CN111002576B - Automatic pasting robot system for heat insulation layer of rocket engine fuel storage tank - Google Patents
Automatic pasting robot system for heat insulation layer of rocket engine fuel storage tank Download PDFInfo
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- CN111002576B CN111002576B CN201911287299.2A CN201911287299A CN111002576B CN 111002576 B CN111002576 B CN 111002576B CN 201911287299 A CN201911287299 A CN 201911287299A CN 111002576 B CN111002576 B CN 111002576B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C63/00—Lining or sheathing, i.e. applying preformed layers or sheathings of plastics; Apparatus therefor
- B29C63/02—Lining or sheathing, i.e. applying preformed layers or sheathings of plastics; Apparatus therefor using sheet or web-like material
- B29C63/04—Lining or sheathing, i.e. applying preformed layers or sheathings of plastics; Apparatus therefor using sheet or web-like material by folding, winding, bending or the like
- B29C63/08—Lining or sheathing, i.e. applying preformed layers or sheathings of plastics; Apparatus therefor using sheet or web-like material by folding, winding, bending or the like by winding helically
- B29C63/10—Lining or sheathing, i.e. applying preformed layers or sheathings of plastics; Apparatus therefor using sheet or web-like material by folding, winding, bending or the like by winding helically around tubular articles
- B29C63/105—Lining or sheathing, i.e. applying preformed layers or sheathings of plastics; Apparatus therefor using sheet or web-like material by folding, winding, bending or the like by winding helically around tubular articles continuously
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/48—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding
- B29C65/52—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding characterised by the way of applying the adhesive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C69/00—Combinations of shaping techniques not provided for in a single one of main groups B29C39/00 - B29C67/00, e.g. associations of moulding and joining techniques; Apparatus therefore
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- Lining Or Joining Of Plastics Or The Like (AREA)
Abstract
The invention discloses an automatic sticking robot system for a heat insulation layer of a fuel storage tank of a rocket engine, which comprises a rack (1), two supporting tables (2) arranged on the rack (1), a rocket storage tank end cover clamping and rotating mechanism (3) and a height adjusting mechanism (4) arranged on any supporting table (2) mechanism, a gantry and a guide rail (5) erected outside the rack (1) and the supporting tables (2), and a gluing mechanism (7), an airing mechanism (8), a material belt separating mechanism (9) and a compound manipulator (6) for sticking which are arranged on the gantry and the guide rail (5). The invention realizes the automatic molding of the heat insulating layer of the fuel of the rocket engine storage tank.
Description
Technical Field
The invention belongs to the technical field of heat insulation layer forming, and particularly relates to an automatic pasting robot system for a heat insulation layer of a fuel storage tank of a rocket engine.
Background
The material of the heat insulation layer in the shell of the solid rocket engine is an important part of the solid rocket engine, plays a role in heat insulation and corrosion resistance between the shell of the engine and a solid propellant, can absorb a large amount of heat through self consumption and reaction, reduces the speed of transferring the heat from a high-temperature working medium to the shell, and ensures the normal work of the shell part when the engine is ignited and started.
At present, the forming process of the heat insulating layer of the fuel storage tank of the engine adopts a manual paving method. The problem of large labor intensity is inevitably caused by manual paving, visual distance measurement and manual pressing are not beneficial to the stability of process quality, the consistency of the mutual lap joint width between the heat insulation layer material belts is difficult to ensure, the problems of heat insulation layer bulging, debonding and the like are caused, and in the working process of the rocket, the heat insulation layer manually adhered possibly causes serious problems of reduced heat protection capability, overhigh local temperature, even thermal deformation and the like.
Chinese patent CN201610535154.X discloses a method for forming an inner heat-insulating layer of a solid rocket engine, which comprises the steps of rolling a heat-insulating layer rubber material into a fine film, wrapping the fine film on a mold core, putting the mold core into a vulcanizing tank for curing, cooling, cutting, adhering the fine film to a combustion chamber shell of the solid rocket engine, putting the shell into the vulcanizing tank again for curing, and cooling. According to the method, the mold cores are required to be customized for different engine shells, the mode of vulcanizing and forming the film is not favorable for ensuring the consistency of the thickness of the heat insulation layer, automation is not realized in the whole process, manual operation is almost relied on, and the production efficiency is influenced.
