CN108907593B - Automatic assembly posture adjusting mechanism for carrier rocket tank girth welding - Google Patents
Automatic assembly posture adjusting mechanism for carrier rocket tank girth welding Download PDFInfo
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- CN108907593B CN108907593B CN201810843037.9A CN201810843037A CN108907593B CN 108907593 B CN108907593 B CN 108907593B CN 201810843037 A CN201810843037 A CN 201810843037A CN 108907593 B CN108907593 B CN 108907593B
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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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Abstract
The invention discloses an automatic assembly posture adjusting mechanism for girth welding of a storage box of a carrier rocket, which comprises a main body structure and a posture adjusting mechanism; the main structure comprises a bottom platform, a plurality of groups of supporting columns arranged on the bottom platform, a top platform fixedly arranged at the tops of the supporting columns, and a middle platform positioned between the bottom platform and the top platform; the posture adjusting mechanism comprises an axial motion system, a vertical direction adjusting system, a horizontal direction adjusting system, a self-adjusting wheel set, a supporting structure of the self-adjusting wheel set and a central small platform supporting system; the invention uses the servo motor, the ball screw structure and the spiral lifter (worm gear structure) to control the movement, can be combined with the control system to carry out high-precision automatic assembly, and improves the efficiency and the precision of the carrier rocket tank girth welding process.
Description
Technical Field
The invention relates to the field of aerospace equipment manufacturing devices, in particular to an automatic assembly and posture adjustment mechanism for girth welding of a storage box of a carrier rocket.
Background
The carrier rocket tank is an aluminum alloy large-scale thin-wall structure and is generally formed by welding a front bottom, a rear bottom and a plurality of cylinder sections through girth welding. The cylinder section belongs to a long straight thin-wall component, and due to the fact that the rigidity of the cylinder section is poor, the cylinder section is affected by gravity, welding internal stress and other factors, and the problems of poor coaxiality, assembly gap step difference and the like often exist in the horizontal welding process between the cylinder section and the cylinder section.
The manufacturing technology and the manufacturing quality level of the storage box of the carrier rocket directly influence the reliability, the bearing capacity and other overall service performances of the rocket. In the process of the welding process, the accurate positioning of the relative space postures of the cylinder sections is very important for the welding quality and the quality of the final storage box product. Therefore, in order to ensure the shape and position size of the whole storage box, the coaxiality and the assembly gap step difference between the cylinder section and the cylinder section before welding are required to be ensured within an allowable range, the welding quality of the circular seam of the storage box can be ensured only through the self precision of equipment in the current welding process, and the multi-degree-of-freedom adjustment in the cylinder section welding process can be realized without an effective posture adjusting mechanism, so that the space assembly result between the cylinder sections is required to be adjusted by the automatic assembly posture adjusting mechanism for the circular seam welding of the storage box of the carrier rocket so as to ensure the assembly quality.
Disclosure of Invention
The invention aims to provide an automatic assembly posture adjusting mechanism for carrier rocket tank girth welding aiming at the defects in the prior art, and aims to solve the problem that coaxiality and assembly gap step difference caused by cylinder section deformation in the cylinder section girth welding process in the prior art cannot meet assembly requirements.
The technical problem solved by the invention can be realized by adopting the following technical scheme:
an automatic assembly posture adjusting mechanism for girth welding of a carrier rocket storage tank comprises a main body structure and a posture adjusting mechanism;
the main structure comprises a bottom platform, a plurality of groups of supporting columns arranged on the bottom platform, a top platform fixedly arranged at the tops of the supporting columns, and a middle platform positioned between the bottom platform and the top platform;
the posture adjusting mechanism comprises an axial motion system, a vertical direction adjusting system, a horizontal direction adjusting system, a self-adjusting wheel set, a supporting structure of the self-adjusting wheel set and a central small platform supporting system;
the axial motion system comprises a first servo motor arranged on the bottom platform, an output shaft of the first servo motor is connected with a gear positioned below the bottom platform, the gear is used for being meshed with a rack laid on the ground, and the main body structure can move under the driving of the first servo motor; the axial motion system is provided with an axial guide assembly, the axial guide assembly comprises a plurality of first sliding blocks arranged on the bottom surface of the bottom layer platform and an axial guide rail paved on the ground, and the paving direction of the axial guide rail is consistent with that of the rack;
the vertical direction adjusting system comprises a second servo motor arranged on the bottom layer platform, the output end of the second servo motor is connected with the first spiral elevator through a first coupler, the output end of the first spiral elevator is connected with a first lifting rod, the top of the first lifting rod is connected with a first bearing arranged on the top layer platform, the middle layer platform is sleeved on the first lifting rod through a lifting nut and can move up and down along the first lifting rod under the driving of the second servo motor; the vertical direction adjusting system is provided with a vertical guide assembly, the vertical guide assembly comprises a plurality of second sliding blocks positioned on the side of the middle-layer platform and a vertical guide rail arranged on the support column, and the direction of the vertical guide rail is consistent with that of the first lifting rod;
