CN108907593A - A kind of carrier rocket tank circular seam welding Automated assembly pose_adjuster - Google Patents
A kind of carrier rocket tank circular seam welding Automated assembly pose_adjuster Download PDFInfo
- Publication number
- CN108907593A CN108907593A CN201810843037.9A CN201810843037A CN108907593A CN 108907593 A CN108907593 A CN 108907593A CN 201810843037 A CN201810843037 A CN 201810843037A CN 108907593 A CN108907593 A CN 108907593A
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- platform
- servo motor
- pose
- adjuster
- self
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention discloses a kind of carrier rocket tank circular seam welding Automated assembly pose_adjusters, including main structure and pose_adjuster；The main structure includes underlying platform, the several groups support column being arranged on underlying platform, the top layer platform being fixedly mounted at the top of support column and the middle layer platform between the underlying platform and top layer platform；The pose_adjuster includes axial movement system, vertical direction regulating system, horizontal direction regulating system, self-regulation wheel group and its support construction and center chain-wales support system；By the present invention in that carrying out motion control with servo motor, ball screw arrangement, spiral lift (worm gear structure), the automatic assembling that degree of precision can be carried out in conjunction with control system, improves the efficiency and precision of carrier rocket tank circumferential weld Welding.
Description
Technical field
The present invention relates to space equipment manufacturing device fields, specifically, being related specifically to a kind of carrier rocket tank ring
Seam weld Automated assembly pose_adjuster.
Background technique
Carrier rocket tank is aluminium alloy large-sized thin-wall construction, usually passes through circular seam welding by forward and backward bottom and more piece cylinder section
Welding forms.Wherein cylinder section belongs to long straight thin-wall member, due to itself poor rigidity of cylinder section, by various aspects such as gravity, welding interior stress
Factor influences, and often there is the problems such as poor concentricity, fit-up gap scale between cylinder section and cylinder section during horizontal welding equipment.
It is whole that carrier rocket tank manufacturing technology and manufacturing quality level directly affect rocket reliability, bearing capacity etc.
Military service performance.During assembling and welding process, the accurate positionin of cylinder section and cylinder section space posture is for welding quality and finally
Tank product quality is crucial.Therefore, in order to ensure that the morpheme size of tank FCL, it is necessary to assure between weldering placket section and cylinder section
Concentricity, fit-up gap scale within the allowable range, are only capable of during welding equipment through equipment itself accuracy guarantee tank ring at present
The welding equipment quality of seam may be implemented the multivariant adjusting of cylinder section welding equipment process without effective pose_adjuster, therefore need one
The Space configuration result cylinder section is adjusted to guarantee to fill in kind carrier rocket tank circular seam welding Automated assembly pose_adjuster
With quality.
Summary of the invention
It is an object of the invention to aiming at the shortcomings in the prior art, provide a kind of carrier rocket tank circular seam welding automation
Pose_adjuster is assembled, to solve concentricity caused by deforming in cylinder section circular seam welding technical process in the prior art because of cylinder section, assembly
The problem of gap scale is unsatisfactory for matching requirements.