Chinese utility model patent CN201520461425.2 discloses a large-scale storage tank surface heat insulation layer winding equipment, this equipment can be with winding mode at the adiabatic quilt of external surface winding of jar, but the rotatory process of the winding in-process jar body relies on manual operation, does not realize automaticly.
The Chinese invention patent CN201710663274.2 discloses a winding and forming method for an inner heat insulating layer of a solid rocket engine. The method adopts a numerical control technology to wind a rubber belt on a core mould in a pressurizing way, and then the heat insulation layer is formed by compacting, curing and demoulding. Although the winding process adopts a numerical control technology, the winding process needs to be formed by a core mold, and the heat insulation layer cannot be directly wound on the surface of the cylinder body.
In conclusion, the existing rocket engine storage tank fuel heat insulation layer forming technology can only realize manually operated heat insulation layer forming, or even if the automation of the forming process is realized, the demoulding and re-pasting treatment is also needed, and the accurate centering and positioning of the two ends of the tank body in the winding process and the real-time accurate control of the lapping amount and the pressing force of the material belt in the forming process are not realized without manual operation. Because of relying on the core mould to form, can't form the thermal insulation layer of the tank body of different size.
Disclosure of Invention
The invention aims to provide an automatic sticking robot system for a thermal insulation layer of a rocket engine fuel storage tank, aiming at the defect that the existing forming technology of the thermal insulation layer of the rocket engine fuel storage tank can only realize manual operation.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a robot system for automatically sticking the heat insulating layer of fuel storage tank of rocket engine is composed of machine frame, two supporting platforms installed to machine frame, the end cover clamping and rotating mechanism and height regulating mechanism for rocket storage tank, gantry and guide track, gluing mechanism, drying mechanism, material belt separating mechanism and composite manipulator.
The invention is further improved in that the frame and the two support tables form a sliding pair capable of translating relatively, wherein a driving device A is arranged on the frame and used for driving the support tables to translate.
The invention has the further improvement that the rocket tank end cover clamping and rotating mechanism comprises a fastening device, a driving device B and a visual detection device A; the fastening device is used for clamping an end cover of the engine fuel storage tank and then driven by the driving device B to rotate, and the visual detection device A is used for identifying marks on the end cover, so that the end cover rotates to a position required by installation.
The invention has the further improvement that the height adjusting mechanism comprises a V-shaped wheel, the two ends of the supporting shaft of the cylinder body can be ensured to be in a relatively horizontal state by adjusting and fixing the height of the V-shaped wheel in advance, the positioning precision of the cylinder body can be ensured by the V-shaped wheel, and the winding precision of the heat insulating layer is improved.
The invention has the further improvement that the gantry and the guide rail comprise a gantry frame supporting structure and a lower guide rail for supporting the gantry frame to move along the axial direction; the gantry frame supporting structure provides an X-Y-Z three-axis motion platform for the combined mechanical arm for sticking so that the gantry frame supporting structure can move along the outer surface of the rocket fuel storage box cylinder, and the lower guide rail enables the gantry frame supporting structure to move up along the axis of the cylinder.
The invention has the further improvement that a mechanical arm guide rail, a driving device C and a working ladder are also arranged on the gantry frame supporting structure; the mechanical arm guide rail and the driving device C provide support and power for X-Y-Z three-axis translation of the compound mechanical arm for sticking; the working ladder is convenient for workers to go up to the gantry frame supporting structure to adjust and overhaul.
The invention is further improved in that the compound manipulator for sticking comprises a winding and pressing roller, an elastic telescopic device A, a visual detection device B and a force sensor; the winding and pressing roller is used for pressing the material belt on the surface of the wall of the rocket fuel storage tank and is supported by the elastic expansion device A so as to be attached to the surface of the wall of the rocket fuel storage tank and have fault tolerance; under the control of the manipulator guide rail and the driving device C, the compound manipulator for pasting can carry out pasting following movement according to the cylindrical surface of the cylinder wall, and in order to ensure that the pressing force for winding and pasting the material belt is enough and proper, the material belt pasting manipulator is adjusted to move up and down through the manipulator guide rail and the driving device C according to the data of the force sensor so as to meet the requirement of the pasting force.
The invention has the further improvement that the gluing mechanism comprises a funnel and a gluing roller; the hopper can uniformly discharge the liquid heat insulating material, and the gluing roller is used for uniformly coating the liquid heat insulating material on the base belt.