the horizontal direction adjusting system comprises a first assembly and a second assembly which are oppositely arranged, the first assembly and the second assembly respectively comprise a third servo motor which is arranged on the bottom surface of the middle-layer platform, the output end of the third servo motor is connected with one end of a ball screw through a second coupler, the other end of the ball screw is connected with a bearing seat with a second bearing, a screw nut is arranged on the ball screw, the screw nut is connected with a horizontal moving platform which is arranged above the middle-layer platform through a synchronizing rod, and the horizontal moving platform can move along the ball screw under the driving of the third servo motor; the horizontal direction adjusting system is provided with a horizontal direction guiding assembly, the horizontal direction guiding assembly comprises a plurality of third sliding blocks positioned on the bottom surface of the horizontal moving platform and a horizontal guide rail arranged on the middle-layer platform, and the direction of the horizontal guide rail is consistent with that of the ball screw;
the self-adjusting wheel set and the supporting structure thereof comprise steel structural members, the bottoms of the steel structural members are connected with the horizontal moving platform, the top of each steel structural member is provided with the self-adjusting wheel set, and each self-adjusting wheel set comprises a positioning shaft, a self-adjusting frame, an upper roller and a lower roller, wherein the positioning shaft is fixedly arranged, the self-adjusting frame is movably connected with the two ends of the positioning shaft, and the upper roller and the lower roller;
the center small platform supporting system comprises a fourth servo motor, the output end of the fourth servo motor is connected with the second spiral lifter through a third coupler, the output end of the second spiral lifter is connected with a second lifting rod, and the top of the second lifting rod is connected with the flat plate through a supporting nut.
Furthermore, an outward bulge is arranged on the side of the middle-layer platform, and the bottom surface of the bulge is used for being connected with the second sliding block.
Furthermore, the main body of the self-adjusting frame is of a V-shaped structure, the intersection point of the V-shaped structure is movably connected with the two ends of the positioning shaft, and the upper roller and the lower roller are mounted at the end parts of the two ends of the V-shaped structure.
Compared with the prior art, the invention has the beneficial effects that:
the servo motor, the ball screw structure and the spiral lifter (worm and gear structure) are used for motion control, high-precision automatic assembly can be performed by combining a control system, and the efficiency and precision of the carrier rocket tank girth welding process are improved.
Drawings
FIG. 1 is a schematic view of an automated assembly attitude adjustment mechanism for a carrier rocket tank girth weld according to the present invention.
FIG. 2 is a schematic view of an axial motion system according to the present invention.
FIG. 3 is a schematic view of a vertical adjustment system according to the present invention.
FIG. 4 is a schematic view of the horizontal adjustment system, self-adjusting wheel set and its support structure according to the present invention.
FIG. 5 is a schematic view of a center small platform support system according to the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1 to 5, the automatic assembly posture adjustment mechanism for girth welding of the carrier rocket tank of the invention comprises a main body structure and a posture adjustment mechanism;
the main body structure comprises a bottom layer platform 1, a plurality of groups of supporting columns 2 arranged on the bottom layer platform 1, a top layer platform 4 fixedly arranged at the tops of the supporting columns 2, and a middle layer platform 3 positioned between the bottom layer platform 1 and the top layer platform 4;
the posture adjusting mechanism comprises an axial motion system 5, a vertical direction adjusting system 6, a horizontal direction adjusting system 7, a self-adjusting wheel set and a supporting structure 8 thereof and a central small platform supporting system 9;
the axial motion system 5 comprises a first servo motor 10 arranged on the bottom layer platform 1, an output shaft of the first servo motor 10 is connected with a gear 11 positioned below the bottom layer platform 1, the gear 11 is used for being meshed with a rack laid on the ground, and a main body structure can move under the driving of the first servo motor 10; the axial motion system 5 is provided with an axial guide assembly, the axial guide assembly comprises a plurality of first sliding blocks 12 arranged on the bottom surface of the bottom layer platform 1 and an axial guide rail paved on the ground, and the paving direction of the axial guide rail is consistent with that of the rack;
the vertical direction adjusting system 6 comprises a second servo motor 13 arranged on the bottom platform 1, the output end of the second servo motor 13 is connected with a first spiral lifter 15 through a first coupler 14, the output end of the first spiral lifter 15 is connected with a first lifting rod, the top of the first lifting rod is connected with a first bearing 17 arranged on the top platform 4, the middle platform 3 is sleeved on the first lifting rod through a lifting nut 16 and can move up and down along the first lifting rod under the driving of the second servo motor 13; the vertical direction adjusting system 6 is provided with a vertical guide assembly, the vertical guide assembly comprises a plurality of second sliding blocks 18 positioned on the side of the middle-layer platform 3 and a vertical guide rail 19 arranged on the support column 2, and the direction of the vertical guide rail 19 is consistent with that of the first lifting rod; an outward bulge is arranged on the side of the middle layer platform 3, and the bottom surface of the bulge is used for connecting a second sliding block 18.