Technical problem solved by the invention can be realized using following technical scheme：
A kind of carrier rocket tank circular seam welding Automated assembly pose_adjuster, including main structure and pose_adjuster；
The main structure includes underlying platform, the several groups support column being arranged on underlying platform, is fixedly mounted on branch
Top layer platform at the top of dagger and the middle layer platform between the underlying platform and top layer platform；
The pose_adjuster includes axial movement system, vertical direction regulating system, horizontal direction regulating system, self-regulation
Wheel group and its support construction and center chain-wales support system；
The axial movement system includes the first servo motor being mounted on underlying platform, the output of first servo motor
Axis connect with the gear being located at below underlying platform, and gear is used to engage with laying rack gear on the ground, and main structure can be
It is moved under the driving of first servo motor；The axial movement system has axially directed component, and axially directed component includes setting
Set the bottom surface of underlying platform several first sliding blocks and be laid with axial guidance on the ground, the laying side of axial guidance
It is consistent to the laying direction with rack gear；
The vertical direction regulating system includes the second servo motor being mounted on underlying platform, the second servo motor
Output end is connect by first shaft coupling with the first spiral lift, and the output end of the first spiral lift is connected with the first lifting
Bar, the top of the first elevating lever are connect with the first bearing being arranged on top layer platform, and middle layer platform is arranged by lifting nut
On the first elevating lever, and it can be moved up and down under the driving of the second servo motor along the first elevating lever；The vertical direction
Regulating system have vertical guidance set, vertical guidance set include positioned at middle layer platform side several second sliding blocks and
Vertical guide on the support columns is opened up, the direction of vertical guide is consistent with the direction of the first elevating lever；
The horizontal direction regulating system includes the first assembly being oppositely arranged and the second component, first assembly and second group
Part includes the third servo motor installed on platform base in middle level, and the output end of third servo motor passes through second shaft coupling
It is connect with one end of ball-screw, the other end of ball-screw is connect with the bearing block with second bearing, in the ball wire
Thick stick is equipped with feed screw nut, and feed screw nut is connect by synchronizing bar with the horizontal shifting platform above setting in middle level platform, and
The horizontal shifting platform can move under the driving of third servo motor along ball-screw；The horizontal direction regulating system tool
Have a horizontal direction guidance set, horizontal direction guidance set include positioned at horizontal shifting platform bottom surface several third sliding blocks, with
And it is provided with the horizontal guide rail on horizontal shifting platform, the direction of horizontal guide rail and the direction of ball-screw are consistent；
The self-regulation wheel group and its support construction include the steel construction piece that bottom is connect with horizontal shifting platform, steel construction
The top of part is equipped with self-regulation wheel group, and self-regulation wheel group includes the locating shaft of fixed setting, is flexibly connected with locating shaft two ends
Self-regulation frame and the upper roller and bottom roller being arranged on self-regulation frame；
The center chain-wales support system includes the 4th servo motor, and the output end of the 4th servo motor is joined by third
Axis device is connect with the second spiral lift, and the output end of the second spiral lift is connected with the second elevating lever, the second elevating lever
Top is connect by holding nut with plate.
Further, the side of platform is equipped with outside protrusion in middle level, and raised bottom surface is for connecting the second sliding block.
Further, the main body of the self-regulation frame is v-shaped structure, the both ends activity of the intersection point and locating shaft of v-shaped structure
Connection, upper roller and bottom roller are mounted on the both ends end of v-shaped structure.
Compared with prior art, the beneficial effects of the present invention are：
Servo motor, ball screw arrangement, spiral lift (worm gear structure) has been used to carry out motion control, it can be with
The automatic assembling that degree of precision is carried out in conjunction with control system, improves the efficiency and precision of carrier rocket tank circumferential weld Welding.
Detailed description of the invention
Fig. 1 is the schematic diagram of carrier rocket tank circular seam welding Automated assembly pose_adjuster of the present invention.
Fig. 2 is the schematic diagram of axial movement system of the present invention.
Fig. 3 is the schematic diagram of vertical direction regulating system of the present invention.
Fig. 4 is the schematic diagram of horizontal direction regulating system of the present invention, self-regulation wheel group and its support construction.