The invention has the further improvement that the airing mechanism comprises a driving device D, a rotating roller, a force measuring sensor and an elastic telescopic device B; after the base band is coated with the liquid heat insulating material, the base band uniformly coated with the liquid heat insulating material is stretched and straightened by the rotating roller and is driven by the driving device D to advance; the elastic expansion device B ensures that the material belt is tensioned constantly, so that the fault tolerance is improved; meanwhile, the rotating speed of the driving device D is adjusted in real time according to the feedback data of the force measuring sensor connected to each rotating roller, so that the uniform transmission of the transport capacity is achieved.
The invention has the further improvement that the material belt separating mechanism comprises a waste belt storage box, a driving device E, a visual detection device C and a separating roller; the liquid heat-insulating material is aired and solidified into a heat-insulating band, the heat-insulating band is separated from the base band under the action of the separation roller and the driving device E, the base band separated from the heat-insulating band enters the waste band storage box, the visual detection device C monitors the accumulation amount of the waste band in the waste band storage box in real time, and replacement is reminded when the waste band storage box is full; the heat-insulating strip separated from the base strip continues to move forward by the driving means E.
Compared with the prior art, the invention has at least the following beneficial technical effects:
the invention provides an automatic pasting robot system for a heat insulation layer of a rocket engine fuel storage tank, which is provided with an end cover clamping and rotating mechanism, a gluing mechanism, an airing mechanism, a material belt separating mechanism and a manipulator for pasting aiming at the requirement of forming the heat insulation layer of the rocket engine fuel storage tank.
End cover rotation and clamping mechanism: a supporting shaft which penetrates through a central hole of a rocket engine fuel storage tank and extends out of two ends of the rocket engine fuel storage tank for enough distance is penetrated in advance, and under the cooperation of hoisting equipment, the shaft end of the supporting shaft penetrates into chucks of the end cover rotating and clamping mechanisms on two sides. The chucks on the two sides clamp the supporting shaft, so that the fuel storage tank of the rocket engine is accurately clamped. A driving device B in the end cover rotating and clamping mechanism can drive the chuck to rotate along the axial direction of the chuck, and the automatic material belt winding work is realized by matching with a mechanical arm for sticking.
A gluing mechanism: the funnel is filled with liquid heat insulating material, which is dissolved in solvent, and can be adhered and formed on the surface of the rocket engine fuel storage tank after the solvent is volatilized. Under the action of the gluing roller, the liquid heat-insulating material in the funnel is uniformly coated on the base band, the base band has better tensile property and does not react with the liquid heat-insulating material, the liquid heat-insulating material can be aired on the base band until the solvent is fully volatilized, and then the liquid heat-insulating material and the base band are separated.
The airing mechanism comprises: the heat insulating material is dissolved in the solvent, and is required to be coated on a base belt for airing to volatilize the solvent and be preliminarily formed into a belt shape. The airing mechanism tensions the base band uniformly coated with the liquid-state heat-insulating material into a snake shape through a group of rotating rollers so that the base band is fully contacted with air. The driving device D drives the rotating roller to enable the material belt to advance at a proper speed. In order to ensure that the material belt is driven at a constant speed and uniformly, each driving roller is provided with an elastic expansion device B and a force measuring sensor, so that the tension of the material belt is kept in a proper range and has certain fault tolerance. The distance between the rollers can be adjusted according to the time required by the volatilization of the liquid heat-insulating material.
The material belt separating mechanism comprises: the heat-insulating material after abundant sunning has basically solidified the shaping to have sticky strip form on the baseband, separates with the baseband under the separation gyro wheel effect, gets into the waste tape receiver after the baseband separation, and the waste tape receiver is furnished with visual detection device C and judges whether it is full, if fill with then reminds the staff to change. The heat insulating material preliminarily formed into a strip shape is continuously prepared to be adhered and wound forward under the drive of the separation roller and the driving device E.
