CN213730391U

CN213730391U - Satellite structure board embedded part mounting equipment

Info

Publication number: CN213730391U
Application number: CN202023023439.6U
Authority: CN
Inventors: 王琳; 王瑞; 夏相钊
Original assignee: Shandong Gewu Intelligent Technology Co ltd
Current assignee: Shandong Gewu Intelligent Technology Co ltd
Priority date: 2020-12-15
Filing date: 2020-12-15
Publication date: 2021-07-20
Anticipated expiration: 2030-12-15

Abstract

The utility model discloses a satellite structure board buries a erection equipment, it is equipped with main lathe and automatic unloader that goes up, is connected with quick positioner on the host computer lathe, and the host computer lathe is equipped with lathe bed, crossbeam structure, ram slide structure, and ram slide structure sets up on crossbeam structure, and ram slide structure includes slide structure and ram structure; the automatic loading and unloading device is provided with a grabbing unit and a transmission unit, the grabbing unit is provided with a supporting plate, a thin cylinder and a linear bearing, the thin cylinder is supported by a thin cylinder mounting plate, a main machine bed is driven to operate by a main machine bed transmission mechanism, and the automatic loading and unloading device is driven by the transmission unit; the mounting equipment is also provided with a positioning nail mounting mechanism, an embedded part mounting mechanism and a structural plate gluing mechanism. The utility model discloses simple structure, degree of automation is high, and it is efficient to splice the process, can shorten the development cycle of satellite.

Description

Satellite structure board embedded part mounting equipment

Technical Field

The utility model relates to a erection equipment technical field, concretely relates to satellite structure board buries a erection equipment.

Background

At present, the research and development task amount of the satellites in China is increased sharply, and the average research and development period of each satellite is shortened to 2 years. The satellite system generally comprises two parts, namely a payload and a guarantee system, and a mechanical system in the guarantee system provides support for other subsystems and the payload. The mechanical system of a common satellite consists of a central bearing cylinder and a structural plate.

Structural panels are most common in all types of satellite structures and generally consist of an upper panel, a lower panel and embedded parts. The honeycomb sandwich structure plate of the satellite is a sandwich structure member which is formed by bonding two panels with high strength and thin thickness, a light honeycomb core material and an adhesive; in the plate structure of satellites, the application of honeycomb sandwich panels is over 80%. Various inserts are usually installed in the structural panels in order to connect them to other components. Thus, the structural panel is mainly composed of four parts: face sheets, structural adhesive, inlays and sandwich honeycomb cores.

For a common satellite system, the number of embedded parts in each structural plate can reach hundreds, and in the gluing process of the structural plates, the embedded parts are still installed manually at present, so that the installation precision and efficiency are seriously influenced, and the embedded parts become key factors influencing the satellite development cycle.

Disclosure of Invention

The utility model discloses to the technical problem who exists among the prior art, provide a satellite structure board that degree of automation is high buries a erection equipment.

In order to solve the technical problem, the utility model is provided with a main machine tool and an automatic feeding and discharging device, wherein the main machine tool is connected with a quick positioning device and is provided with a machine tool body, a beam structure and a ram slide seat structure, the ram slide seat structure is arranged on the beam structure, and the ram slide seat structure comprises a slide seat structure and a ram structure; the automatic feeding and discharging device is provided with a grabbing unit and a transmission unit, the grabbing unit is provided with a supporting plate, a thin cylinder and a linear bearing, the thin cylinder is supported by a thin cylinder mounting plate, the linear bearing is arranged on two sides of the thin cylinder mounting plate, the supporting plate is connected to a supporting plate connecting plate through a supporting plate fixing plate, a main machine bed is driven to operate through a main machine bed transmission mechanism, and the automatic feeding and discharging device is driven by the transmission unit; the mounting equipment is also provided with a positioning nail mounting mechanism, an embedded part mounting mechanism and a structural slab gluing mechanism, wherein the positioning nail mounting mechanism is provided with an automatic nail mounting mechanism and an automatic nail feeding mechanism, the embedded part mounting mechanism is provided with a material tray and an electric clamping jaw, and the structural slab gluing mechanism is provided with a gluing gun, a glue supply system and a control system.

