably, the satellite deck gripping device further comprises a fitting structure for connection and cooperation with an external device; the assembly structure comprises a lower chuck which is combined and fixed with the main body, an upper chuck which is detachably connected with the lower chuck, and a bearing shaft which is combined and fixed with the upper chuck.
In addition, preferably, the satellite cabin board grabbing device further comprises a first force sensor arranged at one end, far away from the upper chuck, of the bearing shaft.
Furthermore, preferably, the satellite deck gripping device further comprises a mounting frame combined and fixed on the bearing shaft; the mounting frame is provided with an optical camera for acquiring the assembly state of the satellite cabin board and an auxiliary light source for providing stable light for the optical camera.
Furthermore, preferably, the clamping jaw comprises a connecting part combined and fixed with the rotation adjusting structure and a clamping part combined and fixed with the connecting part; the clamping part is provided with a clamping groove for clamping with the satellite cabin board.
Furthermore, preferably, the clamping part comprises a second force sensor for acquiring the clamping force of the clamping jaw when clamping the satellite cabin board.
Furthermore, preferably, the two displacement plates are each provided with an adjusting plate; the adjusting plate is provided with a rack extending along a first direction; the main body comprises a gear which can rotate by taking the third direction as an axis; both racks are engaged with the gear.
The beneficial effects of the invention are as follows:
the clamping jaw of the clamping mechanism has flexible adjusting capability, the distance between the two clamping jaws is adjustable, the clamping angles of the two clamping jaws are adjustable to adapt to satellite cabins of various shapes and sizes, the grabbing device can clamp and grab the cabins of different shapes and sizes through the flexible adjusting capability, the adaptation of different cabins in the final assembly process is realized, the requirements of mixed lines, rapid production and rapid assembly of satellites of different types can be met, and the satellite assembly efficiency and the production period are improved.
Drawings
The following describes the embodiments of the present invention in further detail with reference to the drawings.
Fig. 1 is a schematic diagram of the overall structure of the present invention.
FIG. 2 is a second schematic diagram of the overall structure of the present invention.
FIG. 3 is a third schematic diagram of the overall structure of the present invention.
Fig. 4 is a schematic view of a prior art differently shaped satellite pod.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
The existing cabin board grabbing actions aiming at different model satellite mixed line production processes are mainly achieved by designing different tools for different cabin boards, and final assembly posture adjustment is achieved by means of lifting or simple grabbing, so that universality and automation degree are low. Because the number of the cabins in the satellite assembly process is more, and meanwhile, the sizes and the shapes of different cabins are different as shown in fig. 4, in the mixed line production process, different grabbing devices are required to be replaced in the cabin assembly process of different models so as to adapt to the sizes and the shapes of different cabins, and the satellite assembly efficiency and the production period are seriously affected.
In order to achieve a gripping fit for the different deck boards during the assembly process. The invention provides a satellite cabin board grabbing device for batch mixed line production, which is shown in fig. 1 to 3, and specifically comprises: the clamping mechanism is used for clamping and fixing the satellite cabin board; the clamping mechanism comprises a main body 4, wherein the main body 4 is a supporting frame, and the main body 4 is a main installation, stress and adjustment structure of the grabbing device and is a main structure for realizing the adjustment and stress of the grabbing device; a displacement plate 24 disposed on the main body 4 and capable of approaching to or separating from each other in a first direction, a rotation adjusting structure 23 disposed on the displacement plate 24, and a clamping jaw combined and fixed with the rotation adjusting structure 23; the rotation adjusting structure 23 is configured to drive the clamping jaw to rotate relative to the displacement plate 24 by taking the third direction as an axis so as to adjust the clamping angle of the clamping jaw when clamping the satellite cabin plate; in the same plane, the first direction is perpendicular to the third direction. Referring to fig. 1, the X direction is a first direction, the Y direction is a second direction, the Z direction is a third direction, and the first direction is perpendicular to the second direction in the same horizontal plane; the third direction is perpendicular to the first direction and the second direction; the two clamping jaws can be mutually close to or far away from each other along the X direction, and simultaneously, the two clamping jaws can rotate by taking the Z direction as an axis to change the clamping posture of the clamping angle adjusting clamping jaw so as to adapt to satellite cabins of different models, so that the compatibility of the grabbing device to different cabins is improved, and the satellite assembly efficiency and the production period are further improved.