Manipulator for pasting: considering that the outer surface of the rocket engine fuel storage tank is cylindrical, and simultaneously has misalignment error and radial runout, a manipulator for sticking and winding has three translational degrees of freedom of X-Y-Z, and the sticking and following capability of the cylindrical wall is ensured under the guidance of the visual detection device B. The winding and pressing roller presses the strip of the thermal insulation material stroke on the surface of the storage tank with proper pressing force under the feedback action of the force sensor. The principle of the winding and forming of the heat-insulating layer is that the storage box rotates around an axis, a mechanical arm for adhesion moves in a spiral way along the axial direction of the storage box, so that the heat-insulating layer material belt is spirally wound and adhered on the surface of the storage box, and a proper lap joint amount exists between the strip and the tape. The visual detection device B and the three-degree-of-freedom manipulator can ensure that the lapping amount between the strips is kept in a proper range when the strips are wound and pasted.
Furthermore, the end cover clamping and rotating mechanism and the manipulator for sticking enable winding and forming of the heat insulating layer of the rocket engine fuel storage tank to be carried out fully automatically, and high-intensity labor and instability of forming quality caused by manual operation are avoided. The gluing mechanism and the airing mechanism of the invention realize automation and adjustability of the forming of the heat insulating material, the arrangement of the gluing mechanism and the airing mechanism improves the space utilization rate and the forming consistency of the heat insulating layer, and the gluing mechanism and the airing mechanism are very suitable for forming the coating on the outer surface of the large tank body.
Drawings
FIG. 1 is a schematic view of an overall robotic system for automatically attaching a thermal insulation layer to a fuel tank of a rocket motor according to the present invention;
FIG. 2 is a schematic view of a frame of an automatic robotic system for affixing insulation to a rocket motor fuel tank according to the present invention;
FIG. 3 is a schematic front view of a robotic system support table and elevation mechanism for automatically attaching a thermal insulation layer to a rocket engine fuel tank according to the present invention;
FIG. 4 is a back view of the robotic system support table and elevation mechanism for automatically attaching a thermal insulation layer to a rocket motor fuel tank according to the present invention;
FIG. 5 is an overall schematic view of a gantry and a guide rail of the rocket engine fuel tank heat insulation layer automatic pasting robot system of the present invention;
FIG. 6 is a schematic diagram of the upper half of the gantry and the guide rail of the rocket engine fuel storage tank heat-insulating layer automatic pasting robot system
FIG. 7 is a schematic view of a composite manipulator for bonding of an automatic bonding robot system for thermal insulation layer of a rocket engine fuel tank according to the present invention;
FIG. 8 is a schematic view of a robotic system glue application mechanism for automatically applying a thermal insulation layer to a rocket motor fuel tank according to the present invention;
FIG. 9 is a schematic view of the whole drying mechanism of the automatic pasting robot system for the thermal insulation layer of the rocket engine fuel storage tank of the invention;
FIG. 10 is a side view of an automatic robotic system attachment mechanism for the insulation layer of a rocket motor fuel tank according to the present invention;
FIG. 11 is a schematic view of a material belt separating mechanism of a rocket engine fuel storage tank heat-insulating layer automatic pasting robot system according to the invention.
Description of reference numerals:
1 is a frame, and 101 is a driving device A;
2 is a support table;
3, a clamping and rotating mechanism of the end cover of the rocket storage tank, 301 is a fastening device, 302 is a driving device B, and 303 is a visual detection device A;
4, a height adjusting mechanism, 401 is a V-shaped wheel;
5 is a gantry and a guide rail, 501 is a gantry frame supporting structure, 502 is a lower guide rail, 503 is a manipulator guide rail, 504 is a driving device C, and 505 is a working ladder;
6 is a composite manipulator for sticking, 601 is a winding and pressing roller, 602 is an elastic expansion device A, 603 is a visual detection device B, and 604 is a force sensor;
7, a gluing mechanism, 701 a funnel and 702 a gluing roller;
8, a drying mechanism, 801, a driving device D, 802, a rotating roller, 803, a force sensor and 804, an elastic expansion device B;
the device 9 is a material belt separating mechanism, 901 is a waste belt storage box, 902 is a driving device E, 903 is a visual detection device C, and 904 is a separating roller.
Detailed Description
The invention is described in detail below with reference to the drawings, and it is to be understood that the invention is not limited to the exemplary embodiments, but is to be construed in a limiting sense.