Preferably, the main machine tool adopts a movable beam gantry structure, the machine tool body is provided with a top beam, a support beam and a stand column structure, connecting plates are arranged at the connection positions of the beams, and the cross beam structure is provided with a roller screw assembly, a feed rod assembly, a cross beam and a cross beam connecting plate; the slide structure is equipped with second roller screw assembly, second feed rod assembly and second connecting plate, and the ram structure is equipped with third roller screw assembly, third feed rod assembly and pillow connecting plate.

Preferably, the quick positioning device is provided with three movable supporting structures and three positioning blocks, and the side surface of the upper half part of each movable supporting structure is provided with a guide groove in matched connection with the positioning block.

Preferably, the lower part of the supporting plate connecting plate is provided with three grooves matched with the supporting plate fixing plate, the upper part of the supporting plate connecting plate is provided with a clearance hole matched with the thin cylinder, two side surfaces of the supporting plate connecting plate are provided with screw holes matched with the optical axis, and the linear bearing is connected with the optical axis through a linear bearing mounting seat.

Preferably, the main machine bed transmission mechanism is provided with an X-direction transmission mechanism, a Y-direction transmission mechanism and a Z-direction transmission mechanism, and the main machine bed transmission mechanisms are all driven by roller wires; the transmission unit is provided with an X-direction belt transmission mechanism, a Y-direction roller screw transmission mechanism and a Z-direction cylinder transmission mechanism.

Preferably, automatic binding mechanism is equipped with the electricity and criticizes, cylinder and linear guide mechanism, and automatic binding mechanism passes through the cylinder drive, drives the electricity and criticizes along the motion of linear guide mechanism, and the cylinder passes through the cylinder mounting panel to be connected on the screwdriver fixed plate, and linear guide mechanism is equipped with linear guide and slider, and linear guide sets up on the screwdriver fixed plate, and the electricity is criticized and is connected with the slider through the electricity, and the lower extreme of cylinder is criticized the support with the electricity and is connected.

Preferably, the automatic nail feeding mechanism is provided with a screw pushing block, a conveyor body, an electric screwdriver support and a screw runner groove, and the automatic binding mechanism and the automatic nail feeding mechanism are connected through the electric screwdriver support.

Preferably, the electric clamping jaw comprises a clamping jaw body and clamping jaw fingers, the clamping jaw body is provided with a guide structure, a motion transmission structure, a driving motor and a force feedback mechanism, a guide rail groove is formed in the bottom of the clamping jaw body, and the clamping jaw fingers are connected with the clamping jaw body through the guide rail groove.

Preferably, the glue gun is provided with a glue spraying nozzle, a welding glue rod and a glue gun, the glue spraying nozzle is connected with the glue gun through the welding glue rod, the glue gun is installed on a lower slide pillow mechanism of the main machine tool through a glue gun seat and a glue gun pressing plate, and a pore channel connected with the glue supply system is arranged on the glue gun.

Preferably, the glue supply system is provided with a glue conveying pump, the glue conveying pump is connected with the glue coating gun through a connecting hose, and the glue conveying pump is provided with a discharge port, a suction port, a screw shaft, a motor and a base.

Compared with the prior art, the utility model discloses possess following beneficial effect:

the utility model provides a satellite structure board buries a erection equipment, its simple structure mainly comprises several parts such as main lathe, automatic unloader, location nail installation mechanism, buried a installation mechanism, structure board rubber coating mechanism, can accomplish automatically that material loading, quick location, pay-off, installation, rubber coating etc. splice the technology action, have improved and splice process efficiency, have improved the installation accuracy, have shortened satellite development cycle. Moreover, the main machine tool of the utility model adopts the movable supporting mechanism to replace the traditional workbench structure, and is matched with the method of processing in different areas and in batches, so that the processing equipment can simultaneously complete the process actions in the upper and lower directions according to the requirements; the scheme that the automatic loading and unloading device adopts the thin cylinder to drive the supporting plate to complete the lifting action replaces a vacuum suction type loading mechanism, so that the grabbing unit can adapt to the condition that the subject plate is too thin and a large number of pre-buried holes are formed in the subject plate.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic perspective view of the present invention;

fig. 2 is a schematic top view of the present invention;

fig. 3 is a schematic structural view of the movable support of the present invention;

