CN215942731U - Satellite assembly assembling clamp and carrying robot - Google Patents
Satellite assembly assembling clamp and carrying robot Download PDFInfo
- Publication number
- CN215942731U CN215942731U CN202122493167.4U CN202122493167U CN215942731U CN 215942731 U CN215942731 U CN 215942731U CN 202122493167 U CN202122493167 U CN 202122493167U CN 215942731 U CN215942731 U CN 215942731U
- Authority
- CN
- China
- Prior art keywords
- clamping
- inclined plane
- satellite
- assembly
- adsorption
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001179 sorption measurement Methods 0.000 claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 230000000712 assembly Effects 0.000 claims abstract description 7
- 238000000429 assembly Methods 0.000 claims abstract description 7
- 238000012546 transfer Methods 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a satellite assembly assembling clamp and a carrying robot, and relates to the technical field of clamping tools, wherein the satellite assembly assembling clamp comprises: a mounting seat; the clamping mechanisms are used for clamping the solar wing bracket, and two clamping mechanisms are arranged on the mounting seat at intervals; the four inclined plane adsorption assemblies are symmetrically arranged on two opposite sides of the clamping mechanism; drive actuating cylinder, it locates to drive actuating cylinder the mount pad, drive actuating cylinder have four and with inclined plane adsorption component one-to-one, it has the piston rod to drive actuating cylinder, inclined plane adsorption component with the piston rod is connected. This satellite assembly attaches together anchor clamps and improves assembly precision and assembly efficiency.
Description
Technical Field
The utility model relates to the technical field of clamping tools, in particular to a satellite assembling and assembling clamp and a transfer robot applying the same.
Background
The satellite assembling process includes several steps, one of which is to assemble the + Y board and the-Y board onto the X board separately and to arrange solar wing supports separately on the + Y board and the-Y board in opposite positions.
At present, the satellite assembling is manually operated, and due to the size problem of the satellite, multiple persons are required to cooperate to complete the procedures of position alignment, precision measurement, adjustment and cooperation, locking and fixing, process review and the like, so that the technical problems of poor precision and low efficiency exist.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to provide a satellite assembly and assembly clamp, and aims to provide a satellite assembly and assembly clamp capable of improving assembly precision and assembly efficiency.
In order to achieve the above object, the present invention provides a fixture for assembling a satellite, which is used for automated assembly of a satellite, and comprises:
a mounting seat;
the clamping mechanisms are used for clamping the solar wing bracket, and two clamping mechanisms are arranged on the mounting seat at intervals;
the four inclined plane adsorption assemblies are symmetrically arranged on two opposite sides of the clamping mechanism;
drive actuating cylinder, it locates to drive actuating cylinder the mount pad, drive actuating cylinder have four and with inclined plane adsorption component one-to-one, it has the piston rod to drive actuating cylinder, inclined plane adsorption component with the piston rod is connected.
Optionally, the clamping mechanism comprises:
the pneumatic clamping jaw comprises a cylinder body and two oppositely arranged clamping fingers, and the cylinder body drives the two clamping fingers to move oppositely or move back to back;
the clamping parts are used for clamping the solar wing bracket, and the two clamping parts are correspondingly arranged on the clamping fingers.
Optionally, one side of the clamping portion for clamping the solar wing support is defined as a clamping surface, and the clamping surface is provided with an anti-skid rubber mat.
Optionally, the clamping surface is provided with a positioning portion, and an end surface of the positioning portion protrudes out of the surface of the anti-slip rubber mat.
Optionally, fixture still includes the locating part, the locating part has two and corresponds and locates the clamping part, the locating part is including connecting rod and the spacing portion that is connected, the connecting rod is located the clamping part, spacing portion is located the one end of connecting rod just is located two between the clamping part, two spacing portion butt is in order to realize the spacing of clamping part.