Referring to fig. 1 and 2, the robot system for automatically adhering the heat insulation layer of the fuel storage tank of the rocket engine, provided by the invention, comprises a frame 1 fixedly connected to the ground, a support table 2 arranged on the frame 1, a rocket storage tank end cover clamping and rotating mechanism 3 and a height adjusting mechanism 4 which are arranged on the support table 2, a gantry and a guide rail 5 fixedly connected to the ground, a composite manipulator 6 for adhering on the gantry and the guide rail 5, a gluing mechanism 7, an airing mechanism 8 and a material belt separating mechanism 9. The frame 1 is arranged on the ground, forms a sliding pair with the two support tables 2, and provides power through the driving device A101 to realize the axial translation motion of the two support tables 2.
Referring to fig. 3 and 4, a rocket tank end cover clamping and rotating mechanism 3 is mounted on the support platform 2, and the rocket tank end cover clamping and rotating mechanism 3 comprises a fastening device 301, a driving device B302 and a visual detection device a 303. After the fastening device 301 clamps the end cover of the engine fuel storage tank, the driving device B302 drives the end cover of the engine fuel storage tank to rotate, the visual detection device A303 identifies the mark on the end cover, and the driving device B302 enables the end cover of the engine fuel storage tank to rotate to the position required by installation under the feedback of the visual detection device A303, so that the end cover of the engine fuel storage tank can be accurately installed.
Referring to fig. 4, a height adjusting mechanism 4 is installed on the supporting table 2, and the height of the V-shaped wheel 401 is adjusted in advance and fixed, so that the two ends of the supporting shaft of the cylinder body can be well kept in a relatively horizontal state, the positioning accuracy of the cylinder body can be guaranteed by the V-shaped wheel 401, and the winding accuracy of the heat insulating layer is remarkably improved.
Referring to fig. 5 and 6, the gantry and rail 5 includes a gantry frame support structure 501 and a lower rail 502 supporting the gantry frame support structure for axial movement, the gantry frame support structure 501 provides an X-Y-Z three-axis movement platform for the composite robot 6 for bonding so that it can move along the outer surface of the rocket fuel tank barrel, and the rail 502 allows the gantry frame support structure 501 to move on the barrel axis. The door frame support structure 501 is also provided with a robot guide 503, a driving device C504, a multi-function robot 6 for attachment, and a work ladder 505. The guide 503 and the drive means C504 provide support and power for the X-Y-Z three-axis translation of the compound robot 6 for application. The working ladder 505 facilitates adjustment and maintenance by workers who are going up the frame. The mechanism realizes the rotation of the cylinder and the translation of the compound mechanical arm 6 for pasting along the axis of the cylinder to form spiral pasting winding.
Referring to fig. 7, the multi-function bonding robot 6 for bonding includes a winding pressure roller 601, an elastic expansion device a602, a visual detection device B603, and a force sensor 604. Wherein, the winding and pressing roller 601 presses the material belt on the wall surface of the rocket fuel storage tank. Considering the error that the design center is not coincident with the actual rotation center and the requirement on the adhesion force, the winding and pressing roller 601 is supported by the elastic expansion device A602 so as to ensure that the winding and pressing roller is attached to the wall surface of the rocket fuel storage tank and has certain fault tolerance. Under the control of the guide rail 503 and the driving device C504, the multi-functional manipulator 6 for pasting can perform pasting following movement according to the cylindrical surface of the cylinder wall, and in order to ensure that the pressing force for winding and pasting the material belt is enough and appropriate, the winding pressing roller 601 can be adjusted to move up and down through the guide rail 503 and the driving device C504 according to the data of the force sensor 604 so as to meet the requirement of pasting force. In order to ensure that the overlapping amount between the insulating layer tapes is controlled within a proper range, the winding and pressing roller 601 can be adjusted to move through the guide rail 503 and the driving device C504 according to the data of the visual inspection device B603, so that the insulating layer tapes are adhered to the surface of the cylinder body at a precise position and pressing force.
Referring to fig. 8, the glue applying mechanism 7 includes a hopper 701 and a glue applying roller 702. The hopper 701 uniformly discharges the liquid insulation material, and the glue application roller 702 uniformly applies the liquid insulation material to the base tape. The gluing mechanism realizes the preliminary molding of the heat insulation layer material belt.