FIG. 4 is a schematic structural view of the ram slide seat structure and the positioning pin mounting mechanism of the present invention;

FIG. 5 is a schematic front view of the ram slide structure and the embedded member mounting mechanism of the present invention;

fig. 6 is a schematic view of the automatic loading and unloading device of the present invention;

fig. 7 is a schematic side view of the automatic loading and unloading device of the present invention;

fig. 8 is a schematic structural diagram of the transmission unit of the present invention;

fig. 9 is a schematic structural view of the glue gun of the present invention.

The symbols in the figures indicate:

1. a main machine tool; 11. a machine tool body; 12. a beam structure; 13. a ram slide seat structure; 131. a slide structure; 132. a ram structure; 141. a two-way connecting plate; 142. a three-way connecting plate; 15. a Fourman caster structure; 16. a support beam; 2. an automatic loading and unloading device; 21. a grasping unit; 211. a support plate; 2111. a short pallet; 2112. a long pallet; 212. a thin cylinder; 213. a linear bearing; 214. a supporting plate fixing plate; 215. a supporting plate connecting plate; 216. a thin cylinder mounting plate; 217. a thin cylinder piston rod; 218. a linear bearing mount; 219. an optical axis; 22. a transmission unit; 221. a belt drive mechanism; 2211. a servo motor; 2212. a belt; 2213. a guide rail; 2214. a slider; 2215. a pulley; 2216. a bearing support; 222. a roller screw drive mechanism; 2221. a roller screw; 2222. a ram; 2223. a roller screw pair; 223. a cylinder transmission mechanism; 2231. a transmission cylinder; 2232. a drive cylinder piston rod; 2233. a cylinder connecting plate; 23. mounting a plate; 3. a positioning nail mounting mechanism; 31. electric screwdriver; 32. a cylinder; 33. a linear guide rail mechanism; 34. a cylinder mounting plate; 35. an electric screwdriver support; 36. a screw pushing block; 37. a conveyor body; 38. a screw runner groove; 4. an embedded part mounting mechanism; 41. a material tray; 42. an electric jaw; 421. a jaw body; 422. a jaw finger; 5. a structural plate gluing mechanism; 51. gluing guns; 52. a glue conveying pump; 53. a glue container; 54. a connecting hose; 6. a fast positioning device; 61. a movable support structure; 611. a movable support; 612. a guide groove; 62. positioning blocks; 7. the structural plate is a plate to be processed; 8. main lathe drive mechanism.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Referring to fig. 1 and 2, the utility model provides a satellite structure board buries a erection equipment, it is equipped with main lathe 1, automatic unloader 2, location nail installation mechanism 3, buries a installation mechanism 4 and structure board rubber coating mechanism 5, can accomplish automatic material loading, fix a position, pay-off, installation, rubber coating etc. and splice the technology action to realize the automation of structure board rubber coating technology.

In this embodiment, the main machine tool 1 adopts a movable beam gantry machine tool structure, and the positioning nail mounting mechanism 3, the embedded part mounting mechanism 4 and the structural plate gluing mechanism 5 are all arranged on the main machine tool 1, so as to perform actions such as rapid positioning of a plate to be processed, embedded part mounting, structural plate gluing and the like, and provide sufficient working space for the plate to be processed. The main machine tool 1 is provided with a machine tool body 11, a cross beam structure 12 and a ram sliding seat structure 13, wherein the machine tool body 11 is composed of a machine tool body beam, a top beam, a support beam and a stand column structure which are all formed by lapping industrial aluminum profiles, and the beams are fixed and connected through a connecting plate at a specific joint part. In order to fix and connect the beam structures together, connecting plates matched with the selected section bars are designed, wherein the connection between the lathe bed beam and the upright column, the connection between the top beam and the upright column, and the connection between the top beam and the lathe bed beam are two-way connection, and two-way connecting plates 141 are adopted; the connection between the support beam and the upright column is three-way connection, and a three-way connecting plate 142 is adopted. The lathe bed base is connected with a Fourman caster structure 15, so that the lathe bed can be conveniently and horizontally adjusted, the volume is small, the weighing capacity is large, the fixing function is realized, and the adaptability to the condition that the ground of a working position is uneven is better.