Optionally, the bevel adsorption assembly comprises:
the fixed block is connected with the piston rod;
the inclined plane is inhaled the piece, the inclined plane is inhaled the piece and is located the fixed block is kept away from one side of piston rod, the inclined plane is inhaled the piece and is had with sun wing support complex inclined plane, the inclined plane is the adsorption plane, the vacuum chamber has been seted up on the inclined plane, vacuum chamber intercommunication vacuum generator.
Optionally, the adsorption surface is provided with an annular groove, and the annular groove is provided with a sealing ring.
Optionally, the mounting base is provided with four cylinder mounting bases, and the four driving cylinders are correspondingly arranged on the cylinder mounting bases.
Optionally, the satellite assembly jig further includes a quick-change tool master, and the quick-change tool master is provided on the mounting seat.
The utility model also provides a transfer robot, which comprises the satellite assembling and assembling clamp.
The technical scheme includes that the solar wing bracket clamping device comprises a mounting seat, a clamping mechanism used for clamping a solar wing bracket, inclined plane adsorption components used for supporting the solar wing bracket and driving cylinders, two clamping mechanisms are arranged on the mounting seat at intervals, four inclined plane adsorption components are symmetrically arranged on two opposite sides of the clamping mechanism, the driving cylinders are arranged on the mounting seat and correspond to the inclined plane adsorption components one by one, each driving cylinder is provided with a piston rod, and the inclined plane adsorption components are connected with the piston rods.
Drawings
FIG. 1 is a schematic structural view of an embodiment of a satellite assembly jig of the present invention;
FIG. 2 is a schematic structural view of a bevel adsorption assembly according to the present invention;
the reference numbers illustrate:
the satellite assembly jig 100; a mounting seat 10; a cylinder mount 11; a clamping mechanism 20; a pneumatic jaw 21; a clamping portion 22; an anti-slip rubber pad 221; a positioning portion 222; a stopper 23; a connecting rod 231; a stopper 232; a bevel adsorption component 30; a fixed block 31; a slant suction block 32; a vacuum chamber 321; a seal ring 322; a drive cylinder 40; the tool master 50 is quickly replaced.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides a satellite assembly and assembly clamp 100, which is used for automatic assembly of a satellite, in particular to clamping a + Y plate and a-Y plate, wherein the satellite assembly and assembly clamp 100 is arranged at the tail end of an industrial robot to form a carrying robot for carrying the + Y plate and the-Y plate, the + Y plate and the-Y plate are carried to the appointed position of an X plate and matched with another robot responsible for locking screws to jointly complete the assembly of the + Y plate and the-Y plate.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
In an embodiment of the present invention, as shown in fig. 1, the satellite assembly jig 100 includes a mounting base 10, a clamping mechanism 20, a bevel adsorption assembly 30 and a driving cylinder 40, wherein the clamping mechanism 20 is used for clamping the solar wing support, and two clamping mechanisms 20 are arranged at an interval on the mounting base 10; the inclined plane adsorption assemblies 30 are used for supporting the solar wing bracket, and four inclined plane adsorption assemblies 30 are symmetrically arranged at two opposite sides of the clamping mechanism 20; drive cylinder 40 locates mount pad 10, and drive cylinder 40 has four and with inclined plane adsorption component 30 one-to-one, drives cylinder 40 and has the piston rod, and inclined plane adsorption component 30 is connected with the piston rod.