Fig. 5 is the schematic diagram of chain-wales support system in center of the present invention.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Referring to Fig. 1 to Fig. 5, a kind of carrier rocket tank circular seam welding Automated assembly pose_adjuster of the present invention, packet
Include main structure and pose_adjuster；
The main structure includes underlying platform 1, the several groups support column 2 being arranged on underlying platform 1, is fixedly mounted on
The top layer platform 4 and the middle layer platform 3 between the underlying platform 1 and top layer platform 4 at 2 top of support column；
The pose_adjuster include axial movement system 5, vertical direction regulating system 6, horizontal direction regulating system 7, from
Regulating wheel group and its support construction 8 and center chain-wales support system 9；
The axial movement system 5 includes the first servo motor 10 being mounted on underlying platform 1, first servo motor 10
Output shaft connect with the gear 11 for being located at the lower section of underlying platform 1, gear 11 is used to engage with the rack gear for being laid on the ground, master
Body structure can move under the driving of first servo motor 10；The axial movement system 5 has axially directed component, axially leads
It include that several first sliding blocks 12 of the bottom surface of underlying platform 1 are set and are laid with axial guidance on the ground, axis to component
The laying direction of direction guiding rail is consistent with the laying direction of rack gear；
The vertical direction regulating system 6 includes the second servo motor 13 being mounted on underlying platform 1, the second servo electricity
The output end of machine 13 is connect by first shaft coupling 14 with the first spiral lift 15, and the output end of the first spiral lift 15 connects
It is connected to the first elevating lever, the top of the first elevating lever is connect with the first bearing 17 being arranged on top layer platform 4, middle layer platform 3
It is set on the first elevating lever by lifting nut 16, and can be under the driving of the second servo motor 13 along on the first elevating lever
Lower movement；The vertical direction regulating system 6 has vertical guidance set, and vertical guidance set includes being located at 3 side of middle layer platform
Several second sliding blocks 18 of side and the vertical guide 19 being provided on support column 2, the direction of vertical guide 19 and the first lifting
The direction of bar is consistent；The side of platform 3 is equipped with outside protrusion in middle level, and raised bottom surface is for connecting the second sliding block 18.
The horizontal direction regulating system 7 includes the first assembly being oppositely arranged and the second component, first assembly and second
Component includes third servo motor 20 of the installation in middle level on 3 bottom surface of platform, and the output end of third servo motor 20 passes through the
Two shaft couplings 21 are connect with one end of ball-screw 22, the other end of ball-screw 22 and the bearing block 25 for having second bearing 24
Connection is equipped with feed screw nut 23 on the ball-screw 22, and feed screw nut 23 is by synchronizing bar 26 and platform 3 in middle level are arranged
The horizontal shifting platform 27 of top connects, and the horizontal shifting platform 27 can be under the driving of third servo motor 20 along ball
Lead screw 22 is mobile；The horizontal direction regulating system 7 has horizontal direction guidance set, and horizontal direction guidance set includes being located at
Several third sliding blocks 28 of 27 bottom surface of horizontal shifting platform and the horizontal guide rail 29 being laid on horizontal shifting platform 27, water
The direction of level gauge 29 is consistent with the direction of ball-screw 22；
The self-regulation wheel group and its support construction 8 include the steel construction piece 30 that bottom is connect with horizontal shifting platform 27,
The top of steel construction piece 30 is equipped with self-regulation wheel group 31, and self-regulation wheel group 31 includes the locating shaft 32 and locating shaft of fixed setting
The self-regulation frame 33 that 32 both ends are flexibly connected and the upper roller 34 and bottom roller 35 being arranged on self-regulation frame 33；It is described from
The main body of adjusting bracket 33 is v-shaped structure, and the intersection point of v-shaped structure is flexibly connected with the both ends of locating shaft 32, upper roller 34 and lower rolling
Wheel 35 is mounted on the both ends end of v-shaped structure.
The center chain-wales support system 9 includes the 4th servo motor 36, and the output end of the 4th servo motor 36 passes through
Third shaft coupling 37 is connect with the second spiral lift 38, and the output end of the second spiral lift 38 is connected with the second elevating lever,
The top of second elevating lever is connect by holding nut 39 with plate 40.
The course of work of the invention is as follows：
The first step：Pose_adjuster is whole to be moved to designated position in the control of axial movement system 5：First servo motor 10
It is moved on the rack gear on current circumferential weld Welding ground with moving gear 11.The first sliding block 12 and current circumferential weld below underlying platform
The axial guidance on Welding ground combines auxiliary to be axially moved.