Furthermore, in the embodiment, the beam structure 12 is supported by a double-column beam, while the beam structure 12 is used for supporting and connecting the ram slide seat structure 13, and the beam structure 12 is provided with a roller screw assembly in the X direction, a beam-beam connecting plate and a screw-beam connecting plate; the roller screw assembly comprises a roller screw, a ball screw pair, a screw connecting plate and a screw baffle; the polish rod assembly comprises a polish rod, a polish rod support, a unit sliding block and a linear bearing.

As shown in fig. 2 and 3, in this embodiment, the host bed 1 is further connected with a fast positioning device 6, the fast positioning device 6 is provided with a movable supporting structure 61 and a positioning block 62, and fast positioning is realized by structural cooperation of the movable supporting structure 61 and the positioning block 62, and the fast positioning device 6 can ensure that a structural plate can be stably placed on the supporting structure, and meanwhile, a vacant position can be reserved at a position to be processed; in the case of a problem that the machining cannot be completed at one time due to the structural reasons, the structural plate is divided into two machining regions, the position of the movable support structure 61 is adjusted after the machining is completed in the first region, and the machining is sequentially completed with a vacant position left in the position to be machined in the second region. Three movable supporting structures 61 and three positioning blocks 62 are arranged, and the positioning blocks 62 are arranged on the movable supporting structures 61; the movable support structure 61 includes a movable support 611 whose top surface is in contact with the structural plate to-be-processed sheet material 7, a stopper, and a manual lock wheel.

Furthermore, in this embodiment, the side of the upper half of the movable support is provided with a guide groove 612, so that the positioning block 62 and the stopper can move laterally along the movable support 611 and can be locked at a specific working position to achieve the functions of positioning and fastening the plate to be processed; the lower side extending end of the movable support 611 is provided with a hexagonal socket head screw cylindrical countersunk hole 4 × M6mm matched with the side guide rail of the support beam and the linear sliding block; the extending ends at two sides are respectively provided with M6 threaded holes matched with the support beam and the manual locking device.

As shown in fig. 1, 4 and 5, in this embodiment, the ram slide structure 13 is provided with a slide structure 131 and a ram structure 132, the slide structure 131 moves on the ram structure 132, the slide structure 131 is provided with a second roller screw assembly in the Y direction, a second lever assembly in the Y direction and a second connecting plate, the second roller screw assembly is provided with a roller screw, a ball screw pair, a screw connecting plate and a screw baffle, the second lever assembly is provided with a lever, a lever support, a unit slider and a linear bearing, and the second connecting plate includes a seat top plate, a seat bottom plate, a left side plate and a right side plate. The ram structure 132 comprises a third roller screw assembly in the Z direction, a third lever assembly in the Z direction and a ram connecting plate, the third roller screw assembly is provided with a roller screw, a ball screw pair and a screw connecting plate, the third lever assembly is provided with a lever, a lever support, a unit slider and a linear bearing, and the ram connecting plate comprises a ram top plate, a ram side plate and a ram bottom plate.

Furthermore, in this embodiment, two upper ram sliding seat structures 13 are provided on the main machine tool 1, which are an upper ram sliding seat structure and a lower ram sliding seat structure, respectively, a ram bottom plate of the upper ram sliding seat structure is used for connecting the structural plate gluing mechanism 5 and the embedded part mounting mechanism 4, and a ram bottom plate of the lower ram sliding seat structure is used for connecting the positioning pin mounting mechanism 3.

