CN107617852B - A kind of Miniature solid rocket automatic loading method and device based on decrement control - Google Patents
A kind of Miniature solid rocket automatic loading method and device based on decrement control Download PDFInfo
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- CN107617852B CN107617852B CN201710911127.2A CN201710911127A CN107617852B CN 107617852 B CN107617852 B CN 107617852B CN 201710911127 A CN201710911127 A CN 201710911127A CN 107617852 B CN107617852 B CN 107617852B
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Abstract
A kind of Miniature solid rocket automatic loading method and device based on decrement control, belongs to Space Pyrotechnics Devices product device field.This method realizes the automatic load of Miniature solid rocket by setting on Miniature solid rocket automatic loading device to the technological parameter in Miniature solid rocket of the entire loading procedure of Miniature solid rocket.Its loading procedure is controlled by setting the targeted compression amount of Miniature solid rocket, guarantees that product loads consistency.Man-machine isolated operation is realized simultaneously, has prevented safe operation risk.Procedure parameter is automatically recorded using device, avoids using decrement and the trouble of loading procedure is manually photographed to record after record load in paper record sheet by hand, improves about 1 times of efficiency or more.Meanwhile using Miniature solid rocket loading procedure is controlled based on decrement method, avoiding using unreasonable torque to load leads to that sealing cannot be reached, to influence Miniature solid rocket performance.
Description
Technical field
The present invention relates to a kind of Miniature solid rocket automatic loading methods and device based on decrement control, belong to space flight
Fire load assembles field.
Background technique
Miniature solid rocket is a kind of typical Space Pyrotechnics Devices, using solid matter as propellant.When work, point
Firearm lights igniter cartridge, then lights propellant by igniter cartridge, and propellant combustion generates the combustion gas of high temperature and pressure, chemistry
It can be converted into thermal energy, combustion gas accelerates through nozzle expansion, conversion of heat into kinetic energy, excludes to generate from jet pipe with high speed
Thrust pushes guided missile or rocket flight forward.Miniature solid rocket is widely used in the every field of aerospace craft, plays
Very important effect.In order to easy to assembly, thread connecting mode is used between housing unit and nozzle component, and use sealing
Circle is sealed.In order to guarantee leakproofness so that Miniature solid rocket can complete predetermined function, need to housing unit
Apply certain torque (generally hundreds of Nm) with nozzle component, to guarantee that the sealing ring between shell and jet pipe is compressed.
But since sealing ring is nonmetallic materials, influenced by various aspects factor in assembling process it is larger, original using determine torque mode into
Row load, but often will cause with the situation that a batch sealing ring decrement is inconsistent under same torque, due to seal ring part pressure
Contracting amount does not reach required value, often occurs that air seal test is unqualified to be caused to reprocess the case where doing over again, to Space Pyrotechnics Devices
It delivers on time and assembling quality brings negative effect.Meanwhile record is added using the manual record in paper record sheet at this stage
The mode that decrement and loading procedure are manually taken pictures after load carries out, and recording means fall behind, while making operator's intermediate hold
It is more, cause assembly efficiency low.In addition, the powder column and igniter cartridge in Miniature solid rocket are Gao Hanneng combustible material, adopt
The mode manually loaded, if the case where generating spark due to thread biting locking in loading procedure even will cause blast accident.
As known from the above, Miniature solid rocket craft loading procedure exists with batch consistency is poor, assembly efficiency is low, record
The deficiencies of means backwardness, large labor intensity, not high intrinsic safety.
From the point of view of existing domestic and foreign literature, the method for solving to be controlled Miniature solid rocket load based on decrement is not appeared in the newspapers
Road.
Summary of the invention
Technical problem solved by the present invention is for consistent with batch present in current Miniature solid rocket assembling process
Property it is poor, assembly efficiency is low, recording means are backward, large labor intensity, not high intrinsic safety the deficiencies of, propose a kind of based on pressure
The Miniature solid rocket automatic loading method and device of contracting amount control, are loaded using the automatic loading method for determining decrement,
Not only make assembly consistency be guaranteed, improve assembly efficiency, reduces labor intensity, and remember automatically using device
Procedure parameter is recorded, recording means is improved, also fundamentally realizes man-machine isolation, prevented safe operation risk.
The technical solution of the invention is as follows: a kind of Miniature solid rocket automatic loading method based on decrement control,
Steps are as follows:
(a) before loading, loading of databases is established, the generation of various need Miniature solid rockets to be loaded is stored in database
Number and corresponding process parameters；
(b) technological parameter for utilizing step (a), carries out load preparation to Miniature solid rocket；
(c) shell of Miniature solid rocket and jet pipe are subjected to pre-screwing；
(d) according to the technological parameter of step (a), Miniature solid rocket is loaded automatically；
(e) the automatic loading result of step (d) is determined.
