CN111230474B - Assembling device, parallel assembling equipment and assembling method for microsatellite - Google Patents
Assembling device, parallel assembling equipment and assembling method for microsatellite Download PDFInfo
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- CN111230474B CN111230474B CN202010024881.6A CN202010024881A CN111230474B CN 111230474 B CN111230474 B CN 111230474B CN 202010024881 A CN202010024881 A CN 202010024881A CN 111230474 B CN111230474 B CN 111230474B
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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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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Abstract
The embodiment of the invention discloses a device, parallel assembly equipment and a method for assembling a microsatellite, wherein the device comprises a base, wherein the base is provided with a plurality of groups of first series of holes, and each group of first series of holes are arranged from the vicinity of the center of the base to the edge of the base; a plurality of stop rods adapted to assemble a plurality of parts into a cabin section; a plurality of curb rails adapted to assemble a plurality of bunkers into the microsatellite; wherein each of the plurality of position limiting rods or each of the plurality of position limiting guide rails can be fixed to the base through different holes in a set of first series of holes to adjust a distance of each of the plurality of position limiting rods or each of the plurality of position limiting guide rails with respect to a center of the base, thereby adapting the plurality of position limiting rods or the plurality of position limiting guide rails to a size of the microsatellite.
Description
Technical Field
The invention relates to the field of microsatellites, in particular to an assembling device, parallel assembling equipment and an assembling method of a microsatellite.
Background
Low cost, large scale cluster application, fast emergency response microsatellites will be on the peak in coming applications in the next few years. However, the traditional customized-based single-satellite assembly model has not been able to meet the requirement of mass, fast, and low-cost assembly of microsatellites. In the field of satellite assembly, the assembly of the current microsatellite continues to use an assembly system of a large satellite, the efficiency is low, the specialization degree is poor, and the assembly requirements of the microsatellites, especially mass microsatellites, cannot be met. Therefore, a specialized assembly platform for assembling the mass microsatellites needs to be developed to form a specialized assembly method suitable for the requirement of assembling the mass microsatellites.
Disclosure of Invention
In order to solve the above technical problems, embodiments of the present invention are directed to providing an assembly apparatus, a parallel assembly device, and an assembly method for a microsatellite, which meet the requirement of mass, fast, and low-cost assembly of microsatellites.
The technical scheme of the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides an assembly apparatus for a microsatellite, including:
a base having a plurality of sets of a first series of apertures, each set of the first series of apertures aligned from near a center of the base toward an edge of the base;
a plurality of stop rods adapted to assemble a plurality of parts into a cabin section;
a plurality of curb rails adapted to assemble a plurality of bunkers into the microsatellite;
wherein each of the plurality of position limiting rods and each of the plurality of position limiting guide rails can be fixed to the base through different holes in a set of first series of holes to adjust a distance between each of the plurality of position limiting rods and each of the plurality of position limiting guide rails with respect to a center of the base, thereby adapting the plurality of position limiting rods and the plurality of position limiting guide rails to a size of the microsatellite.
In a second aspect, an embodiment of the present invention provides a parallel assembling apparatus for microsatellites, including:
a plurality of apparatus according to the first aspect;
an assembly platform for mounting the plurality of devices according to the first aspect.
In a third aspect, an embodiment of the present invention provides a method for assembling a microsatellite by using the apparatus according to the first aspect, the method comprising:
fixing a plurality of limit rods to the base in a manner of adapting to the size of the microsatellite;
respectively penetrating a plurality of hollow main bearing beams of a single cabin section of the microsatellite through the plurality of limiting rods, and assembling other parts of the cabin section by taking the plurality of hollow main bearing beams as a basis until the cabin section is assembled and removed from the plurality of limiting rods;
repeating the steps until all cabin sections of the microsatellite are assembled;
removing the plurality of stopper rods from the base and fixing a plurality of stopper rails to the base in a manner adapted to the size of the microsatellite;
superposing all cabin segments of the microsatellite into a space defined by the plurality of limit guide rails in sequence, so that the hollow main bearing beams of each cabin segment are superposed together to form a plurality of channels corresponding to the plurality of hollow main bearing beams of a single cabin segment;
passing a plurality of deck section connecting rods through the plurality of channels, respectively.
