CN-122018474-A - Satellite flexible collinear production system and control method

Abstract

The invention discloses a satellite flexible collinear production system and a control method, wherein the system comprises an assembly island unit cluster, an intelligent heavy-load AGV cluster, a full-flow online measurement and compensation network and a digital twin central control system, wherein the assembly island unit cluster comprises a plurality of working units for satellite assembly of different models and is configured to independently complete satellite specific assembly or testing procedures, the intelligent heavy-load AGV cluster comprises a plurality of AGV platforms which are configured to bear the satellite to flow between the working units, the full-flow online measurement and compensation network comprises a measurement device for carrying out real-time dynamic measurement on the parking precision of an AGV and the pose state of the satellite, the measurement device is configured to measure the pose information of the satellite and the AGV in real time and send the information to the assembly island unit cluster and the intelligent heavy-load AGV cluster, and the digital twin central control system is in communication connection with the assembly island unit cluster and the intelligent heavy-load AGV cluster and is used for scheduling production beats and controlling equipment actions. The invention meets the purposes of instant response and quick networking, and remarkably improves the satellite manufacturing efficiency and the product consistency.

Inventors

• WAN JUN
• WANG ZHIQIANG

Assignees

• 上海蓝箭鸿擎空间科技有限公司
• 北京蓝箭鸿擎科技有限公司
• 蓝箭鸿擎(雄安)空间科技有限公司

Dates

Publication Date

20260512

Application Date

20260413

Claims (10)

1. 1. A satellite flexible co-linear production system, comprising: An assembly island unit cluster comprising a plurality of work units for different model assemblies of satellites configured to independently complete satellite specific assembly or testing procedures; an intelligent heavy-duty AGV cluster including a plurality of AGV platforms configured to carry satellite circulation between work units; The full-flow online measurement and compensation network comprises a measurement device for carrying out real-time dynamic measurement on the parking precision of the AGVs and the pose state of the satellites, wherein the measurement device is configured to measure pose information of the satellites and the AGVs in real time and send the information to an assembly island unit cluster and an intelligent heavy-load AGV cluster; And the digital twin central control system is in communication connection with the assembly island unit cluster and the intelligent heavy-load AGV cluster and is used for scheduling production beats and controlling equipment actions.
2. 2. The system of claim 1, wherein the job unit comprises: The load co-installed island is provided with a six-degree-of-freedom parallel robot and a vision guiding system, and is used for automatically grabbing and micron-scale involution of the stacked satellite modules with the self-guiding characteristics; the digital final assembly island is provided with a double-arm cooperative robot and a multi-configuration unfolding arm pose auxiliary supporting device and is used for automatically unfolding and installing a large flexible structure; And the online integrated test island is configured to perform one-time butt joint and full-term test after the satellite enters through the intelligent heavy-load AGV cluster.
3. 3. The system of claim 1, wherein the intelligent heavy-duty AGV cluster comprises: the universal satellite adapting interface is used for adapting to loading of satellites of different configurations; the soft landing locking mechanism comprises an active damping unit, an air floatation locking device and a reference array pre-buried on the ground, and is configured to control the AGV platform to descend after entering the operation unit, and the active damping unit and the air floatation locking device are mechanically meshed with the reference array on the ground.
4. 4. The system of claim 1, wherein the measurement device comprises a laser tracker deployed on a specific node of a production line, an indoor GPS, and a machine vision sensor.
5. 5. The system of claim 1, wherein the digital twin central control system comprises a digital twin subsystem that maps operating states of a physical production line in real time for equipment failure prediction and production simulation.
6. 6. The system of claim 2, wherein the on-line integrated test island integrates a floating docked automated test interface, a quality characterization test stand, an automatic counterweight assembly, and an on-board equipment automated test system for docking, full item testing.
7. 7. The system of claim 2, wherein the dual-arm collaborative robot automatically adjusts pose based on a digital model.
8. 8. The system of claim 2, wherein the on-line integrated test island further comprises an automatic weight module for calibrating satellite centroid bias.
9. 9. A satellite flexible co-linear production control method employing the system according to any one of claims 1 to 8, comprising: The digital twin central control system generates a dynamic optimized assembly task queue according to the production task and the production line digital twin model; The intelligent heavy-load AGV cluster sequentially transfers the bearing satellites to corresponding operation units according to the task queues; After the AGV enters the target operation unit, the AGV is rigidly connected with the ground standard through a soft landing locking mechanism; the automation equipment of the island performs assembly or test operation under the guidance of an online measurement network; all measured data in the operation process are uploaded to a digital twin central control system in real time, satellite data are dynamically updated by the system, and follow-up task scheduling is optimized according to the satellite data.
10. 10. The method as recited in claim 9, further comprising: When the satellite flows to the online integrated test island, the test system is automatically docked and complete the full test, and if the deviation of the quality characteristic data exceeds a threshold value, the digital twin central control system drives the automatic counterweight component to carry out online compensation.