Before step (a) load, loading of databases is established, various need Miniature solid rockets to be loaded are stored in database
Code name and corresponding process parameters, steps are as follows:
Before load, loading of databases is established, various need Miniature solid rockets to be loaded are stored in loading of databases
Code name and corresponding process parameters, comprising: torque value of taking a seat, targeted compression magnitude, protection torque, load height, reverse angle；
Step (b) utilizes the technological parameter of step (a), carries out load preparation to Miniature solid rocket, steps are as follows:
2) when loading, choosing needs the corresponding U-shaped load tooling of Miniature solid rocket to be loaded and is mounted on automatic load
On device；
3) power supply of the loading device of load Miniature solid rocket and the gas source of clamping device are opened
4) the corresponding technique ginseng of Miniature solid rocket code name to be loaded is chosen from the loading of databases that step (1) is established
It counts and is loaded into；
5) code name is inputted to Miniature solid rocket to be loaded, code name is product batches serial number；
6) " manual mode " is selected, i.e. rotation off-load button, so that tightening axle drives U-shaped load tooling rotation, rotation circle
Number is a circle or more；
7), off-load button rotary course is determined, if tightening axle runs clamping stagnation, even if clicking emergency stop key tightening axle
It stops operating, simultaneously closes off the power supply of loading device and the gas source of clamping device, return step (3)；If tightening axle is run without card
It is stagnant, it selects " automatic mode ", rotation clamping mechanism button unclamps clamping device；
The shell of Miniature solid rocket and jet pipe are carried out pre-screwing by step (c), and steps are as follows:
8) in step (1)~(7) carry out, to powder charge in the shell of Miniature solid rocket；(by igniter cartridge, spring part,
Powder column, grate are packed into the shell of Miniature solid rocket)
9) sealing ring is packed into the jet pipe of Miniature solid rocket；
10) the jet pipe internal screw thread of Miniature solid rocket is inserted in shell external screw thread, realizes pre-screwing；
11) pre-screwing process is determined, when pre-screwing process has clamping stagnation, jet pipe is sent out in replacement one new, return step
(9)；If when without clamping stagnation, the Miniature solid rocket of pre-screwing is packed into clamping device；
Step (d) loads Miniature solid rocket according to the technological parameter of step (a) automatically；
12) clamping device is rotated, so that clamping device, which closes up, steps up Miniature solid rocket shell；
13) it when the jet pipe outer surface of Miniature solid rocket band trunnion class, using Miniature solid rocket jet pipe trunnion, uses
Two vertical parts of U-shaped load tooling are loaded directly into the trunnion of Miniature solid rocket jet pipe；When the jet pipe outer surface of Miniature solid rocket
It without trunnion, is covered on six sides of jet pipe or four directions using load bayonet, is then directly added using two vertical parts of U-shaped load tooling again
Two trunnions of load bayonet are carried, so that load bayonet is able to drive jet pipe rotation；(two kinds of loading methods should be noted to be loaded
Trunnion need to load tooling vertical part with U-shaped and be staggered.)
(14) start button is clicked, the top servo motor of automatic loading device drives ball screw rotation, so that slide unit
Mechanism is to Miniature solid rocket top movements to preset height value, and motor is driving tightening axle just by retarder in tightening mechanism
Turn, so that the U-shaped load tooling rotation with tightening axle cooperation, to apply torque to Miniature solid rocket jet pipe, so that small-sized
Solid rocket nozzle and shell, which are realized, to be loaded；After the completion of load, tightening axle turns round certain angle, servo at the top of automatic loading device
Motor drives ball screw reversion, so that slipway mechanism returns to initial position；
Step (e) determines that steps are as follows to the automatic loading result of step (d):
15) while step (14), i.e., during loading, automatic loading device constantly calculates the compression of jet pipe inner seal ring
Magnitude after the completion of load, shows the compression magnitude of this hair Miniature solid rocket automatically；
16) the compression magnitude of display this hair Miniature solid rocket is judged, if compression magnitude reaches targeted compression amount,
Then determine that this load is qualified, if miss the mark decrement, determines that this load is unqualified.
Further include that step (f) is as follows after step (e):
(f) if load is qualified, loading procedure data are saved, then remove load bayonet, clamping device is unclamped, removes
The Miniature solid rocket completed through load；
If load unqualified, selection unloading Miniature solid rocket clicks operation button, servo at the top of automatic loading device
Motor drives ball screw rotation, so that slipway mechanism moves to preset height value, electricity in tightening mechanism to Miniature solid rocket
Machine drives tightening axle reversion by retarder, so that the U-shaped load tooling reversion with tightening axle cooperation, realizes Miniature solid rocket
Automatic unloading.After the completion of unloading, tightening axle rotates forward certain angle, and then servo motor drives ball wire at the top of automatic loading device
Bar reversion rotates clamping device so that slipway mechanism returns to initial position, unclamps clamping device, removes Miniature solid rocket, twists
Open jet pipe；Sealing ring is removed, return step (9) after sealing ring is replaced.
It takes a seat torque value-acquiring method: Miniature solid rocket shell not priming box, spring part, powder column, grate, spray
It is packed into a hair washer in pipe, fixes shell when shell is loaded with jet pipe, torque is loaded using torque spanner using six side of jet pipe,
When load, torque spanner scale drives jet pipe to be loaded on shell since 1N.m, then increases torque every 1N.m,
Until torque spanner is able to drive jet pipe and loads on shell, torque value at this time is recorded, as Miniature solid rocket loads
It takes a seat torque.
Targeted compression magnitude acquisition methods: Miniature solid rocket shell is in not priming box, spring part, powder column, drug blocking
A hair washer is packed into the case where plate, in jet pipe, if targeted compression magnitude is A, gasket thickness value is t, target compression ratio k,
Then there is A=t × k, wherein k value is 10%~30%.