The embodiment of the invention provides a microsatellite assembling device, parallel assembling equipment and an assembling method, wherein the assembling device is suitable for a plurality of limiting rods for assembling a plurality of parts into cabin sections and a plurality of limiting guide rails for assembling a plurality of cabin sections into the microsatellite can be adjusted to adapt to the size of the microsatellite, so that the rapid single satellite assembling of the microsatellites with various sizes is realized, and the assembling equipment comprising a plurality of assembling devices can meet the requirements of mass, rapid and low-cost assembling of the microsatellites.
Drawings
Fig. 1 is a schematic view of an assembling apparatus for a microsatellite according to an embodiment of the present invention, wherein a first assembling mode with a stop lever is shown;
FIG. 2 is a schematic view of an assembly device for a microsatellite according to an embodiment of the present invention, wherein a second assembly mode with a position limiting rail is shown;
FIG. 3 is a schematic view of a base according to an embodiment of the present invention;
FIG. 4 is a schematic view of a stop lever according to an embodiment of the present invention;
FIG. 5 is a schematic view of a curb rail according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the components of a lifter provided in accordance with an embodiment of the present invention;
FIG. 7 is a schematic view of a work table, a supporting mechanism, and a lifting mechanism according to an embodiment of the present invention;
FIG. 8 is a schematic view of a workbench according to an embodiment of the present invention;
FIG. 9 is a schematic view of a support mechanism according to an embodiment of the present invention;
FIG. 10 is a schematic view of a lifting mechanism according to an embodiment of the present invention;
FIG. 11 is a schematic view of an assembly apparatus for a microsatellite according to an embodiment of the present invention;
fig. 12 is a schematic diagram illustrating an assembling method of a microsatellite according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
In general, a microsatellite may comprise a plurality of sections, each of which may be, for example, in the shape of a prism such as a quadrangular prism, a hexagonal prism, etc., and each of which may be composed of a plurality of parts. Among the parts making up the cabin section, the main messenger beam corresponding to the edges of the aforementioned quadrangular or hexagonal prism is hollow, in other words, it comprises a through hole extending along its longitudinal axis. When a plurality of cabin sections are superposed together, the through holes of the main bearing beams of different cabin sections are also superposed together to form a channel, so that the cabin section connecting rods can pass through the formed channel.
Referring to fig. 1 to 3, an embodiment of the present invention provides an assembly apparatus 100 for a microsatellite, wherein the apparatus 100 includes:
a base 110 (see FIG. 3), the base 110 having a plurality of sets of first series of apertures O1, each set of first series of apertures O1 being aligned from near a center C of the base 110 toward an edge E of the base 110;
a plurality of spacing rods 120 (see fig. 1) adapted to assemble a plurality of parts into a cabin segment, wherein, in the process of assembling the plurality of parts into the cabin segment, the spacing rods 120 function in that a hollow main carrier beam as a component of the cabin segment can first pass through the spacing rods 120, thereby securing the main carrier beam to the spacing rods 120, and then the remaining components of the cabin segment can be assembled on the main carrier beam that has been secured to the spacing rods 120;
a plurality of limit rails 130 (see fig. 2) adapted to assemble a plurality of capsule segments into the microsatellite, wherein the plurality of capsule segments can be sequentially stacked into a space defined by the plurality of limit rails 130 during the process of assembling the plurality of capsule segments into the whole satellite, thereby reducing assembly errors, and hollow main messenger beams as capsule segment components are also stacked together through the stacking of the plurality of capsule segments, so that holes in the hollow main messenger beams form a continuous passage for capsule segment connecting rods to pass through;
wherein each of the plurality of position limiting rods 120 and each of the plurality of position limiting guide rails 130 can be fixed to the base 110 through different holes of a set of first series of holes O1 to adjust the distance between each of the plurality of position limiting rods 120 and each of the plurality of position limiting guide rails 130 with respect to the center C of the base 110, thereby adapting the plurality of position limiting rods 120 and the plurality of position limiting guide rails 130 to the size of the microsatellite. For example, the first series of holes O1 may be threaded holes, and the spacing rod 120 and the spacing rail 130 may be formed as bolts at one end to be screwed into the threaded holes.