Referring to fig. 9 and 10, the airing mechanism 8 includes a driving device D801, a rotating roller 802, a load cell 803, and an elastic expansion device B804. After the base band is coated with the liquid heat-insulating material, the base band needs to be dried for a proper time to volatilize the solvent in the liquid heat-insulating material. The base tape uniformly coated with the liquid heat insulating material is spread and straightened by an array of two sets of rotating rollers 802, and is driven to advance by a driving device D801. The elastic expansion device B804 ensures that the material belt is tensioned all the time, and the fault tolerance is improved. And adjusting the rotating speed of the driving device D801 in real time according to the feedback data of the force measuring sensor 803 connected to each rotating roller 802, so as to achieve uniform transmission of the transport capacity. The airing mechanism 8 realizes the intermediate process of the molding of the heat insulating layer material belt, so that the solvent in the liquid heat insulating material is fully volatilized, and the heat insulating material is molded and cured into a strip shape.
Referring to fig. 11, the tape separating mechanism 9 includes a waste tape storage case 901, a driving device E902, a visual detection device C903, and a separating roller 904. The liquid heat-insulating material is dried and solidified into a heat-insulating band, the heat-insulating band is separated from the base band under the action of the separation roller 904 and the driving device E902, the base band separated from the heat-insulating band enters the waste band storage box 901, the accumulated amount of the waste band in the waste band storage box is monitored in real time by the visual detection device C903, and replacement is reminded when the waste band storage box is full of the heat-insulating band. The adiabatic tape separated from the base tape continues to move forward by the driving means E902. The material belt separating mechanism separates the solidified heat-insulating belt from the carrier base belt used in the solidification process of the heat-insulating belt.
The working process of the invention is as follows:
clamping a fuel storage tank of the rocket engine: because the cylindrical outer wall of the rocket engine fuel storage tank is not suitable for directly bearing force, a supporting shaft which penetrates through the central hole of the rocket engine fuel storage tank and extends out of two ends for enough distance penetrates through the central hole of the rocket engine fuel storage tank in advance, and the supporting shaft is hoisted by utilizing shaft ends extending out of two ends. The two supporting tables 2 are separated to a sufficient distance, under the cooperation of hoisting equipment, the rocket engine fuel storage tank moves to the middle of the two supporting tables 2, the central axis of the rocket engine fuel storage tank is approximately overlapped with the axes of the two fastening devices 301, then the two supporting tables 2 are close to the rocket engine fuel storage tank, the two ends of the supporting shaft of the rocket engine fuel storage tank respectively penetrate through the central holes of the two fastening devices, at the moment, the two fastening devices 301 respectively clamp the two ends of the supporting shaft, and the rocket engine fuel storage tank finishes positioning and clamping.
Mounting of a rocket engine fuel storage tank end cover: the driving device A302 drives the end cover of the rocket engine fuel storage tank to rotate, the visual detection device A303 identifies the mark on the end cover, and the end cover of the rocket engine fuel storage tank stops rotating after the end cover rotates to a preset position. The driving device A101 drives the supporting platform 2 to translate, so that the end cover of the rocket engine fuel storage tank is installed on the rocket engine fuel storage tank.
Coating heat-insulating materials by a glue coating mechanism: the liquid heat insulating material dissolved in the solvent in the funnel uniformly leaks out, and the base band passes below the funnel at a constant speed under the drive of the subsequent driving device A101, so that the liquid heat insulating material is uniformly coated on the base band.
And (3) drying and curing the heat insulating material: the base tape uniformly coated with the liquid heat insulating material is supported by two groups of rotating rollers 802 and moves forward at a constant speed under the action of a driving device D801. The base band is arranged in a snake shape, the liquid heat-insulating material is in large-area contact with air, so that the solvent in the base band is fully volatilized, and the heat-insulating material is gradually solidified into a strip shape. The elastic expansion device B804 ensures that the base band is tensioned constantly and has certain fault tolerance, and the rotating speed of the driving device D801 is adjusted in real time according to data fed back by the force measuring sensors 803 connected to each rotating roller 802, so that the base band is uniformly transmitted.
Separating the insulating band from the base band: the liquid heat-insulating material after being dried is solidified into a heat-insulating band, the heat-insulating band is separated from the base band under the action of the separation roller 904 and the driving device E902, the base band separated from the heat-insulating band enters the waste band storage box 901, the accumulated amount of the waste band in the waste band storage box is monitored in real time by the visual detection device C903, and replacement is reminded when the waste band storage box is full. The adiabatic tape separated from the base tape continues to move forward by the driving means E902.