It is a kind of based on decrement control Miniature solid rocket automatic loading device, comprising: clamping device, slipway mechanism,
Tightening mechanism, U-shaped load tooling, load bayonet, the seat of honour, pedestal, air tightness detection machine structure, top control module；
Clamping device is fixed on the base, that clamping solid-rocket outer casing bottom；
U-shaped loads tooling directly or by load bayonet connection solid-rocket shell；
Tightening mechanism is fixed on slipway mechanism by screw one end, and the other end connects U-shaped and loads tooling；
Slipway mechanism is fixed on the seat of honour by track and ball screw；
Top control module controls tightening mechanism；Air tightness detection machine structure passes through in pipeline connection solid-rocket, small-sized for testing
The air-tightness of solid-rocket.
The advantages of the present invention over the prior art are that:
(1) technological parameter need to only load torque value in former loading procedure, after automatic loading device, need to provide
Technological parameter is take a seat torque value, targeted compression magnitude, protection torque, load height, reverse angle.Pass through process means and meter
It calculates, obtains each technological parameter, after primary input Miniature solid rocket load parameter, can guarantee at any time in later batch assembly
It calls.
(2) present invention replaces artificial load by using automatic device load, improves Miniature solid rocket assembly load
Consistency improves product quality.
(3) present invention is avoided by using Miniature solid rocket loading procedure is controlled based on decrement method using not
Reasonable torque to load leads to that sealing cannot be reached, to influence Miniature solid rocket performance.
(4) present invention also fundamentally realizes man-machine isolation, has prevented safe operation risk.
(5) present invention realizes the automatic load of Miniature solid rocket, so that batch Miniature solid rocket decrement is consistent entirely
Property be guaranteed, improved product quality, improved assembly efficiency, reduced labor intensity, and is automatic using device
Recording process parameter, improves recording means.The test result that test is compared by choosing certain Miniature solid rocket carries out
Analysis, the method for the present invention method in works scope are feasible.
Detailed description of the invention
Fig. 1 is the method for the present invention flow chart
Fig. 2 is Miniature solid rocket structure chart of the present invention；
Fig. 3 is Miniature solid rocket loading device schematic diagram of the present invention；
Fig. 4 (a) is that the first load bayonet schematic diagram (b) of the invention is second of load bayonet schematic diagram；
Fig. 5 is host computer operation panel schematic diagram of the present invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 3, method of the invention is based on a kind of automatic load of Miniature solid rocket assembly and online airtight inspection
Device (loading the loading device of Miniature solid rocket) is surveyed, which includes: clamping device (33), slipway mechanism, tightening machine
Structure, U-shaped load tooling (32), load bayonet (34,41), the seat of honour, pedestal, air tightness detection machine structure (36), top control module (35)；
Clamping device is fixed on the base, and clamps solid-rocket bottom；
U-shaped, which loads tooling, to load solid-rocket directly or by load bayonet；
Tightening mechanism is fixed on slipway mechanism by one end of screw, and the other end connects U-shaped and loads tooling；
Slipway mechanism is fixed on the seat of honour by track and ball screw.
Host computer is provided with host computer operation panel, can control top control module by controlling host computer operation panel, with
Control tightening mechanism；Solid-rocket air-tightness can be measured in air tightness detection machine structure connection solid-rocket.
One end of tightening mechanism is square interface, has an internal square hole in U-shaped load tooling transverse part center, size with tighten
Axis (31) square interface matches, and has the cubic through-hole of specification same as tightening axle on the outside of square hole, in use, U-shaped is added
It carries tooling internal square hole and is inserted in the outer four directions of tightening axle, and pass through four directions outside U-shaped load tooling internal square hole and tightening axle with pin,
Achieve the purpose that connection.
Miniature solid rocket jet pipe outer surface is provided with symmetrical outer six sides；There are symmetrical trunnion in load bayonet two sides, in
Portion be equipped with outside Miniature solid rocket jet pipe hexagonal phase cooperation in six sides be open position.
Clamping device has fixed part and moving portion；One end of fixed part is connected with moving portion, and the other end of fixed part is solid
It is scheduled on pedestal, there are three clamp jaws for installation in moving portion.
Clamp jaw is arc, and the Inner arc of clamp jaw and the gap width of solid-propellant case external arc are within 5mm.
Rubber after being pasted with vulcanization on the clamp jaw of clamping device, the glue for pasting clamp jaw and rubber use glue, glue
Skin is preferably 9621 rubber of the 2mm thickness after vulcanizing..
When the jet pipe outer surface of Miniature solid rocket band trunnion class, using Miniature solid rocket jet pipe trunnion, using U-shaped
Two vertical parts of load tooling are loaded directly into the trunnion of Miniature solid rocket.
When the jet pipe outer surface of Miniature solid rocket is without trunnion, it is inserted in six side outside jet pipe using load bayonet, is then adopted again
It is loaded directly into two trunnions of load bayonet with two vertical parts that U-shaped loads tooling, so that load bayonet drives jet pipe rotation, reaches and adds
The purpose of load.
Air tightness detection machine structure, the airtight fast slotting and air gauge including belt sensor.The airtight fast slotting and air pressure of belt sensor
Table connection.
Top control module controls the lifting of tightening axle, load, and whether in place to can determine that load, and have corresponding security alarm system
System.