In the case where the first series of holes O1 are threaded holes, in one implementation of the aforementioned stopper rod 120, referring to fig. 4, the stopper rod 120 has a threaded rod at the bottom and a positioning cylinder at the top, the diameter of the positioning cylinder being the same as that of the cabin segment connecting rod, and the positioning cylinder may be inserted into the main bearing beam first when installing a single cabin segment, thereby installing with reference to the positioning cylinder.
In one implementation of the curb rails 130 described above, with the first series of holes O1 being threaded holes, the curb rails 130 have a screw at the bottom and a rail portion at the top, see fig. 5. When the cabin sections of the satellite are integrated, the guide rail part can be used for preventing relative displacement between the cabin sections, and the cabin sections of the satellite can be conveniently connected through the cabin section connecting rods.
Therefore, the assembling device 100 for a microsatellite according to an embodiment of the present invention has two assembling modes, in the first assembling mode, the stopper rod 120 is fixed on the base 110, and the assembling device 100 is used for assembling a plurality of parts into a capsule, and in the second assembling mode, the stopper rail 130 is fixed on the base 110, and the assembling device 100 is used for assembling a plurality of capsule into a whole star.
Since the distance between the stopper rod 120 and the stopper rail 130 with respect to the center C of the base 110 can be adjusted, the device 100 can perform an assembly work for microsatellites having various typical specifications such as 200mm × 200mm, 250mm × 250mm, 300mm × 300mm, and 350mm × 350mm in length and width.
In a preferred embodiment of the present invention, referring to fig. 1 or 2, a lifting rod 140 having a variable length is installed between each of the plurality of stopper rods 120 and the base 110 and between each of the plurality of stopper rails 130 and the base 110. For example, one end of the lift pins 140 may be formed to be fitted with the first series of holes O1, and the other end may be formed with holes similar to the first series of holes O1, thereby being able to be installed between the stopper rod 120 and the stopper rail 130 and the base 110. The lifting rod 140 can adjust the installation height of the satellite, so that parts on the bottom surface of the satellite can be conveniently installed.
In one implementation of the lifting rod 140 described above, the lifting rod 140 may include a plurality of studs 140A as shown in fig. 6. One end of the stud 140A is formed with a threaded hole, and the other end is formed with a screw, whereby a plurality of studs 140A can be connected together in an end-to-end manner, and length variation of the lifter bar 140 can be achieved by connecting different numbers of studs 140A together. The height of a single stud may be 40 mm.
In a preferred embodiment of the present invention, referring to fig. 1 and 3, the base 110 further has a plurality of sets of second series of holes O2, each set of second series of holes O2 being aligned from near the edge E of the base 110 toward the center C of the base 110, and the apparatus 100 further comprises a plurality of work stations 150 (shown in fig. 1), each work station 150 being attached to a support mechanism 160, the support mechanism 160 being securable to the base 110 through different holes in a set of second series of holes O2 to adjust the distance of the support mechanism 160 and the work stations 150 attached to the support mechanism 160 relative to the center C of the base 110. For example, the second series of holes O2 may be threaded holes to which the support mechanism 160 may be secured with bolts. Thus, the work table 150 can be adjusted to a suitable position according to the specific size of the assembled satellite, facilitating the assembly of the satellite. In addition, because the plurality of operation platforms 150 are provided, the operation platforms 150 are arranged in the direction corresponding to each side face of the satellite, so that the single satellite can be conveniently installed by a plurality of people, the unnecessary cable length on the satellite is reduced, the installation process is simplified, the installation difficulty is reduced, and the occurrence of errors in the installation process is reduced.