It can be understood that two solar wing supports are respectively arranged on the + Y plate or the-Y plate, the two solar wing supports are spaced at a certain distance, and the positions of the solar wing supports on the two plates are opposite, the solar wing supports have inclined planes, the inclined planes are arranged at an angle with the surface of the + Y plate or the surface of the-Y plate, therefore, two clamping mechanisms 20 are respectively arranged for clamping the solar wing supports, in order to ensure the safety in the transportation process, the satellite assembling and assembling clamp 100 clamps the inclined planes of the solar wing supports at the same time of clamping, and also clamps the inclined planes of the solar wing supports through the inclined plane adsorption components 30, because the number of the solar wing supports is two and the positions of the solar wing supports on the two plates are opposite, two groups of inclined plane adsorption components 30 are arranged, each group of inclined plane adsorption components 30 is symmetrically arranged on two sides of the clamping mechanism 20, when clamping and transporting are performed, the inclined plane adsorption assembly 30 on the same side is in the same state, namely, the side needing adsorption, the driving air cylinder 40 extends to enable the inclined plane adsorption assembly 30 to be close to and adsorb an inclined plane, and the inclined plane adsorption assembly 30 on the other side is in a retraction position under the driving of the driving air cylinder 40 to avoid interference.
The technical scheme of the utility model comprises an installation seat 10, a clamping mechanism 20 for clamping the solar wing bracket, inclined plane adsorption components 30 for supporting the solar wing bracket and a driving air cylinder 40, wherein two clamping mechanisms 20 are arranged on the installation seat 10 at intervals, four inclined plane adsorption components 30 are arranged, and symmetrically arranged at two opposite sides of the clamping mechanism 20, driving cylinders 40 are arranged on the mounting base 10, four driving cylinders 40 are provided and correspond to the inclined plane adsorption assemblies 30 one by one, the driving cylinders 40 are provided with piston rods, the inclined plane adsorption assemblies 30 are connected with the piston rods, because the technical means that the clamping mechanism 20 clamps the solar wing bracket and the inclined plane adsorption component 30 adsorbs the solar wing bracket is adopted, therefore, the technical problems of low precision and low efficiency in manual operation in the prior art are effectively solved, and the technical effects of improving the assembly precision and the assembly efficiency are further realized.
In the embodiment of the present invention, as shown in fig. 1, the clamping mechanism 20 includes a pneumatic clamping jaw 21 and a clamping portion 22, wherein the pneumatic clamping jaw 21 includes a cylinder and two oppositely disposed clamping fingers, and the cylinder drives the two clamping fingers to move towards each other or move away from each other; the clamping part 22 is used for clamping the solar wing bracket, and two clamping parts 22 are correspondingly arranged on the clamping fingers. It will be appreciated that the cylinder drives the two clamping fingers towards each other to clamp the two clamping portions 22 close to the solar wing support and the cylinder drives the two clamping fingers away from each other to unclamp the two clamping portions 22 away from the solar wing support.
In the embodiment of the present invention, as shown in fig. 1, one side of the clamping portion 22 for clamping the solar wing support is defined as a clamping surface, and as shown in fig. 1, the clamping surface is provided with an anti-slip rubber pad 221. The anti-slip rubber mat 221 plays a role in buffering, increasing friction force and protecting the solar wing support.
In the embodiment of the present invention, as shown in fig. 1, the clamping surface is provided with a positioning portion 222, and an end surface of the positioning portion 222 protrudes out of the surface of the anti-skid rubber pad 221. The clamped side of the solar wing support is defined as a clamped surface, a positioning hole is formed in the clamped surface, the positioning part 222 is matched with the positioning hole in the solar wing support to realize positioning, the anti-skid rubber pad 221 is in contact with the clamped surface, and the two clamping fingers are driven by the cylinder body to move in opposite directions so that the solar wing support is clamped.
In an embodiment of the present invention, as shown in fig. 1, the clamping mechanism 20 further includes two limiting members 23, two of the limiting members 23 are correspondingly disposed on the clamping portion 22, the limiting member 23 includes a connecting rod 231 and a limiting portion 232 connected to each other, the connecting rod 231 is disposed on the clamping portion 22, the limiting portion 232 is disposed at one end of the connecting rod 231 and is located between the two clamping portions 22, and the two limiting portions 232 are abutted to realize the limiting of the clamping portion 22. The limiting member 23 is to prevent the solar wing support from being damaged by clamping, and when the cylinder drives the two clamping fingers to move towards each other, the two clamping portions 22 are made to approach each other until the two limiting portions 232 contact each other, that is, the distance between the two clamping portions 22 is the minimum distance.