The invention aims at the problems of common grabbing property, multi-size adaptability, insufficient automation and the like of the cabin boards in the production process of multi-variety satellite mixed lines, so that the satellite cabin board grabbing device can finish grabbing and gesture adjustment of cabin boards in different shapes and sizes, and the automation degree and the assembly efficiency of satellite mixed line production are improved.
In the above embodiment, the clamping mechanism further includes a driving mechanism disposed on the main body 4 for driving the displacement plate 24 to move; the main body 4 comprises a sliding rail 28 arranged along a first direction; the two displacement plates 24 are respectively disposed on the slide rails 28 through the slide blocks 20. The two displacement plates 24 can move in opposite directions or in opposite directions on the slide rail 28 under the drive of the drive mechanism, so as to realize the clamping action or the opening action of the clamping jaw.
Further, the driving mechanism comprises a driving motor 1 and a screw rod combined and fixed with an output shaft of the driving motor 1; the displacement plate 24 is arranged on the screw rod through a connecting piece 3; the connecting piece 3 is configured to drive the displacement plate 24 to reciprocate on the sliding rail 28 under the drive of the driving motor 1, so that the two clamping jaws approach or separate, thereby realizing the clamping of the satellite cabin plate. The motor mounting plate 2 is connected with the driving motor 1 and the main body 4 through screws, is used for being matched with the mounting and linear driving actions of the driving motor 1, and the connecting piece 3 is used for realizing that the driving motor 1 is connected with the displacement plate 24 through screws and is used for being matched with the driving motor 1 to complete the linear adjustment of the displacement plate 24 in the X direction.
In a specific embodiment, the rotation adjustment structure 23 is a rotation adjustment disc; the rotation adjusting structure 23 comprises a fixing part combined and fixed with the displacement plate 24 and an adjusting part combined and fixed with the clamping jaw; the adjusting part can rotate relative to the fixing part. The flange reservation has standard interface about the rotatory regulating disk, can realize the connection of clamping jaw and displacement board 24, the deck of different shapes that appears in the batch production process to the satellite mixed line, through the axial rotation angle regulation of rotatory regulating disk with the adaptation deck shape, treat fastening rotatory regulating disk fixed angle after the angle of adjustment, accomplish different shape deck adaptation snatchs through the clamping jaw cooperation, can promote the avoidance ability of jumbo size equipment in the satellite assembly in-process when realizing that different shape deck snatchs, reduce operating personnel's assembly degree of difficulty, promote satellite assembly process flexible compatibility.
In a specific embodiment, the satellite cabin board grabbing device further comprises an assembling structure used for being connected and matched with external equipment; the assembly structure comprises a lower chuck 9 combined and fixed with the main body 4, an upper chuck 8 detachably connected with the lower chuck 9 and a bearing shaft 7 combined and fixed with the upper chuck 8. Specifically, the upper chuck 8 and the lower chuck 9 are respectively connected with the bearing shaft 7 and the main body 4 through flange standard interfaces, and the quick disengaging action of the bearing shaft 7 and the main body 4 is completed through a spring and compressed air structure, so that the adapting and replacing functions of grabbing at different tail ends are realized. The upper end and the lower end of the bearing shaft 7 are respectively provided with a standard interface through flanges, the installation of the upper chuck 8 and the first force sensor 6 can be realized, the installation is mainly used for realizing the connection between the mechanical arm and the main body 4, and further realizing the movement of the space position of the satellite cabin plate, the upper chuck 8 and the lower chuck 9 form a quick-change structure of the grabbing device, and the lower chuck 9 is fixed with the main body 4 through the main body mounting plate 10.
Further, the satellite deck gripping device further comprises a first force sensor 6 arranged at one end of the bearing shaft 7 far away from the upper chuck 8. The first force sensor 6 is connected between the bearing shaft 7 and the mechanical arm through a reserved standard mounting interface and is used for feeding back forces in 6 directions in the assembly process of the satellite assembly bearing shaft, so that the damage of a cabin plate caused by overlarge assembly force in the assembly process of pin-hole matching of the satellite cabin plate is prevented, and the pin hole assembly in the assembly process is ensured to be accurate and smooth.
Further, the satellite cabin board grabbing device further comprises a mounting frame 5 which is combined and fixed on the bearing shaft 7; the mounting frame 5 is provided with an optical camera 18 for acquiring the assembly state of the satellite cabin board and an auxiliary light source 15 for providing stable light for the optical camera 18, and the auxiliary light source 15 is used for providing stable light required by the operation of the optical camera 18 in a closed environment, so that the characteristic acquisition capability of the optical camera 18 is improved; the optical camera 18 is fixed on the mounting frame 5 through the camera mounting bracket 17, keeps the relative fixation with the position of the bearing shaft 7, is used for capturing hole site visual characteristic detection in the assembly process, and is matched with the first force sensor 6 (six-dimensional force sensor) to complete hole site centering and pin hole assembly.