In a preferred embodiment of the present invention, referring to fig. 1, each work table 150 is provided with a lifting mechanism 170 such that each work table 150 can be vertically moved along the support mechanism 160. Therefore, the operation platform 150 can be adjusted to a proper height according to requirements, and the installation of each part of the satellite and the detection of the single satellite can be conveniently carried out.
In a preferred embodiment of the present invention, referring to fig. 1 and 3, the lifting mechanism 170 is fixed to the base 110 through a third series of holes O3 disposed on the base 110. For example, the third series of holes O3 may also be threaded holes to which the lift mechanism 170 may be bolted.
Fig. 7 shows an implementation of combining the above-described work table 150, the support mechanism 160, and the lift mechanism 170.
With respect to the work table 150 in the above-described embodiment, referring to fig. 8, the left side of the work table 150 is slotted to facilitate connection with the lifting mechanism 170, for example, by bolts and nuts, and the work table 150 further includes a connection lug having a threaded hole to facilitate connection with the support mechanism 160, for example, by bolts and nuts. When the position of the supporting mechanism 160 relative to the center of the base is adjusted according to different satellite specifications, the operation table 150 moves along with the supporting mechanism 160, and the lifting mechanism 170 does not need to move through connection generated by a slotted hole in the left side of the operation table 150, so that the tooling complexity and the assembly difficulty are reduced.
With respect to the supporting mechanism 160 in the above implementation, referring to fig. 9, the lower end of the supporting mechanism 160 has four positioning holes for bolts to pass through and be fixed on the base 110, so as to ensure the stability of installation. The support mechanism 160 has two grooved vertical rails, so that the rails can be connected with the work table 150 through bolts and nuts, so as to assist in supporting and limiting the work table 150, and facilitate adjusting the height of the work table 150. Two vertical guide rails are connected through two cross beams, so that the limiting effect is improved, and the structural stability is enhanced. The distance between the two cross beams is convenient for assembling the satellite from the side surface, and provides space for the satellite components with the extended side surfaces, so that interference is avoided.
For the lifting mechanism 170 in the above implementation manner, referring to fig. 10, the main shaft is a lead screw, the turntable is connected with a worm, the worm and the lead screw are connected by a special-shaped structure, the outer side of the special-shaped structure is a worm wheel structure and is connected with the worm, the inner part of the special-shaped structure is a lead screw pair nut structure and is sleeved with the lead screw, and the up-and-down movement of the mechanism can be realized by rotating the turntable. The lifting mechanism 170 is connected to the work table 150 via a boss extending from the right side, and specifically, the boss has a threaded hole such that a bolt can pass through the threaded hole and through a slot formed in the left side of the work table 150.
In a preferred embodiment of the present invention, referring to fig. 3, a fourth series of holes O4 is further disposed on the base 110, the fourth series of holes O4 being used to secure the device 100. For example, the fourth series of holes O4 may be threaded holes, and the device 100 may be secured by bolts.
In a preferred embodiment of the present invention, referring to fig. 3, a fifth series of holes O5 are further disposed on the edge side of the base 110, and the fifth series of holes O5 may be, for example, screw holes, whereby grounding by bolts may be performed to prevent static electricity.
In a preferred embodiment of the present invention, all of the first, second, third, fourth and fifth series of holes O1, O2, O3, O4 and O5 are threaded holes of the same size, for example, M6 threaded holes, so that the screw can be engaged with bolts of the same size, thereby simplifying the assembly process and avoiding assembly errors.
In a preferred embodiment of the present invention, referring to fig. 3, a handle 110A is provided on the base 110 to facilitate movement of the device 100.