In an embodiment of the present invention, as shown in fig. 1 and 2, the inclined plane adsorption assembly 30 includes a fixed block and an inclined plane adsorption block 32, wherein the fixed block is connected with the piston rod; the inclined plane suction block 32 is arranged on one side, far away from the piston rod, of the fixing block, the inclined plane suction block 32 is provided with an inclined plane matched with the solar wing support, the inclined plane is an adsorption plane, a vacuum chamber 321 is formed in the inclined plane, and the vacuum chamber 321 is communicated with a vacuum generator. The utility model adopts a vacuum adsorption mode to adsorb the inclined plane of the solar wing bracket.
In the embodiment of the present invention, as shown in fig. 2, the adsorption surface is provided with an annular groove, and the annular groove is provided with a sealing ring 322. The sealing ring 322 is installed to ensure the vacuum degree and improve the adsorption effect.
In the embodiment of the present invention, as shown in fig. 1, the mounting seat 10 is provided with four cylinder mounting seats 11, and four driving cylinders 40 are correspondingly provided on the cylinder mounting seats 11.
In an embodiment of the present invention, as shown in fig. 1, the satellite assembly fixture 100 further comprises a quick-change tool master 50, and the quick-change tool master 50 is provided on the mount 10. The industrial robot is provided with a quick-change tool male disc matched with the industrial robot, the carrying robot is formed by assembling, and the industrial robot is matched with another robot which is responsible for locking screws to jointly complete the assembly of the + Y plate and the-Y plate.
The present invention further provides a transfer robot (not shown in the figures), the transfer robot includes a satellite assembly assembling jig 100, the specific structure of the satellite assembly assembling jig 100 refers to the above embodiments, and since the transfer robot adopts all technical solutions of all the above embodiments, the transfer robot at least has all beneficial effects brought by the technical solutions of the above embodiments, and details are not repeated herein.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a satellite assembly attaches together anchor clamps for the automatic assembly of satellite, its characterized in that, satellite assembly attaches together anchor clamps and includes:
a mounting seat;
the clamping mechanisms are used for clamping the solar wing bracket, and two clamping mechanisms are arranged on the mounting seat at intervals;
the four inclined plane adsorption assemblies are symmetrically arranged on two opposite sides of the clamping mechanism;
drive actuating cylinder, it locates to drive actuating cylinder the mount pad, drive actuating cylinder have four and with inclined plane adsorption component one-to-one, it has the piston rod to drive actuating cylinder, inclined plane adsorption component with the piston rod is connected.
2. The satellite assembly fit holder of claim 1, wherein the clamping mechanism comprises:
the pneumatic clamping jaw comprises a cylinder body and two oppositely arranged clamping fingers, and the cylinder body drives the two clamping fingers to move oppositely or move back to back;
the clamping parts are used for clamping the solar wing bracket, and the two clamping parts are correspondingly arranged on the clamping fingers.
3. The satellite assembly jig according to claim 2, wherein a side of the holding portion for holding the solar wing support is defined as a holding surface provided with an anti-slip rubber mat.
4. The satellite assembly jig according to claim 3, wherein the clamping surface is provided with a positioning portion, and an end surface of the positioning portion protrudes from a surface of the non-slip rubber mat.
5. The satellite assembling jig according to claim 2, wherein the clamping mechanism further comprises two limiting members, the two limiting members are correspondingly disposed on the clamping portions, the limiting members comprise a connecting rod and a limiting portion, the connecting rod is disposed on the clamping portions, the limiting portion is disposed at one end of the connecting rod and is located between the two clamping portions, and the two limiting portions are abutted to limit the clamping portions.