In a specific embodiment, the clamping jaw comprises a connecting part 22 combined and fixed with the rotation adjusting structure 23 and a clamping part combined and fixed with the connecting part 22; the clamping part is provided with a clamping groove for clamping with the satellite cabin board. The clamping jaw is used for being matched with the main mechanical arm to realize the lifting and the space positioning of the satellite cabin board. The fixing pin 13 positioned in the clamping groove can fix the satellite cabin board or the cabin board tool in the clamping groove for realizing the positioning of the cabin board or the cabin board tool. The clamping groove is used for clamping a satellite cabin board or a cabin board tool, the thickness of the clamping groove can be adjusted according to different cabin boards and tool thicknesses so as to realize rapid flexible adaptation, and further, the clamping part comprises a vertical part 11 fixed with the connecting part 22 and a clamping part 12 fixed with the vertical part 11, and the clamping groove is formed on the clamping part 12.
Further, the clamping part comprises a second force sensor 14 for acquiring the clamping force of the clamping jaw when clamping the satellite cabin board. The second force sensor 14 is used for detecting the grabbing force applied to the cabin board in the process of closing the clamping jaw when the cabin board or the cabin board tooling is grabbed, and when the grabbing force exceeds a set threshold value, the driving motor 1 stops working.
In order to ensure the synchronism of the jaws when they are approaching or moving away from each other, the two displacement plates 24 are each provided with an adjusting plate 25; the adjusting plate 25 is provided with a rack 26 extending in a first direction; the main body 4 comprises a gear 27 which can rotate by taking the third direction as an axis; both racks 26 are engaged with the gear 27. The displacement plate 24 is provided with mounting holes with different intervals for mounting and position adjustment of the adjusting plate 25, the mounting hole at one end of the adjusting plate 25 is used for connecting the displacement plate 24, the other end of the adjusting plate 25 is used for fixing the rack 26, the dimensional translational smoothness and synchronism in the X direction are ensured through the cooperation of the rack 26 and the gear 27, and the position of the center of gravity of the satellite cabin plate can be adjusted by adjusting the mounting position of the adjusting plate 25 on the displacement plate 24, so that the adjustment of the grabbing center of gravity of the cabin plate with load is realized, and the center of gravity of the cabin plate is parallel and aligned with the bearing shaft 7.
The flexible satellite cabin board grabbing device with the multi-degree-of-freedom adjusting capability and multi-dimensional sensing capability, which is compatible with cabin board assembly processes of different shapes and sizes, can improve the automation and intelligent degree of the satellite assembly process, improves the mixed line batch production capability of a satellite intelligent production line, and can realize mixed line assembly of satellites of different types by being matched with equipment such as a mechanical arm, a multi-degree-of-freedom overturning mechanism, an auxiliary lifting device and the like. Meanwhile, the grabbing device is provided with the force sensor and the visual sensor, can sense the change of the assembly force in real time in the assembly process, can effectively avoid the problems of damage to the cabin plate, deformation of the assembly hole and the like caused by overlarge assembly force and clamping force, combines an optical camera to increase the accuracy and flexibility of the assembly process, has low cost and simple adjustment mode, and is suitable for batch automatic production of mixed lines of different types of space products.
The process of satellite deck grabbing and assembling is as follows:
the mechanical arm performs coarse positioning according to a pre-programmed computer program, and performs fine positioning when the mechanical arm reaches a specified position together with the satellite cabin board grabbing device;
the fixing pin 13 is positioned and is matched with the cabin board hoisting process hole, and the fixing pin 13 is designed with a certain taper, so that the smoothness of the matching process is ensured. The driving motor 1 drives the clamping jaw to move, and when the feedback force value of the second force sensor 14 arranged on the clamping jaw reaches a set threshold value, the driving motor 1 stops feeding to finish the clamping action of the cabin plate;
the cabin board leaves the AGV tray and reaches the satellite assembly area under the drive of the mechanical arm, the identification of the position characteristics of the satellite frame or the cabin board is realized under the action of the optical camera 18, the spatial positioning of the cabin board is completed by matching with the mechanical arm, the definition of a coordinate system is realized, and the assembly action of the cabin board is prepared;