In a preferred embodiment of the present invention, referring to fig. 8, each of the plurality of work tables 150 includes a screw fixing sponge 150A and an interface process PCB board 150B. The screws with the accurate number required by the satellite can be placed on the screw fixing sponge 150A and placed in rows according to the specifications of the screws, so that the problem of mistaken installation in the assembling process is solved, and the micro parts are prevented from falling and losing. The universal 2.54mm and 2mm wide 5-pin, 8-pin, 10-pin, 12-pin, 20-pin and 52-pin interfaces are connected to the interface process PCB 150B, cables can be connected to the process board in the installation process, the difficulty of cable arrangement in the installation process is reduced, wiring is convenient, single-machine interfaces can be connected to the process board for marking when single machines are tested, then detection is carried out through the interfaces on the process board, centralized detection is conveniently carried out on the single machines of the satellite, the test interfaces are prevented from being arranged in the satellite, and adverse effects are caused on the mechanical characteristics of the whole satellite layout and structure.
Referring to fig. 11, an embodiment of the present invention further provides a parallel assembling apparatus 10 for a microsatellite S, where the apparatus 10 includes:
a plurality of devices 100 as described above;
an assembly platform 200, said assembly platform 200 being for mounting said plurality of devices 100 as described above.
Based on the parallel assembly equipment 10, multi-satellite parallel assembly of the microsatellite can be realized, and the requirements of mass, quick and low-cost assembly of the microsatellite are met.
Referring to fig. 12, an embodiment of the present invention further provides a method for assembling a microsatellite by using the apparatus 100 as described above, the method including:
s121: fixing a plurality of stopper rods 120 to the base 110 in a manner adapted to the size of the microsatellite;
s122: respectively penetrating a plurality of hollow main bearing beams of a single cabin section of the microsatellite through the plurality of limiting rods 120, and assembling the rest parts of the cabin section by taking the plurality of hollow main bearing beams as the basis until the cabin section is assembled and removed from the plurality of limiting rods 120;
s123: repeating the steps until all cabin sections of the microsatellite are assembled;
s124: removing the plurality of stopper rods 120 from the base 110 and fixing a plurality of stopper rails 130 to the base 110 in a manner adapted to the size of the microsatellite;
s125: superposing all cabin segments of the microsatellite into a space defined by the plurality of limit guide rails 130 in sequence, so that the hollow main bearing beams of each cabin segment are also superposed together to form a plurality of channels corresponding to the plurality of hollow main bearing beams of a single cabin segment;
s126: passing a plurality of deck section connecting rods through the plurality of channels, respectively.
It should be noted that: the technical schemes described in the embodiments of the present invention can be combined arbitrarily without conflict.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An assembly device for a microsatellite, comprising:
a base having a plurality of sets of a first series of apertures, each set of the first series of apertures aligned from near a center of the base toward an edge of the base;
a plurality of stop rods adapted to assemble a plurality of parts into a cabin section;
a plurality of curb rails adapted to assemble a plurality of bunkers into the microsatellite;
wherein each of the plurality of position limiting rods and each of the plurality of position limiting guide rails can be fixed to the base through different holes in a set of first series of holes to adjust a distance between each of the plurality of position limiting rods and each of the plurality of position limiting guide rails with respect to a center of the base, thereby adapting the plurality of position limiting rods and the plurality of position limiting guide rails to a size of the microsatellite.
2. The assembly device of claim 1, wherein a variable length lifter is mounted between each of the plurality of restraint rods and the base and between each of the plurality of restraint rails and the base.
3. The assembly device of claim 1, wherein the base further has a plurality of sets of second series of holes, each set of second series of holes aligned from near an edge of the base toward a center of the base, and the assembly device further comprises a plurality of work stations, each work station attached to a support mechanism that can be secured to the base through a different one of the sets of second series of holes to adjust a distance of the support mechanism and the work station attached to the support mechanism relative to the center of the base.
4. The assembly device according to claim 3, characterized in that each work table is provided with a lifting mechanism such that each work table is vertically movable along the support mechanism.
5. The assembly device of claim 4, wherein the lift mechanism is secured to the base by a third series of holes disposed on the base.
6. The assembly device of claim 5, wherein all of the holes in the first, second, and third series of holes are threaded holes of the same gauge.
7. The assembly device of claim 1, wherein a handle is provided on the base to facilitate movement of the assembly device.
8. The assembly device of claim 3, wherein each of the plurality of stations comprises a screw set sponge and an interface process PCB board.