Description

Satellite flexible collinear production system and control method Technical Field The invention relates to the technical field of aerospace manufacturing, in particular to a satellite flexible collinear production system and a control method. Background With the rapid deployment of global low orbit satellite internet constellations, large-scale constellation plans, represented by SpaceX "star chain" (Starlink), have entered the stage of scale construction. The total deployment amount of the star link planning reaches 4.2 ten thousand, the next generation V3 version satellite planning realizes the manufacturing scale of 1 ten thousand annual output, and the single star manufacturing period needs to be compressed to a level of several days, so that the normalized production requirement of tens of daily output and ten thousand annual output is formed. The constellation construction requires the satellite to have the deployment capability of quick networking and instant response, the traditional satellite manufacture adopts a craftsman production mode of 'single piece customization', the single-star manufacture cycle is as long as 1-2 years by relying on manual assembly of a fixed station and a skilled technician, the core assembly step takes a cycle of week or month (the single-star assembly cycle is 3-6 months), the production efficiency is low, the consistency of products is difficult to ensure, a huge gap is formed between the satellite and the large-scale and low-cost requirements of constellation construction, and the satellite construction becomes a core bottleneck for restricting quick deployment of low-orbit constellations. The existing production mode can not meet the construction requirements of new generation low-orbit satellite constellations in three aspects of productivity, period and cost, and needs to break through the traditional manufacturing concept and establish a brand new large-scale production system. In the field of mass production, the automotive industry, in particular the new energy automobile "lighthouse factories", has formed a mature automated solution. For example, the wide-range An intelligent ecological factory realizes the production beat of 53 seconds/vehicle, and achieves flexible collinear production of 10 ten-thousand configuration combinations by core technologies such as Takttime-based metronomic production, AGV flexible logistics, AI vision real-time quality monitoring, digital continuous optimization and the like, so that the personnel efficiency and the production beat are improved by more than 20%. However, satellite manufacturing is used as space-level precision engineering, and has the technical requirements that firstly, the assembly precision needs to reach micron-level alignment (such as alignment precision of sun wings and load modules + -5 mu m) far exceeding millimeter-level standards of the automobile industry, secondly, the cleanliness control is strict, the assembly of core electronic components needs to be carried out in an ISO 5-level (hundred-level) clean environment, the welding leakage rate of a pipeline of a propulsion system needs to be lower than 1X 10 -9 Pa & lt 3 & gt/s, thirdly, the functional test involves multi-dimensional space simulation verification of thermal vacuum, electromagnetic compatibility, mechanical environment and the like, and the test flow is complex and the period is long. If the equipment and logic of the automobile production line are directly transplanted, the fatal problems of precise component pollution, assembly precision loss, test flow interruption and the like are caused, and the aerospace-level requirements of satellite manufacturing cannot be adapted. In order to meet the satellite batch production requirement, a part of related patent schemes are disclosed in the prior art, but the method still has significant limitations, for example, a 'mechanical and thermal integrated satellite structural plate suitable for batch production' realizes batch production by simplifying structural member composition, but only focuses on structural plate manufacturing links, and does not relate to whole satellite assembly and test flow, a 'stacked flat satellite capable of realizing batch automatic production' realizes automatic assembly by self-guiding features, but the core of the stacked flat satellite solves the structural integration problem, and does not meet the coupling requirement of high-beat production and precise operation, in addition, an automatic quality characteristic test scheme only covers a single test link, and a spacecraft complex part flexible milling system only aims at part processing, and does not form full flow cooperation. The existing scheme generally has the problem of single-point optimization and system deficiency, and fails to solve three major core contradictions, namely 1) deep coupling of high-beat flow production and space-level micron precision assembly in the automobile industry, 2) coordination