Air tightness detection apparatus at least by clamping device, slipway mechanism, loading mechanism, U-shaped load tooling, load bayonet, on
Seat, pedestal, air tightness detection machine structure, top control module are constituted.The slipway mechanism is made of servo motor, slide unit, ball screw；Institute
Loading mechanism is stated to be made of motor, retarder, loading axis.Load height is preset by product designation in top control module and load is turned round
The technological parameters such as square are simultaneously stored in host computer, and the program of corresponding product code name is directly chosen when load, and clamping device clamps small-sized
Solid-rocket by airtight fast insertion Miniature solid rocket, and is passed through the air of specified pressure, clicks " beginning ", slide unit movement
To preset height, tightening axle drives U-shaped tooling to rotate by torque of taking a seat (generally less than 10N.m) output specific torsion, load
Tightening axle torque is gradually increased in the process, until tightening axle exports predetermined torque, load stops, and continues the sky for being passed through specified pressure
Gas, pressure maintaining 1min after pressure stabilizing, remove it is airtight it is fast insert, whole process terminates, reach the load of Miniature solid rocket automatic and accurate and
The purpose of the airtight detection of line.
It is fixed with guide rail on the seat of honour, tightens slide unit and is fixed on guide rail, can arbitrarily be slided on guide rail.At the top of the seat of honour
There is mounting screw holes, guarantees that top servo motor is capable of fixing on the seat of honour.Mounting screw holes is arranged at the seat of honour bottom, guarantees bottom
Portion can be fixed by screws on pedestal.
Two kinds of load bayonets, wherein a class is that six sides load bayonet, and centre is interior hexagonal structure, and respectively there is a trunnion at both ends,
There is the Miniature solid rocket of six sides to load for jet pipe；Six square sets in bayonet will be loaded when use enters six side outside jet pipe.B class is
Four directions load bayonet, centre is interior tetragonal, and respectively there is a trunnion at both ends, has the Miniature solid rocket in four directions to add for jet pipe
It carries；Four directions outside jet pipe is inserted in the interior four directions for loading bayonet when use.
U-shaped load tooling, be in letter U shape, for tighten axis connection after load Miniature solid rocket.The U-shaped adds
It carries tooling and is divided into transverse part and vertical part, have internal square hole among middle transverse part, size is matched with tightening axle square interface, four
Have the through-hole with the same specification in tightening axle four directions on the outside of square hole, in use, internal square hole is inserted in outside tightening axle it is cubic, then by pin
Nail insertion internal square hole, so that U-shaped load tooling is reliably connected with tightening axle；U-shaped load tooling vertical part is distributed in transverse part
The distance of symmetrical two sides, two vertical parts determines by jet pipe outer circle, mono- specification of every 15mm.It is divided into two kinds of situations when load: 1)
Jet pipe band trunnion class Miniature solid rocket: utilizing Miniature solid rocket jet pipe trunnion, is directly added using U-shaped load tooling
It carries；2) jet pipe is inserted in six sides or outer four directions outside jet pipe using load bayonet, then uses U again without trunnion class Miniature solid rocket
Shape loads tooling load load bayonet.
Clamping device is made of fixed part and moving portion；Fixed part is fixed on the base, and moving portion can install three folders
Tight pawl, clamp jaw Inner arc and Miniature solid rocket shell external arc difference guarantee to hold tightly when clamp jaw tightening within 5mm
Miniature solid rocket is without making housing distortion.There is cylinder in fixed part, brings about the desired sensation and lose gas by cylinder to control and clamp
The clamping and release of pawl.
Be pasted on the clamp jaw of the clamping device vulcanization after 2mm thickness 9621 rubber 44, paste clamp jaw and
The glue of 9621 rubber uses 730 glue that are formulated of special process, after first pasting again by vulcanization make clamp jaw and
The bonding of 9621 rubber guarantees that the screw-down torque that hundreds of N.m are able to bear under clamp jaw clamped condition will not skid, while will not
Crush solid-propellant case.730 glue are formulated by a certain percentage using rubber, resin, ethyl acetate etc..
Slipway mechanism is made of servo motor, slide unit, ball screw, and servo motor drives ball screw rotation, is realized and is slided
Platform moves up and down, and the circle number of ball screw rotation can be driven to reach according to servo motor and meet preset height value and realize stubborn
The pinpoint purpose of tight slide unit height.Each position of slipway mechanism is fixed by screws in the seat of honour.
The tightening mechanism is made of motor, retarder, tightening axle, and motor amplifies torque, retarder band by retarder
Tightening axle rotation is moved, tightening axle drives U-shaped load tooling to rotate, U-shaped load tooling vertical part contact jet pipe trunnion (or load card
Mouthful), jet pipe rotation is driven, to realize the purpose of load, the tightening axle can export the torque that 0~600N.m is arbitrarily set
Value, and instantaneous torque is up to 900N.m.Each position is fixed on slipway mechanism by tightening mechanism by screw.Under the tightening axle
There is square interface in portion, and there is through-hole in cubic side.
Air tightness detection machine structure is mainly made of airtight fast insert of belt sensor with air gauge.Sensor is connect with air gauge,
The color that the pressure information that can be will test is transmitted through display lamp shows.Before load, fast inserted into finger by airtight
The air pressure of constant-pressure, after Miniature solid rocket internal pressure reaches specified pressure value, pressure stabilizing 10s, airtight fast slotting middle sensor detection
Green light is shown in airtight fast outside of inserting after to voltage regulation signal, stops being passed through gas, pressure stabilizing 1min, if in the process at this time manually
Leakage rate is greater than preset value, then sensor sends out a warning and alarms, if pressure stabilizing 1min is not leaked, sensor gives a green light at this time.It is described
Belt sensor it is airtight it is fast insert can be selected bright peace board LA300 series it is airtight it is fast insert, then insert tracheae end addition pressure biography fast
Sensor, and can be connect with control system.