9. A parallel assembly apparatus for microsatellites, comprising:
a plurality of assembly devices according to any one of claims 1 to 8;
an assembly platform for mounting the plurality of assembly devices according to any one of claims 1 to 8.
10. A method for assembling a microsatellite by means of a device according to any one of claims 1 to 8, comprising:
fixing a plurality of limit rods to the base in a manner of adapting to the size of the microsatellite;
respectively penetrating a plurality of hollow main bearing beams of a single cabin section of the microsatellite through the plurality of limiting rods, and assembling other parts of the cabin section by taking the plurality of hollow main bearing beams as a basis until the cabin section is assembled and removed from the plurality of limiting rods;
repeating the steps until all cabin sections of the microsatellite are assembled;
removing the plurality of stopper rods from the base and fixing a plurality of stopper rails to the base in a manner adapted to the size of the microsatellite;
superposing all cabin segments of the microsatellite into a space defined by the plurality of limit guide rails in sequence, so that the hollow main bearing beams of each cabin segment are superposed together to form a plurality of channels corresponding to the plurality of hollow main bearing beams of a single cabin segment;
passing a plurality of deck section connecting rods through the plurality of channels, respectively.
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| CN202010024881.6A CN111230474B (en) | 2020-01-10 | 2020-01-10 | Assembling device, parallel assembling equipment and assembling method for microsatellite |
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| CN202010024881.6A CN111230474B (en) | 2020-01-10 | 2020-01-10 | Assembling device, parallel assembling equipment and assembling method for microsatellite |
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| CN112052540B (en) * | 2020-09-09 | 2022-07-08 | 哈尔滨工业大学 | Architecture of small satellite for supporting ultrahigh power consumption |
| CN112705920B (en) * | 2020-12-16 | 2021-08-10 | 中国科学院微小卫星创新研究院 | Satellite assembling method |
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| CN106134364B (en) * | 2009-09-29 | 2013-09-04 | 北京卫星制造厂 | A kind of satellite automated mounting plate |
| CN106363584A (en) * | 2016-09-08 | 2017-02-01 | 上海卫星工程研究所 | Fast and stable dip angle adjusting tool and method suitable for whole-satellite AIT overall process |
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| US20110296675A1 (en) * | 2009-08-26 | 2011-12-08 | Roopnarine | Means for rapidly assembling a spacecraft |
| US9730339B2 (en) * | 2012-07-25 | 2017-08-08 | Edmund David Burke | Common bus structure for avionics and satellites (CBSAS) |
| CN103612775B (en) * | 2013-11-20 | 2016-01-06 | 西北工业大学 | The multi-functional load-carrying construction of a kind of micro-satellite |
| CN103863577B (en) * | 2014-02-25 | 2016-02-03 | 上海微小卫星工程中心 | The board-like satellite configuration of frame surface and modularization satellite |
| CN103963998B (en) * | 2014-05-06 | 2017-03-01 | 上海卫星工程研究所 | A kind of hexagonal-shaped frame primary load bearing satellite structure |
| CN104191231B (en) * | 2014-07-04 | 2016-12-07 | 上海卫星装备研究所 | Table top type micro-satellite quick general assembly operating board |
| CN106659044B (en) * | 2016-11-14 | 2019-01-25 | 航天东方红卫星有限公司 | A kind of modular construction suitable for microsatellite PC104 storehouse |
| CN109941459B (en) * | 2019-03-21 | 2020-08-07 | 哈尔滨工业大学 | Satellite configuration and satellite |
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| US6206327B1 (en) * | 1999-03-31 | 2001-03-27 | Lockheed Martin Corporation | Modular spacecraft bus |
| CN106134364B (en) * | 2009-09-29 | 2013-09-04 | 北京卫星制造厂 | A kind of satellite automated mounting plate |
| CN106363584A (en) * | 2016-09-08 | 2017-02-01 | 上海卫星工程研究所 | Fast and stable dip angle adjusting tool and method suitable for whole-satellite AIT overall process |
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