In this embodiment, the main machine tool 1 is driven to operate by the main machine tool transmission mechanism 8, the main machine tool transmission mechanism 8 is provided with an X-direction transmission mechanism, a Y-direction transmission mechanism and a Z-direction transmission mechanism, and in order to ensure that the motions of the main machine tool X, Y, Z in three directions have high precision, and can accurately reach any position in a three-dimensional plane of the main machine tool and complete a specified processing action, the transmission forms of the beam, the slide seat and the ram all adopt roller wire transmission. The screw rod rotates at a high speed under the drive of the servo motor, and the nut drives the mechanical motion fixed on the nut. The ball screw is adopted for transmission, so that the transmission precision is high and the error is small; the ball screw nut pair has small transmission friction coefficient, no slippage, generally no self-locking and high transmission efficiency; compared with the common thread pair transmission, the transmission precision is higher, the return error can be effectively eliminated, and the accurate positioning and transmission are realized.

As shown in fig. 6 and 7, in this embodiment, the automatic loading and unloading device 2 can achieve loading, unloading, feeding and other actions, the loading and unloading device 2 includes a grabbing unit 21 and a transmission unit 22, the grabbing unit 21 is disposed below the mounting plate 23, the transmission unit 22 is disposed above the mounting plate 23, and the automatic loading and unloading device 2 is driven by the transmission unit 22. The grabbing unit 21 is provided with a supporting plate 211, a thin cylinder 212 and a linear bearing 213, the supporting plate 211 is of an L-shaped plate structure, the supporting plate 211 is fixedly connected to a supporting plate fixing plate 214 through screws, and the supporting plate 211 is connected to a supporting plate connecting plate 215 through the supporting plate fixing plate 214; in this embodiment, two supporting plate connecting plates 215 are symmetrically arranged on two sides below the mounting plate 23, the lower portion of each supporting plate connecting plate 215 is connected with three supporting plate fixing plates 214, and each supporting plate fixing plate 214 is fixedly connected with a supporting plate 211, so that the grabbing unit 21 is provided with two supporting plate connecting plates 215, six supporting plate fixing plates 214 and six supporting plates 211, the supporting plates 211 are divided into long supporting plates 2112 and short supporting plates 2111, the three supporting plates arranged on one side and the supporting plates arranged in the middle of the other side are the short supporting plates 2111, that is, the number of the short supporting plates 2111 is four, and the number of the long supporting plates 2112 is two.

Furthermore, in the present embodiment, two thin cylinders 212 are provided, and are fixedly disposed on the lower side of the mounting plate 23 through thin cylinder mounting plates 216 and are respectively disposed on the inner sides of the supporting plate connecting plates 215, and the thin cylinders 212 push the supporting plates 211 to move through thin cylinder piston rods 217; the lower part of the supporting plate connecting plate 215 is provided with three grooves matched with the supporting plate fixing plate, the upper part thereof is provided with a clearance hole matched with the thin cylinder 212, and two side surfaces thereof are provided with screw holes matched with the optical axis 219. The thin cylinder 212 drives the supporting plate 211 to move, and simultaneously, linear bearings 213 are additionally arranged on two sides of the thin cylinder mounting plate 216 to move in a matching manner, and the linear bearings 213 are connected with an optical axis 219 through linear bearing mounting seats 218.

As shown in fig. 7 and 8, in this embodiment, the transmission unit 22 is provided with an X-direction belt transmission mechanism 221, a Y-direction roller screw transmission mechanism 222 and a Z-direction cylinder transmission mechanism 223, the X-axis horizontal direction adopts a mode that a servo motor 2211 drives a belt 2212 to realize remote conveying of the plate to be processed, and the accurate positioning of the processing position of the plate is realized by matching with a movable supporting mechanism and a positioning system of a main machine tool; the horizontal direction of the Y axis adopts roller screw transmission, the transverse position of the ram is accurately adjusted, and further the spatial position of the grabbing unit 21 is adjusted, so that the accurate and stable grabbing action on the structural plate to-be-processed plate 7 is realized; the Z axis vertically adopts the transmission cylinder 2231 as a driving element, the ascending and descending of the grabbing unit 21 are realized by the stretching and retracting of the transmission cylinder 2231, the large load can be borne, the cost is low, and the overload energy can be automatically protected.