The horizontal direction adjusting system 7 comprises a first component and a second component which are oppositely arranged, the first component and the second component respectively comprise a third servo motor 20 which is arranged on the bottom surface of the middle platform 3, the output end of the third servo motor 20 is connected with one end of a ball screw 22 through a second coupler 21, the other end of the ball screw 22 is connected with a bearing seat 25 with a second bearing 24, a screw nut 23 is arranged on the ball screw 22, the screw nut 23 is connected with a horizontal moving platform 27 which is arranged above the middle platform 3 through a synchronizing rod 26, and the horizontal moving platform 27 can move along the ball screw 22 under the driving of the third servo motor 20; the horizontal direction adjusting system 7 is provided with a horizontal direction guiding assembly, the horizontal direction guiding assembly comprises a plurality of third sliding blocks 28 positioned on the bottom surface of the horizontal moving platform 27 and a horizontal guide rail 29 laid on the middle-layer platform 3, and the direction of the horizontal guide rail 29 is consistent with that of the ball screw 22;
the self-adjusting wheel set and the supporting structure 8 thereof comprise a steel structural member 30, the bottom of which is connected with the horizontal moving platform 27, the top of the steel structural member 30 is provided with a self-adjusting wheel set 31, the self-adjusting wheel set 31 comprises a positioning shaft 32 which is fixedly arranged, a self-adjusting frame 33 which is movably connected with the two ends of the positioning shaft 32, and an upper roller 34 and a lower roller 35 which are arranged on the self-adjusting frame 33; the main body of the self-adjusting frame 33 is of a V-shaped structure, the intersection point of the V-shaped structure is movably connected with two ends of the positioning shaft 32, and the upper roller 34 and the lower roller 35 are installed at two end parts of the V-shaped structure.
The central small platform supporting system 9 comprises a fourth servo motor 36, an output end of the fourth servo motor 36 is connected with a second spiral lifting machine 38 through a third coupler 37, an output end of the second spiral lifting machine 38 is connected with a second lifting rod, and the top of the second lifting rod is connected with a flat plate 40 through a supporting nut 39.
The working process of the invention is as follows:
the first step is as follows: the whole posture adjusting mechanism moves to a specified position under the control of the axial motion system 5: the first servo motor 10 drives the gear 11 to move on the rack on the ground of the existing girth welding process. The first slide block 12 under the bottom platform is combined with the axial guide rail on the ground of the current girth welding process to assist the axial movement.
The second step is that: the self-adjusting wheel set of the posture adjusting mechanism and the supporting structure 8 thereof move to a designated position under the control of the horizontal direction adjusting system 7: the horizontal direction adjusting system 7 consisting of the third servo motor 20, the second coupling 21, the ball screw 22, the screw nut 23, the second bearing 24, the bearing seat 25, the synchronous rod 26 and the horizontal moving platform 27 drives the self-adjusting wheel set supporting system 8 to move horizontally. The third slide block 28 under the horizontal moving platform is combined with the horizontal guide rail 29 on the middle platform 3 to assist the horizontal movement.
The third step: the middle-layer platform 3 of the posture adjusting mechanism moves to a specified position under the control of the vertical direction adjusting system 6: a vertical direction adjusting system 6 consisting of a second servo motor 13, a first coupler 14, a first spiral lifter 15, a lifting nut 16 and a first bearing 17 drives the middle-layer platform 3 to move in the vertical direction, and second sliders are arranged below four lug structures on the side surface of the middle-layer platform 3 and are combined with a vertical guide rail 19 on the posture adjusting mechanism support column 2 to assist the vertical direction movement. During which the tank is brought into contact and the tank is adjusted in attitude.
The fourth step: the central small platform support system 9, raised vertically under its own power system to a given position, comes into contact with the tank and adjusts its shape: and a power system consisting of a fourth servo motor 36, a third coupler 37, a second spiral lifter 38 and a support nut 39 drives a flat plate 40 to move, so that the bottom of the storage tank is supported and corrected.