Top control module, can control lifting, the load of tightening axle, and whether in place can determine that load, and have corresponding safety
Alarm system.The top control module is provided with scram button, when being in an emergency, cuts off the power after pressing, prevents dangerous thing
State deteriorates.The top control module can be preset each type Miniature solid rocket parameter by product designation, when in use
It is called directly by product designation.
When load, the load bayonet and U-shaped for first choosing corresponding code name load tooling, and U-shaped load tooling is passed through pin
Mode is connected with tightening axle, and clamping device clamps Miniature solid rocket, by airtight fast insertion Miniature solid rocket, and is passed through finger
The gas for determining steady pressure, after slide unit moves to preset height, tightening axle is exported specified by torque of taking a seat (generally less than 10N.m)
Torque drives U-shaped load tooling rotation, until tightening axle exports predetermined torque, tightening axle drives U-shaped tooling according to reverse angle
4~6 ° of reversion, servo motor reversion drive slide unit to move to origin, continue the air for being passed through specified pressure at this time, protect after pressure stabilizing
Press 1min, remove it is airtight it is fast insert, whole process terminates.
As shown in Figure 1, a kind of Miniature solid rocket automatic loading method based on decrement control of the present invention,
Steps are as follows:
1) before loading, loading of databases is established, the generation of various need Miniature solid rockets to be loaded is stored in database
Number and corresponding process parameters, specifically include: torque value of taking a seat, targeted compression magnitude, protection torque, load height, angle of twist
Degree；
2) step 1) the torque value-acquiring method of taking a seat: Miniature solid rocket shell not priming box, spring part, medicine
Column, grate, jet pipe is interior to be packed into a hair washer, fixes shell when shell is loaded with jet pipe, is adopted using six side of jet pipe or four directions
Torque is loaded with torque spanner.When load, torque spanner scale drives jet pipe to be loaded on shell, so since 1N.m
Increase torque every 1N.m afterwards, until torque spanner is able to drive jet pipe and loads on shell, records torque value at this time, i.e.,
Torque of taking a seat is loaded for Miniature solid rocket.
3) step 1) the targeted compression magnitude acquisition methods: targeted compression magnitude is set as A, gasket thickness value is t, target
Compression ratio is k, then has A=t × k.
4) step 3) the k value is chosen for a large amount of repetition tests and obtains, and k value is preferably 10%~30%, rule are as follows: press
Miniature solid rocket housing outer diameter is classified, and housing outer diameter and k value preference relation are as follows, and see Table 1 for details.
1 housing outer diameter of table and the excellent relation table of k value
5) step 1) the safe torque value-acquiring method: safe torque value is set as MSafety(as protection torque), it is small-sized solid
Body storepipe outer diameter value is D, and gasket thickness value is t, safety coefficient kSafety, rule of thumb, then preferably have
MSafety=D × t × kSafety
Wherein kSafetyValue is 1.1~1.5.
6) such as step 5) the safety coefficient kSafety, obtained for experience, rule are as follows: carried out by Miniature solid rocket outer diameter
Classification, housing outer diameter and kSafetyValue has following preference relation, and see Table 2 for details.
2 housing outer diameter of table and kSafetyIt is worth relation table
7) step (1) the load height value H is by being calculated, and the preferred value of preset height value H when load is in 600-
L2≤H≤630-L2If load total height is L1(L1For definite value, by taking 600mm as an example), Miniature solid rocket housing bottom is to spraying
Guan Liufang height is L2(as shown in Figure 2), then H=L1-L2, i.e. H=600-L2。
8) step (1) reverse angle is 4 °~6 °.
2, when loading, choosing needs the corresponding U-shaped load tooling of Miniature solid rocket to be loaded and is mounted on automatic load
On device；U-shaped load two vertical part of the tooling distance (being set as L) and Miniature solid rocket jet pipe outer diameter (D1) and jet pipe trunnion outside
Diameter (D2) related, D need to be met1< L < D2, meet this condition Miniature solid rocket can be used the specification U-shaped tooling carry out
Load.Due to D1With D2Differ about 60mm, it is only necessary to which several U-shaped load toolings can meet load demand, it can be achieved that loading tooling
It is general.
3, this method is to open load based on a kind of automatic load of Miniature solid rocket assembly and online air tightness detection apparatus
The gas source of the power supply and clamping device (26) of the loading device of Miniature solid rocket, the gas source are used to control the folder of clamping device
Tight and release.
4, the corresponding technique ginseng of Miniature solid rocket code name to be loaded is chosen from the loading of databases that step a) is established
It counts and is loaded into；
5, code name is inputted to Miniature solid rocket to be loaded, code name is product batches+serial number, such as 1701-6545-001,
Wherein 1701-6545 is product batches, and 001 is serial number.
6, as shown in figure 5, pressing " manual " button in host computer operation panel, " off-load " button is rotated, so that tightening axle
U-shaped load tooling rotation is driven, rotating cycle is 1 circle or more, preferably 3~5 circles.As shown in figure 5, host computer operation panel is shared
Load, off-load, beginning, emergency stop, clamping, release, manually, automatic totally 8 buttons.Wherein after pressing hand push button, load and
Off-load button can be pressed and be rotated, and control rotating and reverse for tightening axle respectively；After automatic button is pressed, loads and unload
Lotus button can be pressed, and rotation load at this time and off-load button, device are reactionless；The start button is while pressing automatic
It is pressed with load or off-load button Shi Caineng；It is button projection state under the scram button normal condition, is meeting urgent feelings
After condition is pressed, Miniature solid rocket power supply and gas source can be automatically cut off, after powering off and dying, reopens power supply and gas
Source, scram button bounce recovery automatically；The clamping and release button control clamping device close up and unclamp, hold tightly and unclamp
The shell of Miniature solid rocket.8 buttons have warning lamp expression to press after pressing.