In this embodiment, the belt transmission mechanism 221 is disposed on the support beam 16 of the main machine tool 1, the belt transmission mechanism 221 is provided with a guide rail 2213, a slider 2214, a belt 2212 and a belt wheel 2215, the guide rail 2213 is disposed above the support beam 16 through a guide rail support, the support beams 16 on both sides of the main machine tool 1 are both provided with guide rails 2213, the guide rail 2213 is slidably connected with the slider 2214 disposed above, the slider 2214 is fixedly connected with a bearing support 2216 disposed above, and the lower end of each bearing support 2216 is provided with two sliders 2214 slidably connected with the guide rail 2213. A roller screw 2221 is arranged between the bearing supports 2216 arranged on the two sides, the bearing supports 2216 are used for installing bearings matched with the roller screw 2221 and a servo motor, and holes matched with the sliding block-bearing support connecting plates are formed in the bearing supports 2216; be provided with belt 2212 along the length direction of cradling piece 16, the both ends of belt 2212 are provided with band pulley 2215, and band pulley 2215 rotates under the drive of motor, and then drives automatic unloader 2 and realizes that the horizontal direction removes along guide rail 2213.

In this embodiment, the roller screw 2221 is driven by a servo motor 2211, a ram 2222 is connected to the roller screw 2221, the ram 2222 is used for establishing a transmission connection relationship between the horizontal Y-axis direction and the vertical Z-axis direction of the automatic loading and unloading device 2, a roller screw pair 2223 and an aperture matched with a polished rod are installed at the upper end of the ram 2222, so that transmission motion in the horizontal Y-axis direction is realized, and the ram 2222 can move left and right along the roller screw 2221, so as to drive the lower grabbing unit 21 to move left and right.

Further, as shown in fig. 7, in this embodiment, the lower end of the ram 2222 is connected to a transmission cylinder 2231, the bottom of the transmission cylinder 2231 is connected to a transmission cylinder piston rod 2232, the transmission cylinder piston rod 2232 is fixedly connected to a cylinder connecting plate 2233 at the lower portion, the cylinder connecting plate 2233 is fixedly connected to the mounting plate 23 at the lower end, and the bottom end of the cylinder is connected to the grabbing unit 21 through the cylinder connecting plate 2233, so as to realize the designated action of the automatic loading and unloading device in the vertical direction.

As shown in fig. 4, in this embodiment, the positioning nail mounting mechanism 3 is provided with an automatic nailing mechanism and an automatic nail feeding mechanism, the automatic nailing mechanism is provided with an electric screwdriver 31, an air cylinder 32 and a linear guide rail mechanism 33, the automatic nailing mechanism is driven by the air cylinder 32 to drive the electric screwdriver 31 to move along the linear guide rail mechanism 33 to complete the positioning nail mounting action, and the air cylinder 32 drives the electric screwdriver 31 to act to replace manual nailing, so as to realize the automatic production of the nailing process. The cylinder 32 is connected to the screwdriver fixing plate through the cylinder mounting plate 34, the linear guide rail mechanism is provided with a linear guide rail and a sliding block, the linear guide rail is arranged on the screwdriver fixing plate, the screwdriver 31 is connected with the sliding block through the screwdriver support 35 and can slide up and down along the linear guide rail mechanism 33, and the lower end of the cylinder 32 is connected with the screwdriver support 35.

Furthermore, the automatic nail feeding mechanism is provided with a screw pushing block 36, a conveyor body 37 and a screw runner groove 38, and the automatic nail loading mechanism and the automatic nail feeding mechanism are connected through the electric screwdriver support 35. The automatic screw feeding mechanism is fixed with the screwdriver 31 through a screwdriver support 35 and a screw pushing block 36, and a positioning screw is conveyed for the binding mechanism through a screw runner groove 38; one end of the electric screwdriver support 35 is sleeved at the bottom of the electric screwdriver 31, and the other end of the electric screwdriver support is connected with a heat release rubber ring sleeve groove.