6. The satellite assembly clamp of claim 1, wherein the bevel adsorption assembly comprises:
the fixed block is connected with the piston rod;
the inclined plane is inhaled the piece, the inclined plane is inhaled the piece and is located the fixed block is kept away from one side of piston rod, the inclined plane is inhaled the piece and is had with sun wing support complex inclined plane, the inclined plane is the adsorption plane, the vacuum chamber has been seted up on the inclined plane, vacuum chamber intercommunication vacuum generator.
7. The satellite assembly jig of claim 6, wherein the adsorption surface defines an annular groove, and the annular groove defines a sealing ring.
8. The satellite assembly jig of any one of claims 1 to 7, wherein the mount is provided with four cylinder mounts, and four of the driving cylinders are provided correspondingly to the cylinder mounts.
9. The satellite sub-assembly fixture of any one of claims 1 to 7, further comprising a quick-change tool master, the quick-change tool master being provided to the mount.
10. A transfer robot, characterized in that it comprises a satellite assembly jig according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122493167.4U CN215942731U (en) | 2021-10-15 | 2021-10-15 | Satellite assembly assembling clamp and carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122493167.4U CN215942731U (en) | 2021-10-15 | 2021-10-15 | Satellite assembly assembling clamp and carrying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215942731U true CN215942731U (en) | 2022-03-04 |
Family
ID=80412867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122493167.4U Active CN215942731U (en) | 2021-10-15 | 2021-10-15 | Satellite assembly assembling clamp and carrying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215942731U (en) |
-
2021
- 2021-10-15 CN CN202122493167.4U patent/CN215942731U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1518784A3 (en) | Automotive vehicle framing system | |
| EP1764291A3 (en) | Automotive vehicle framing system | |
| CN215942731U (en) | Satellite assembly assembling clamp and carrying robot | |
| CN115026569B (en) | Electronic expansion valve assembling equipment | |
| CN116759370A (en) | Die bonding device and die bonding equipment | |
| CN217667175U (en) | Laser cutting machine | |
| CN210878742U (en) | Cylinder fixture | |
| CN216398539U (en) | Simple and convenient type automobile side wall inner plate welding fixture | |
| CN215665870U (en) | Part picking mechanism and part processing detection device | |
| CN115401488A (en) | Flexible machining center clamp for rough milling of axle housing flange surface | |
| CN212600283U (en) | Knuckle service part adds clamping apparatus | |
| CN212496615U (en) | Double-positioning clamping tool for special-shaped parts of automobile | |
| CN213259521U (en) | Robot is got to pipe fitting class clamping jaw and pipe fitting class clamp | |
| CN112621154B (en) | Assembling equipment | |
| CN208929556U (en) | A kind of back-plate group is to tooling | |
| CN111672665B (en) | Car light transfer device | |
| CN216577900U (en) | Multifunctional clamp and robot | |
| CN217045125U (en) | Vehicle front floor fixing device and vehicle production line | |
| CN209773811U (en) | Assembly welding clamp for end cover of piston rod of oil pressure shock absorber for high-speed motor car | |
| CN214010306U (en) | Laser emission device for drum test getting-on centering | |
| CN113020781A (en) | Welding equipment | |
| CN216299342U (en) | Manipulator and multi-claw clamp thereof | |
| CN110814693A (en) | Lamp bracket assembling equipment | |
| CN211889990U (en) | General CNC machining positioning fixture | |
| CN213916997U (en) | Automatic assembling robot for automobile model |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231222 Address after: 518000 Office Area 228, Second Floor, Xinghe Lingchuang Tianxia Phase II, Nankeng Community, Bantian Street, Longgang District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Magic Cube Satellite Technology Co.,Ltd. Address before: 528313 No. 110-114, 137 and 138, first floor, building 24, Shunlian Machinery City, Xingye 4th Road, Guanglong Industrial Park, Chihua community neighborhood committee, Chencun Town, Shunde District, Foshan City, Guangdong Province Patentee before: GUANGDONG EVOLUT ROBOTICS Co.,Ltd. |