7, rotary course is determined, if tightening axle runs clamping stagnation, clicks " emergency stop " even if button tightening axle stops turning
It is dynamic, while the power supply of pencil rocket automatic loading device and the gas source of clamping device 26, return step 3 is automatically closed；If tightening
Axis operation clicks automatic button, presses load button, press release button, unclamp clamping device without clamping stagnation.
8, in step 1~7 carry out, igniter cartridge, spring part, powder column, grate are packed into the shell of Miniature solid rocket
In vivo；As shown in Fig. 2, Miniature solid rocket is by igniter cartridge 23, spring part 24, housing unit 25, powder column 26, holding screw
27, grate 28, sealing ring 29, nozzle component 30 form.Be initially charged with inside housing unit 25 when assembly igniter cartridge 23, so
The loading housing unit 25 of spring part 24 is adjacent to igniter cartridge 23 afterwards, again by the loading abutting spring part of housing unit 25 of powder column 26
24, reinforcing square (preferably hundreds of N.m) is screwed into housing unit 25 after nozzle component 30 is packed into sealing ring 29, finally in jet pipe group
Between part 30 and housing unit 25 plus holding screw 27 it is locking, grate 28 between powder column 26 and nozzle component 30, for every
From powder column and nozzle component, and compress powder column 26.It is jet pipe at the top of the Miniature solid rocket, jet pipe has internal screw thread, small-sized solid
External screw thread with jet pipe screw-internal thread fit is arranged at body storepipe bottom.Meanwhile annular groove is equipped in jet pipe, sealing can be placed
Circle, loading procedure are to connect Miniature solid rocket case top with spout threads, while shell compresses in jet pipe
Sealing ring achievees the purpose that sealing.
9, sealing ring is packed into the jet pipe of Miniature solid rocket.
10, the jet pipe internal screw thread of Miniature solid rocket is inserted in shell external screw thread, realizes pre-screwing；
11, pre-screwing process is determined, when pre-screwing process has clamping stagnation, jet pipe is sent out in replacement one new, return step
9；If when without clamping stagnation, the Miniature solid rocket of pre-screwing is packed into clamping device 26；
12, clamping button is pressed, so that clamping device 26 closes up to clamp Miniature solid rocket shell 25；Clamping device
It (26) is closed up and unclamps by gas source control.
13, such as Fig. 4 (a) and (b) are shown, and top is front view, and lower section is top view, when outside the jet pipe of Miniature solid rocket
When the band trunnion class of surface, using Miniature solid rocket jet pipe trunnion, it is loaded directly into using two vertical parts of U-shaped load tooling small-sized solid
The trunnion of body rocket nozzle；When the jet pipe outer surface of Miniature solid rocket is without trunnion, using 34,41 sets of bayonet of load in jet pipe six
In side or four directions, two trunnions of load bayonet 34,41 are then loaded directly into using two vertical parts of U-shaped load tooling 27 again, so that
Load bayonet 34,41 is able to drive jet pipe rotation；Two kinds of loading methods should be noted that trunnion to be loaded need to load tooling with U-shaped
Vertical part is staggered.
14, by airtight fast insertion 25 lower end of Miniature solid rocket shell, and it is passed through the gas of specified pressure.
15, start button is clicked, the top servo motor of automatic loading device drives ball screw rotation, so that slide unit machine
Structure is to Miniature solid rocket top movements to preset height value, and motor drives tightening axle to rotate forward by retarder in tightening mechanism,
So that the U-shaped load tooling rotation with tightening axle cooperation, to apply torque to Miniature solid rocket jet pipe, so that Small Solid
Rocket nozzle and shell, which are realized, to be loaded；After the completion of load, tightening axle turns round certain angle, servo motor at the top of automatic loading device
Ball screw reversion is driven, so that slipway mechanism returns to initial position；The angle of revolution is preferably 4 °~6 °, guarantees that U-shaped adds
Tooling is carried to be staggered with trunnion.
16, while step 15, i.e., during loading, automatic loading device constantly calculates jet pipe inner seal ring decrement
Value, after the completion of load, shows the compression magnitude of this hair Miniature solid rocket automatically.
17, the compression magnitude of display this hair Miniature solid rocket is judged, if compression magnitude reaches targeted compression amount,
Fast outside of inserting airtight simultaneously is shown as green light, then determines that this load is qualified, if miss the mark decrement, determine that this adds
It carries unqualified.
Further include following steps 18:
If 1) save loading procedure data when loading qualification, load bayonet and airtight fast slotting, release clamping machine are then removed
Structure removes the Miniature solid rocket for having loaded completion.The loading procedure data include real-time loading torque value and sealing ring
Targeted compression magnitude.