The working principle of the automatic nail feeding mechanism is as follows: after the positioning nails are poured into the screw cabin of the machine body, the positioning nails are driven to enter the screw flow channel groove 38 from the conveyor body 37 by the up-and-down action of the pushing screw block 36, the preparation work of the positioning nails is completed, the tail end of the flow channel groove 38 is provided with a pause switch, the positioning nails are in a closed state before the initial feeding action of the positioning nails is completed, and the pause switch of the screws is opened when the installation action of the positioning nails is ready to start. Through adopting the scheme that automatic binding mechanism and automatic nail feeding mechanism combined together, realized the automation of location nail installation, improved the processing yields, improved engineering work efficiency.

As shown in fig. 5, in this embodiment, the embedded part mounting mechanism 4 is provided with a material tray 41 and an electric clamping jaw 42, the material tray 41 is convenient for the embedded part to be grabbed and mounted, the electric clamping jaw 42 includes a clamping jaw main body 421 and clamping jaw fingers 422, the clamping jaw main body 421 is provided with a guiding structure, a motion transmission structure, a gear reducer, a driving motor, and a force feedback mechanism, wherein the force feedback mechanism is provided with a micro-displacement measuring device, and a hall sensor is used for micro-displacement measurement. The bottom of clamping jaw main part 421 is provided with the guide rail recess, can cooperate with clamping jaw finger 422, and clamping jaw finger 422 is connected with clamping jaw main part 421 through the guide rail recess, thereby three clamping jaw finger 422 all can inwards, outwards slide simultaneously along the guide rail and realize burying the flexible of piece and snatch and relax the action.

Furthermore, in this embodiment, a side surface of the finger 422 of the clamping jaw is provided with a structure matching with the groove of the guide rail at the bottom of the clamping jaw main body 421, and the structure can match with the guide rail on the electric clamping jaw, so as to realize the actions of clamping and loosening the embedded part. The embedded part mounting mechanism 4 adopts an electric clamping jaw 42 with force feedback to replace a pneumatic clamping jaw to serve as a manipulator tail end device, so that the processing equipment can flexibly grab embedded parts of different types and specifications according to requirements.

As shown in fig. 2 and 9, in this embodiment, the structural plate gluing mechanism 5 is provided with a gluing gun 51, a glue supply system and a control system, the gluing gun 51 is provided with a gluing nozzle, a welding glue rod and a glue gun, the gluing nozzle is connected with the glue gun through the welding glue rod, the glue gun is mounted on a pillow base plate of a lower ram mechanism of the main machine tool 1 through a glue gun base and a glue gun pressing plate, and the glue gun is provided with a duct of a hose connected with the glue supply system; the glue supply system is provided with a glue conveying pump 52 and a glue container 53, the glue conveying pump 52 is connected with the glue gun through a connecting hose 54, the glue conveying pump 52 is provided with a discharge port, a suction port, a screw shaft, a motor, a transmission shaft and a base, the glue container 53 is used for containing glue, and the glue container 53 is connected with the glue conveying pump 52 through a glue conveying pipe.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. The satellite structure plate embedded part mounting equipment is provided with a main machine tool and an automatic loading and unloading device, and is characterized in that the main machine tool is connected with a quick positioning device, the main machine tool is provided with a machine tool body, a cross beam structure and a ram sliding seat structure, the ram sliding seat structure is arranged on the cross beam structure, and the ram sliding seat structure comprises a sliding seat structure and a ram structure; the automatic loading and unloading device is provided with a grabbing unit and a transmission unit, the grabbing unit is provided with a supporting plate, a thin cylinder and a linear bearing, the thin cylinder is supported by a thin cylinder mounting plate, the linear bearing is arranged on two sides of the thin cylinder mounting plate, the supporting plate is connected to a supporting plate connecting plate through a supporting plate fixing plate, the main machine tool is driven to operate through a main machine tool transmission mechanism, and the automatic loading and unloading device is driven through the transmission unit; the mounting equipment is also provided with a positioning nail mounting mechanism, an embedded part mounting mechanism and a structural slab gluing mechanism, wherein the positioning nail mounting mechanism is provided with an automatic nail mounting mechanism and an automatic nail feeding mechanism, the embedded part mounting mechanism is provided with a material tray and an electric clamping jaw, and the structural slab gluing mechanism is provided with a gluing gun, a glue supply system and a control system.