the cabin board is driven by the mechanical arm to carry out pin-hole matching or hole-hole alignment assembling action, the cabin board process pin is designed with a certain taper, if the assembling force is larger than the threshold value set by the six-dimensional force sensor in the assembling process, the cabin board returns to the zero point of the coordinate system, algorithm correction is carried out, and the next assembling action is carried out until the flexible assembling is completed. If the assembly action cannot be completed through multiple attempts, the equipment interference or hole site interference condition needs to be checked manually;
after the hole position alignment is completed, next assembly work such as screw tightening is performed.
Different forms of satellite cabin boards and partition boards are shown in fig. 4, and have rectangular, trapezoidal, round, special-shaped and other shapes, and in order to adapt to different shapes and sizes of cabin boards, the grabbing device is designed with certain adjustment flexibility, and the process of adjusting the grabbing device is as follows:
in order to meet the thickness change of the cabin boards with different thicknesses, the gripping device is provided with clamping grooves with different specifications according to the thickness dimension of the common cabin boards, the vertical part 11 and the clamping part 12 are connected through screws and T-shaped grooves, and when the general assembly model is replaced, an operator can adapt to the cabin boards with different thicknesses through quickly replacing the clamping part 12;
in order to meet the grabbing and final assembly actions when the cabin plates of different sizes are changed, the grabbing device can be driven by the driving motor 1 to complete the adjustment of grabbing sizes in the X direction, and when the grabbing sizes of the cabin plates cannot be met through adjustment limiting, the maximum grabbing sizes are adjusted through adjusting the installation positions of the displacement plates 24 on the main body 4. Meanwhile, the quick-change device matched with the grabbing device can be combined, different grabbing ranges are adapted by adjusting the fixed position of the displacement plate 24, the operation time of process personnel is saved by quick-change of the device, and the assembly efficiency is improved on the premise of ensuring the assembly flexibility;
in order to meet the alignment of the center of gravity of the cabin board and the main bearing shaft 7, the grabbing device can adjust the installation position of the adjusting plate 25 on the displacement plate 24, can realize fine adjustment of the center of the grabbing shape of the cabin board, and is used for adjusting the grabbing position;
in order to meet the grabbing adaptation of different shapes of the cabin board, the grabbing angles of the two clamping jaws are rotationally adjusted through the rotary adjusting disc with the Z-axis direction rotary freedom degree, the rotary adjusting disc is fixedly connected with the clamping jaw and the displacement plate 24 through the flange and the standard interface, the piston and the cam are pushed by the spring and compressed air in the rotary adjusting disc, and the cam is retracted and unlocked to be in a free state. And then the deck is assembled in trial, after the clamping angle is well adapted to the shape of the deck, the compressed air pushes the piston and the cam, the cam is ejected out, and the adjusting disc is in a locking state, so that the subsequent deck grabbing work can be performed.
In summary, the clamping jaw of the clamping mechanism disclosed by the invention has the flexible adjusting capability, the distance between the two clamping jaws is adjustable, the clamping angles of the two clamping jaws are adjustable to adapt to satellite cabins of various shapes and sizes, the clamping device can clamp and grab the cabins of different shapes and sizes through the flexible adjusting capability, the adaptation to different cabins in the final assembly process is realized, the requirements of mixed lines, rapid production and rapid assembly of satellites of different types can be met, and the satellite assembly efficiency and production period are improved. The flexible grabbing and smooth assembling of the satellite cabin plates can be realized, grabbing and gravity center adjusting of cabin plates in different shapes can be realized, assembling of cabin plates in different thicknesses can be adapted, and assembling grabbing adjustment of cabin plates in different forms is realized.
In addition, the grabbing device can carry out adjustment of the grabbing key positions of the cabin plates, and the alignment degree of the gravity centers of the cabin plates and the bearing shafts is increased; the flexible compatibility is strong, and the gripping device can be suitable for gripping cabin boards with different shapes such as square, rectangle, trapezoid, round and the like; the device can be suitable for grabbing cabin boards of various sizes, has strong flexible adjustment capability, and can be suitable for collinear assembly of mixed lines of various space products; the quick replacement of different clamping mechanisms can be realized; the grabbing device is high in compatibility, can be suitable for grabbing functions of the cabin plates in the satellite assembly process, and can be applied to the field of assembly of other products in an expanding mode.
It should be understood that the foregoing examples of the present invention are provided merely for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention, and that various other changes and modifications may be made therein by one skilled in the art without departing from the spirit and scope of the present invention as defined by the appended claims.