If 2) load unqualified, remove it is airtight it is fast insert, selection unloading Miniature solid rocket clicks start button, automatically
Servo motor drives ball screw rotation at the top of loading device, so that it is pre- that slipway mechanism, which moves to load to Miniature solid rocket,
If good height value, motor drives tightening axle reversion by retarder in tightening mechanism, so that loading with the U-shaped of tightening axle cooperation
Tooling reversion realizes that Miniature solid rocket unloads automatically.After the completion of unloading, tightening axle rotates forward certain angle, then automatic load
Servo motor drives ball screw reversion at the top of device, so that slipway mechanism returns to initial position, rotates clamping device 26, unclamps
Clamping device 26, removes Miniature solid rocket, unscrews jet pipe；Sealing ring is removed, return step 9 after sealing ring is replaced；
As shown in figure 3, the Miniature solid rocket automatic loading device is blocked by tightening axle 31, U-shaped load tooling 32, load
Mouth 34, clamping device 33, host computer 35, air tightness detection apparatus 35 form.Tightening axle is fixed on Miniature solid rocket and loads automatically
On device, U-shaped loads four directions in tooling and cooperates with the outer four directions of tightening axle, and is connected by pin, and clamping device is fixed on small-sized
On solid-rocket automatic loading device, operation panel controls whole device.
K value is chosen for experience and obtains, rule are as follows: classify by Miniature solid rocket housing outer diameter, housing outer diameter is got over
Greatly, corresponding k value is smaller；
Safe torque value MSafetyThe experience of being similarly obtains, specification are as follows: classify by Miniature solid rocket outer diameter, shell
Outer diameter is bigger, corresponding MIt protectsIt is bigger.
Height value H is loaded by being calculated, if slipway mechanism total kilometres are L1(L1For definite value 600mm), Miniature solid rocket
Housing bottom to six side's height of jet pipe is L2, then H=L1-L2, i.e. H=600-L2。
Screw pitch and reverse angle are definite value, and screw pitch is determined by shell and spout threads, and reverse angle is 5 °
Miniature solid rocket by igniter cartridge (23), spring part (24), shell (25), powder column (26), holding screw (27),
Grate (28), sealing ring (29), jet pipe (30) composition.
Miniature solid rocket automatic loading device is by tightening axle (31), U-shaped load tooling (32), load bayonet (34), folder
Hold mechanism (33), host computer (35), air tightness detection apparatus (36) composition.
It chooses certain Miniature solid rocket in this way to be tested, preferably sealing ring thickness 1mm, housing outer diameter Φ
120mm sets MSafetyFor 312Nm, targeted compression amount is 0.2mm, and test result is shown in Table 3.
3 verification test result of table
It can be obtained by test result, decrement control has been quantified using the method for the present invention, has improved Product Assembly consistency
And qualification rate, it avoids decrement after recording load in paper record sheet using manual and manually photographs to record loading procedure
Trouble, improves about 1 times of efficiency or more, can be good at getting application in engineering.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (8)
1. a kind of Miniature solid rocket automatic loading method based on decrement control, it is characterised in that steps are as follows:
(a) before loading, establish loading of databases, stored in database it is various need to Miniature solid rockets to be loaded code name with
And corresponding process parameters；
(b) technological parameter for utilizing step (a), carries out load preparation to Miniature solid rocket；
(c) shell of Miniature solid rocket and jet pipe are subjected to pre-screwing；
(d) according to the technological parameter of step (a), Miniature solid rocket is loaded automatically；
(e) the automatic loading result of step (d) is determined；
Before step (a) load, loading of databases is established, the generation of various need Miniature solid rockets to be loaded is stored in database
Number and corresponding process parameters, steps are as follows:
1) before loading, loading of databases is established, the generation of various need Miniature solid rockets to be loaded is stored in loading of databases
Number and corresponding process parameters, comprising: torque value of taking a seat, targeted compression magnitude, protection torque, load height, reverse angle；
The step (b) utilizes the technological parameter of step (a), carries out load preparation to Miniature solid rocket, steps are as follows:
2) when loading, choosing needs the corresponding U-shaped load tooling of Miniature solid rocket to be loaded and is mounted on automatic loading device
On；
3) power supply of the loading device of load Miniature solid rocket and the gas source of clamping device are opened
4) the corresponding technological parameter of Miniature solid rocket code name to be loaded is chosen simultaneously from the loading of databases that step (a) is established
It is loaded into；
5) code name is inputted to Miniature solid rocket to be loaded, code name is product batches serial number；
6) it clicks hand push button selection manual mode and rotates off-load button, so that tightening axle drives U-shaped load tooling rotation, rotation
Number of turn-taking is a circle or more；
7) off-load button rotary course is determined, if tightening axle runs clamping stagnation, is stopped even if clicking scram button tightening axle
Rotation, simultaneously closes off the power supply of loading device and the gas source of clamping device, return step 3)；If tightening axle is run without clamping stagnation, point
It hits automatic button selection automatic mode and clicks release button, unclamp clamping device.
2. a kind of Miniature solid rocket automatic loading method based on decrement control according to claim 1, feature
Be: the shell of Miniature solid rocket and jet pipe are carried out pre-screwing by step (c), and steps are as follows:
8) in step (a)~(b) progress, to powder charge in the shell of Miniature solid rocket；
9) sealing ring is packed into the jet pipe of Miniature solid rocket；
10) the jet pipe internal screw thread of Miniature solid rocket is inserted in shell external screw thread, realizes pre-screwing；
11) pre-screwing process is determined, when pre-screwing process has clamping stagnation, jet pipe is sent out in replacement one new, return step 9)；If
When without clamping stagnation, the Miniature solid rocket of pre-screwing is packed into clamping device.