The fifth part: and (5) measuring and checking whether the posture of the cylinder section meets the requirement, and repeating the second step to the fifth step according to a posture adjusting algorithm until the posture of the cylinder section meets the requirement.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. An automatic assembly posture adjusting mechanism for girth welding of a carrier rocket storage tank comprises a main body structure and a posture adjusting mechanism; the method is characterized in that:
the main body structure comprises a bottom layer platform (1), a plurality of groups of supporting columns (2) arranged on the bottom layer platform (1), a top layer platform (4) fixedly arranged at the tops of the supporting columns (2), and a middle layer platform (3) positioned between the bottom layer platform (1) and the top layer platform (4);
the posture adjusting mechanism comprises an axial motion system (5), a vertical direction adjusting system (6), a horizontal direction adjusting system (7), a self-adjusting wheel set and a supporting structure (8) thereof and a central small platform supporting system (9);
the axial motion system (5) comprises a first servo motor (10) arranged on the bottom platform (1), an output shaft of the first servo motor (10) is connected with a gear (11) positioned below the bottom platform (1), the gear (11) is used for being meshed with a rack laid on the ground, and a main body structure can move under the driving of the first servo motor (10); the axial motion system (5) is provided with an axial guide assembly, the axial guide assembly comprises a plurality of first sliding blocks (12) arranged on the bottom surface of the bottom layer platform (1) and an axial guide rail paved on the ground, and the paving direction of the axial guide rail is consistent with that of the rack;
the vertical direction adjusting system (6) comprises a second servo motor (13) arranged on the bottom platform (1), the output end of the second servo motor (13) is connected with a first spiral elevator (15) through a first coupler (14), the output end of the first spiral elevator (15) is connected with a first lifting rod, the top of the first lifting rod is connected with a first bearing (17) arranged on the top platform (4), the middle platform (3) is sleeved on the first lifting rod through a lifting nut (16) and can move up and down along the first lifting rod under the driving of the second servo motor (13); the vertical direction adjusting system (6) is provided with a vertical guide assembly, the vertical guide assembly comprises a plurality of second sliding blocks (18) positioned on the side of the middle-layer platform (3) and a vertical guide rail (19) arranged on the supporting column (2), and the direction of the vertical guide rail (19) is consistent with that of the first lifting rod;
the horizontal direction adjusting system (7) comprises a first assembly and a second assembly which are arranged oppositely, the first assembly and the second assembly respectively comprise a third servo motor (20) which is arranged on the bottom surface of the middle-layer platform (3), the output end of the third servo motor (20) is connected with one end of a ball screw (22) through a second coupler (21), the other end of the ball screw (22) is connected with a bearing seat (25) with a second bearing (24), a screw nut (23) is arranged on the ball screw (22), the screw nut (23) is connected with a horizontal moving platform (27) which is arranged above the middle-layer platform (3) through a synchronizing rod (26), and the horizontal moving platform (27) can move along the ball screw (22) under the driving of the third servo motor (20); the horizontal direction adjusting system (7) is provided with a horizontal direction guiding assembly, the horizontal direction guiding assembly comprises a plurality of third sliding blocks (28) positioned on the bottom surface of the horizontal moving platform (27) and a horizontal guide rail (29) laid on the middle-layer platform (3), and the direction of the horizontal guide rail (29) is consistent with that of the ball screw (22);
the self-adjusting wheel set and the supporting structure (8) thereof comprise a steel structural member (30) of which the bottom is connected with the horizontal moving platform (27), the top of the steel structural member (30) is provided with a self-adjusting wheel set (31), the self-adjusting wheel set (31) comprises a positioning shaft (32) which is fixedly arranged, a self-adjusting frame (33) which is movably connected with the two ends of the positioning shaft (32), and an upper roller (34) and a lower roller (35) which are arranged on the self-adjusting frame (33);
the central small platform supporting system (9) comprises a fourth servo motor (36), the output end of the fourth servo motor (36) is connected with a second spiral lifting machine (38) through a third coupler (37), the output end of the second spiral lifting machine (38) is connected with a second lifting rod, and the top of the second lifting rod is connected with a flat plate (40) through a supporting nut (39).
2. The automatic assembly attitude adjusting mechanism for a carrier rocket tank girth weld according to claim 1, wherein: an outward bulge is arranged on the side of the middle layer platform (3), and the bottom surface of the bulge is used for connecting a second sliding block (18).
3. The automatic assembly attitude adjusting mechanism for a carrier rocket tank girth weld according to claim 1, wherein: the main body of the self-adjusting frame (33) is of a V-shaped structure, the intersection point of the V-shaped structure is movably connected with the two ends of the positioning shaft (32), and the upper roller (34) and the lower roller (35) are installed at the end parts of the two ends of the V-shaped structure.
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| 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 |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810843037.9A CN108907593B (en) | 2018-07-27 | 2018-07-27 | Automatic assembly posture adjusting mechanism for carrier rocket tank girth welding |
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| CN108907593A CN108907593A (en) | 2018-11-30 |
| CN108907593B true CN108907593B (en) | 2020-05-29 |
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| 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 |
| 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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