2. The satellite structural slab embedded part installation equipment as claimed in claim 1, wherein the main machine tool adopts a movable beam type gantry structure, the machine tool body is provided with a top beam, a support beam and a column structure, connecting plates are arranged at the connection positions of the beams, and the beam structure is provided with a roller screw assembly, a polish rod assembly, a beam and a beam connecting plate; the sliding seat structure is provided with a second roller screw assembly, a second polished rod assembly and a second connecting plate, and the ram structure is provided with a third roller screw assembly, a third polished rod assembly and a ram connecting plate.

3. The satellite structure plate embedded part installation equipment as claimed in claim 1, wherein the quick positioning device is provided with three movable supporting structures and three positioning blocks, and the side surface of the upper half part of the movable supporting structure is provided with a guide groove matched and connected with the positioning blocks.

4. The satellite structure plate embedded part mounting device as claimed in claim 1, wherein the lower part of the supporting plate connecting plate is provided with three grooves matched with the supporting plate fixing plate, the upper part of the supporting plate connecting plate is provided with a clearance hole matched with the thin cylinder, two side surfaces of the supporting plate connecting plate are provided with screw holes matched with the optical axis, and the linear bearing is connected with the optical axis through a linear bearing mounting seat.

5. The satellite structural slab embedded part installation equipment as claimed in claim 1, wherein the main machine tool transmission mechanism is provided with an X-direction transmission mechanism, a Y-direction transmission mechanism and a Z-direction transmission mechanism, and the main machine tool transmission mechanism adopts roller wire transmission; the transmission unit is provided with an X-direction belt transmission mechanism, a Y-direction roller screw transmission mechanism and a Z-direction cylinder transmission mechanism.

6. The satellite structure plate embedded part installation device as claimed in claim 1, wherein the automatic binding mechanism is provided with an electric screwdriver, a cylinder and a linear guide rail mechanism, the automatic binding mechanism is driven by the cylinder to drive the electric screwdriver to move along the linear guide rail mechanism, the cylinder is connected to a screwdriver fixing plate through a cylinder mounting plate, the linear guide rail mechanism is provided with a linear guide rail and a sliding block, the linear guide rail is arranged on the screwdriver fixing plate, the electric screwdriver is connected with the sliding block through an electric screwdriver support, and the lower end of the cylinder is connected with the electric screwdriver support.

7. The satellite structural panel embedded part installation equipment according to claim 6, wherein the automatic nail feeding mechanism is provided with a screw pushing block, a conveyor body, a screwdriver bracket and a screw runner groove, and the automatic nailing mechanism and the automatic nail feeding mechanism are connected through the screwdriver bracket.

8. The satellite structure plate embedded part installation equipment as claimed in claim 1, wherein the electric clamping jaw comprises a clamping jaw main body and clamping jaw fingers, the clamping jaw main body is provided with a guide structure, a motion transmission structure, a driving motor and a force feedback mechanism, the bottom of the clamping jaw main body is provided with a guide rail groove, and the clamping jaw fingers are connected with the clamping jaw main body through the guide rail groove.

9. The satellite structure plate embedded part installation equipment as claimed in claim 1, wherein the glue gun is provided with a glue spraying nozzle, a welding glue rod and a glue gun, the glue spraying nozzle is connected with the glue gun through the welding glue rod, the glue gun is installed on a lower slide pillow mechanism of a main machine tool through a glue gun seat and a glue gun pressing plate, and the glue gun is provided with a pore channel connected with the glue supply system.

10. The satellite structure plate embedded part installation equipment as claimed in claim 9, wherein the glue supply system is provided with a glue delivery pump, the glue delivery pump is connected with the glue gun through a connecting hose, and the glue delivery pump is provided with a discharge port, a suction port, a screw shaft, a motor and a base.