Second step：The lower movement of the control of regulating system 7 in the horizontal direction of the self-regulation wheel group and its support construction 8 of pose_adjuster
To designated position：Third servo motor 20, second shaft coupling 21, ball-screw 22, feed screw nut 23, second bearing 24, bearing
Driving self-regulation 8 water of wheel group support system of horizontal direction regulating system 7 that seat 25, synchronizing bar 26 and horizontal shifting platform 27 form
Square to movement.Third sliding block 28 under horizontal shifting platform is combined subsidiary level direction with the horizontal guide rail 29 on the platform of middle layer
Movement.
Third step：Pose_adjuster middle layer platform 3 is moved to designated position in the control of vertical direction regulating system 6：Second
The vertical direction that servo motor 13, first shaft coupling 14, the first spiral lift 15, lifting nut 16, first bearing 17 form
Regulating system 6 drives middle layer platform 3 to move in the vertical direction, equipped with the below the ear structure of the side of middle layer platform 3 four
Two sliding blocks are combined auxiliary vertical direction movement with the vertical guide 19 on pose_adjuster support column 2.Tank is opened in the process
Begin to contact and adjusts tank posture.
4th step：Center chain-wales support system 9 rises to designated position under its own dynamical system vertically, with tank
It contacts and adjusts tank shape：By the 4th servo motor 36, third shaft coupling 37, the second spiral lift 38, holding nut 39
The dynamical system driving plate 34 of composition moves, and is supported school shape to tank bottom.
5th：Measurement checks whether cylinder section posture meets the requirements, and is such as unsatisfactory for requiring, and according to posture adjustment algorithm, repeats the
Two to five steps, until meeting the requirements.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (3)
1. a kind of carrier rocket tank circular seam welding Automated assembly pose_adjuster, including main structure and pose_adjuster；Its feature
It is：
The main structure includes underlying platform (1), the several groups support column (2) being arranged on underlying platform (1), is fixedly mounted
Top layer platform (4) at the top of support column (2) and the middle layer between the underlying platform (1) and top layer platform (4) are flat
Platform (3)；
The pose_adjuster include axial movement system (5), vertical direction regulating system (6), horizontal direction regulating system (7),
The wheel group that is self-regulated and its support construction (8) and center chain-wales support system (9)；
The axial movement system (5) includes the first servo motor (10) being mounted on underlying platform (1), first servo motor
(10) output shaft is connect with the gear (11) being located at below underlying platform (1), and gear (11) is used for and is laid on the ground
Rack gear engagement, main structure can move under the driving of first servo motor (10)；The axial movement system (5) has axial
Guidance set, axially directed component include setting in several first sliding blocks (12) of the bottom surface of underlying platform (1) and are laid on
The laying direction of axial guidance on ground, axial guidance is consistent with the laying direction of rack gear；
The vertical direction regulating system (6) includes the second servo motor (13) being mounted on underlying platform (1), the second servo
The output end of motor (13) is connect by first shaft coupling (14) with the first spiral lift (15), the first spiral lift (15)
Output end be connected with the first elevating lever, the top of the first elevating lever and the first bearing (17) being arranged on top layer platform (4)
Connection, middle layer platform (3) are set on the first elevating lever by lifting nut (16), and can be in the drive of the second servo motor (13)
It is moved up and down under dynamic along the first elevating lever；The vertical direction regulating system (6) has vertical guidance set, vertically guiding group
Part includes the vertical guide for being located at several second sliding blocks (18) of middle layer platform (3) side and being provided on support column (2)
(19), the direction of vertical guide (19) is consistent with the direction of the first elevating lever；
The horizontal direction regulating system (7) includes the first assembly being oppositely arranged and the second component, first assembly and second group
Part includes the third servo motor (20) installed on platform (3) bottom surface in middle level, and the output end of third servo motor (20) is logical
Second shaft coupling (21) is crossed to connect with one end of ball-screw (22), the other end of ball-screw (22) with have second bearing
(24) bearing block (25) connection, is equipped with feed screw nut (23) on the ball-screw (22), feed screw nut (23) passes through same
Step bar (26) is connect with the horizontal shifting platform (27) above setting in middle level platform (3), and the horizontal shifting platform (27)
It can be mobile along ball-screw (22) under the driving of third servo motor (20)；The horizontal direction regulating system (7) has water
Square to guidance set, horizontal direction guidance set includes several third sliding blocks positioned at horizontal shifting platform (27) bottom surface
(28) and the horizontal guide rail (29) that is laid on horizontal shifting platform (27), the direction of horizontal guide rail (29) and ball-screw
(22) direction is consistent；
The self-regulation wheel group and its support construction (8) include the steel construction piece that bottom is connect with horizontal shifting platform (27)
(30), the top of steel construction piece (30) is equipped with self-regulation wheel group (31), and self-regulation wheel group (31) includes the locating shaft of fixed setting
(32), upper roller of the self-regulation frame (33) and setting being flexibly connected with locating shaft (32) both ends in self-regulation frame (33)
(34) and bottom roller (35)；
The center chain-wales support system (9) includes the 4th servo motor (36), and the output end of the 4th servo motor (36) is logical
It crosses third shaft coupling (37) to connect with the second spiral lift (38), the output end of the second spiral lift (38) is connected with second
The top of elevating lever, the second elevating lever is connect by holding nut (39) with plate (40).