3. a kind of Miniature solid rocket automatic loading method based on decrement control according to claim 1, feature
Be: step (d) loads Miniature solid rocket according to the technological parameter of step (a) automatically；
12) it clicks and clamps button, so that clamping device, which closes up, steps up Miniature solid rocket shell；
13) when the jet pipe outer surface of Miniature solid rocket band trunnion class, using Miniature solid rocket jet pipe trunnion, using U-shaped
Two vertical parts of load tooling are loaded directly into the trunnion of Miniature solid rocket jet pipe；When the jet pipe outer surface of Miniature solid rocket is without branch
Ear is covered on jet pipe using load bayonet, is then loaded directly into load bayonet using two vertical parts of U-shaped load tooling (27) again
Two trunnions, so that load bayonet is able to drive jet pipe rotation；
14) motor preparation in the top servo motor and tightening mechanism of automatic button automatic loading device is clicked, then is clicked
Load button makes motor in tightening mechanism prepare to rotate forward, then clicks start button, the top servo motor band of automatic loading device
Dynamic ball screw rotation, so that slipway mechanism is to Miniature solid rocket top movements to preset height value, motor in tightening mechanism
Tightening axle is driven to rotate forward by retarder, so that the U-shaped load tooling rotation with tightening axle cooperation, thus to Miniature solid rocket
Jet pipe applies torque, so that Miniature solid rocket jet pipe and shell are realized and loaded；After the completion of load, tightening axle turns round certain angle
Degree, automatic loading device top servo motor drives ball screw reversion, so that slipway mechanism returns to initial position.
4. a kind of Miniature solid rocket automatic loading method based on decrement control according to claim 1, feature
Be: step (e) determines that steps are as follows to the automatic loading result of step (d):
15) while step 14), i.e., during loading, automatic loading device constantly calculates jet pipe inner seal ring compression magnitude,
After the completion of load, the compression magnitude of this hair Miniature solid rocket is shown automatically；
16) the compression magnitude of display this hair Miniature solid rocket is judged, if compression magnitude reaches targeted compression amount, is sentenced
This fixed load is qualified, if miss the mark decrement, determines that this load is unqualified.
5. a kind of Miniature solid rocket automatic loading method based on decrement control according to claim 1, feature
It is: further includes that step (f) is as follows after step (e):
(f) if load is qualified, loading procedure data are saved, then remove load bayonet, clamping device is unclamped, removes and added
Carry the Miniature solid rocket completed；
If load unqualified, selection unloading Miniature solid rocket clicks start button, servo motor at the top of automatic loading device
Ball screw rotation is driven, so that slipway mechanism moves to preset height value to Miniature solid rocket, motor is logical in tightening mechanism
It crosses retarder and drives tightening axle reversion, so that the U-shaped load tooling reversion with tightening axle cooperation, realizes that Miniature solid rocket is automatic
Unloading；After the completion of unloading, tightening axle rotates forward certain angle, and then servo motor drives ball screw anti-at the top of automatic loading device
Turn, so that slipway mechanism returns to initial position, rotates clamping device, unclamp clamping device, remove Miniature solid rocket, unscrew spray
Pipe；Sealing ring is removed, return step (c) after sealing ring is replaced.
6. a kind of Miniature solid rocket automatic loading method based on decrement control according to claim 2, feature
It is: the acquisition methods for torque value of taking a seat: Miniature solid rocket shell not priming box, spring part, powder column, grate, spray
It is packed into a hair sealing ring in pipe, fixes shell when shell is loaded with jet pipe, is turned round using six side of jet pipe using torque spanner load
Square, when load, torque spanner scale drives jet pipe to be loaded on shell since 1N.m, then increases every 1N.m and turns round
Square records torque value at this time, as Miniature solid rocket adds until torque spanner is able to drive jet pipe and loads on shell
Load is taken a seat torque.
7. a kind of Miniature solid rocket automatic loading method based on decrement control according to claim 2, feature
Be: the acquisition methods of targeted compression magnitude: Miniature solid rocket shell is in not priming box, spring part, powder column, grate
In the case where, a hair sealing ring is packed into jet pipe, if the targeted compression magnitude of sealing ring is A, sealing ring thickness value is t, target
Compression ratio is k, then has A=t × k, and wherein k value is 10%~30%.
8. a kind of Miniature solid rocket automatic loading device based on decrement control, characterized by comprising: clamping device, cunning
Platform mechanism, tightening mechanism, U-shaped load tooling, load bayonet, the seat of honour, pedestal, air tightness detection machine structure, top control module；
Clamping device is fixed on the base, that clamping solid-rocket outer casing bottom；
U-shaped loads tooling directly or by load bayonet connection solid-rocket shell；
Tightening mechanism is fixed on slipway mechanism by screw one end, and the other end connects U-shaped and loads tooling；
Slipway mechanism is fixed on the seat of honour by track and ball screw；
Top control module controls tightening mechanism；Air tightness detection machine structure passes through in pipeline connection solid-rocket, for testing Small Solid
The air-tightness of rocket；
Top control module controls the lifting of tightening axle, load, and whether in place to can determine that load, and have corresponding security alerting system；
Clamping device has fixed part and moving portion, the rubber after vulcanization is pasted on the clamp jaw of clamping device.
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| CN107192304B (en) * | 2017-05-12 | 2019-04-05 | 中国人民解放军军械工程学院 | A kind of gun launched missile sealing ring replacing options |
| CN113465933B (en) * | 2021-06-29 | 2024-03-29 | 西安零壹空间科技有限公司 | Internal pressure and external load composite static force testing device of solid rocket engine |
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