Claims (10)

1. A satellite cabin board grabbing device for mixed line production in batches, characterized by comprising:
the clamping mechanism is used for clamping and fixing the satellite cabin board;
the clamping mechanism comprises a main body, a displacement plate which is arranged on the main body and can be mutually close to or far from each other along a first direction, a rotation adjusting structure which is arranged on the displacement plate, and a clamping jaw which is combined and fixed with the rotation adjusting structure;
the rotation adjusting structure is configured to drive the clamping jaw to rotate relative to the displacement plate by taking the third direction as an axis so as to adjust the clamping angle of the clamping jaw when clamping the satellite cabin plate; in the same plane, the first direction is perpendicular to the third direction.
2. The satellite pod gripping apparatus for batch mixing line production of claim 1, wherein the gripping mechanism further comprises a driving mechanism disposed on the body for driving the displacement plate to move;
the main body comprises a sliding rail arranged along a first direction; the two displacement plates are respectively arranged on the slide rail through the slide blocks.
3. The satellite capsule plate grabbing device for batch mixed-line production according to claim 2, wherein the driving mechanism comprises a driving motor and a screw rod combined and fixed with an output shaft of the driving motor; the displacement plate is arranged on the screw rod through a connecting piece; the connecting piece is configured to drive the displacement plate to reciprocate on the sliding rail under the drive of the driving motor, so that the two clamping jaws are close to or separated from each other.
4. The satellite pod gripping apparatus for batch mixing line production of claim 1, wherein the rotary adjustment structure is a rotary adjustment disc; the rotary adjusting structure comprises a fixing part which is combined and fixed with the displacement plate and an adjusting part which is combined and fixed with the clamping jaw; the adjusting part can rotate relative to the fixing part.
5. The satellite pod gripping apparatus for batch, mixed line production of claim 1, further comprising an assembly structure for connection mating with an external device; the assembly structure comprises a lower chuck which is combined and fixed with the main body, an upper chuck which is detachably connected with the lower chuck, and a bearing shaft which is combined and fixed with the upper chuck.
6. The satellite pod gripping apparatus for batch mixing line production of claim 5, further comprising a first force sensor disposed at an end of the load bearing shaft remote from the upper chuck.
7. The satellite pod gripping apparatus for batch mixing line production of claim 5 further comprising a mounting bracket secured to the bearing shaft in combination; the mounting frame is provided with an optical camera for acquiring the assembly state of the satellite cabin board and an auxiliary light source for providing stable light for the optical camera.
8. The satellite pod gripping apparatus for batch mixing line production of claim 1, wherein the gripping jaw comprises a connection portion fixedly coupled to the rotation adjustment structure and a clamping portion fixedly coupled to the connection portion; the clamping part is provided with a clamping groove for clamping with the satellite cabin board.
9. The satellite pod gripping apparatus for batch mixing line production of claim 8, wherein the gripping portion includes a second force sensor for obtaining a gripping force of the gripping jaw when gripping the satellite pod.
10. The satellite capsule plate gripping apparatus for batch mixed-line production according to claim 1, wherein the two displacement plates are each provided with an adjusting plate; the adjusting plate is provided with a rack extending along a first direction; the main body comprises a gear which can rotate by taking the third direction as an axis; both racks are engaged with the gear.
CN202310099259.5A 2023-02-01 2023-02-01 Satellite cabin plate grabbing device for batch mixed line production Pending CN116177201A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310099259.5A CN116177201A (en) 2023-02-01 2023-02-01 Satellite cabin plate grabbing device for batch mixed line production

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310099259.5A CN116177201A (en) 2023-02-01 2023-02-01 Satellite cabin plate grabbing device for batch mixed line production

Publications (1)

Publication Number Publication Date
CN116177201A true CN116177201A (en) 2023-05-30

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ID=86433982

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Application Number Title Priority Date Filing Date
CN202310099259.5A Pending CN116177201A (en) 2023-02-01 2023-02-01 Satellite cabin plate grabbing device for batch mixed line production

Country Status (1)

Country Link
CN (1) CN116177201A (en)

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