2. carrier rocket tank circular seam welding Automated assembly pose_adjuster according to claim 1, it is characterised in that：In
The side of layer platform (2) is equipped with outside protrusion, and raised bottom surface is for connecting the second sliding block (18).
3. carrier rocket tank circular seam welding Automated assembly pose_adjuster according to claim 1, it is characterised in that：It is described
The main body of self-regulation frame (33) is v-shaped structure, and the intersection point of v-shaped structure is flexibly connected with the both ends of locating shaft (32), upper roller
(34) and bottom roller (35) is mounted on the both ends end of v-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810843037.9A CN108907593B (en) | 2018-07-27 | 2018-07-27 | Automatic assembly posture adjusting mechanism for carrier rocket tank girth welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810843037.9A CN108907593B (en) | 2018-07-27 | 2018-07-27 | Automatic assembly posture adjusting mechanism for carrier rocket tank girth welding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108907593A true CN108907593A (en) | 2018-11-30 |
| CN108907593B CN108907593B (en) | 2020-05-29 |
Family
ID=64416008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810843037.9A Active CN108907593B (en) | 2018-07-27 | 2018-07-27 | Automatic assembly posture adjusting mechanism for carrier rocket tank girth welding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108907593B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112697799A (en) * | 2020-12-09 | 2021-04-23 | 北京航空航天大学 | Detection apparatus for integrality is scribbled to large length footpath solid rocket engine casing surface screen throwing |
| CN116280980A (en) * | 2023-05-17 | 2023-06-23 | 常州华阳检验检测技术有限公司 | Feeding and conveying mechanism for ageing test room |
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| CN107253016A (en) * | 2017-07-27 | 2017-10-17 | 中国航天科技集团公司长征机械厂 | The large-scale tank circumferential weld automatic welding internal support device of fast disassembly type |
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| JPH09174286A (en) * | 1995-12-22 | 1997-07-08 | Nikko Co Ltd | Positioner of drum tube welding equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112697799A (en) * | 2020-12-09 | 2021-04-23 | 北京航空航天大学 | Detection apparatus for integrality is scribbled to large length footpath solid rocket engine casing surface screen throwing |
| CN112697799B (en) * | 2020-12-09 | 2022-04-05 | 北京航空航天大学 | Detection apparatus for integrality is scribbled to large length footpath solid rocket engine casing surface screen throwing |
| CN116280980A (en) * | 2023-05-17 | 2023-06-23 | 常州华阳检验检测技术有限公司 | Feeding and conveying mechanism for ageing test room |
| CN116280980B (en) * | 2023-05-17 | 2023-09-29 | 常州华阳检验检测技术有限公司 | Feeding and conveying mechanism for ageing test room |
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| Publication number | Publication date |
|---|---|
| CN108907593B (en) | 2020-05-29 |
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