Winding and pasting the insulating band: the winding and pressing roller 601 presses the insulating band on the wall surface of the rocket engine fuel storage tank, and the insulating band moves along the axial direction of the rocket engine fuel storage tank at a certain speed under the drive of the manipulator guide rail 503. After positioning, clamping and end cover installation are completed, the rocket engine fuel storage tank rotates at a constant speed under the action of the driving device B302, and forms spiral motion together with axial translation of the winding and pressing roller 601, so that the heat insulation belt is spirally wound and adhered to the surface of the rocket engine fuel storage tank. According to the data of the visual inspection device B603, the movement of the winding and pressing roller 601 can be adjusted by the guide rail 503 and the driving device C504, and the overlapping amount between the heat-insulating layer strips is ensured to be kept within a preset range. According to the data of the force sensor 604, the winding and pressing roller 601 can be adjusted to move up and down through the guide rail 503 and the driving device C504 so as to meet the requirement of the adhesive force. Considering the error that the design center is not coincident with the actual rotation center and the requirement on the adhesion force, the winding and pressing roller 601 is supported by the elastic expansion device A602 so as to ensure that the winding and pressing roller is attached to the wall surface of the rocket fuel storage tank and has certain fault tolerance.
The foregoing has shown and described the principles, broad features and advantages of the present invention. 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 appended claims.
The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. A robot system for automatically sticking a heat insulation layer of a fuel storage tank of a rocket engine is characterized by comprising a rack (1), two supporting tables (2) arranged on the rack (1), a rocket storage tank end cover clamping and rotating mechanism (3) and a height adjusting mechanism (4) arranged on any one supporting table (2) mechanism, a gantry and a guide rail (5) erected outside the rack (1) and the supporting tables (2), and a gluing mechanism (7), an airing mechanism (8), a material belt separating mechanism (9) and a compound manipulator (6) for sticking which are arranged on the gantry and the guide rail (5);
the gantry and the guide rail (5) comprise a gantry frame supporting structure (501) and a lower guide rail (502) for supporting the gantry frame to move along the axial direction; the gantry frame supporting structure (501) provides an X-Y-Z three-axis motion platform for the combined mechanical arm (6) for sticking so that the combined mechanical arm can move along the outer surface of the rocket fuel storage box cylinder, and the lower guide rail (502) enables the gantry frame supporting structure (501) to move up along the axis of the cylinder;
the gantry frame supporting structure (501) is also provided with a mechanical arm guide rail (503), a driving device C (504) and a working ladder (505); the mechanical arm guide rail (503) and the driving device C (504) provide support and power for X-Y-Z three-axis translation of the compound mechanical arm (6) for pasting; the working ladder (505) is convenient for workers to go up to the gantry frame supporting structure (501) to adjust and overhaul;
the composite manipulator (6) for sticking comprises a winding and pressing roller (601), an elastic telescopic device A (602), a visual detection device B (603) and a force sensor (604); the winding and pressing roller (601) is used for pressing the material belt on the wall surface of the rocket fuel storage tank, and the winding and pressing roller (601) is supported by the elastic expansion device A (602) so as to ensure that the winding and pressing roller is attached to the wall surface of the rocket fuel storage tank and has fault tolerance; under the control of the manipulator guide rail (503) and the driving device C (504), the compound manipulator (6) for pasting can carry out pasting following motion according to the cylindrical surface of the cylinder wall, and in order to ensure that the pressing force for winding and pasting the material belt is enough and proper, the material belt pasting manipulator is adjusted to move up and down through the manipulator guide rail (503) and the driving device C (504) according to the data of the force sensor (604), so as to meet the requirement of pasting force;
the gluing mechanism (7) comprises a funnel (701) and a gluing roller (702); the hopper (701) can uniformly leak out the liquid heat insulating material, and the gluing roller (702) is used for uniformly coating the liquid heat insulating material on the base belt;
the airing mechanism (8) comprises a driving device D (801), a rotating roller (802), a force measuring sensor (803) and an elastic telescopic device B (804); after the base band is coated with the liquid heat insulating material, the base band uniformly coated with the liquid heat insulating material is stretched and straightened by the rotating roller (802) and moves forward under the driving of the driving device D (801); the elastic expansion device B (804) ensures that the material belt is tensioned constantly, so that the fault tolerance is improved; meanwhile, the rotating speed of a driving device D (801) is adjusted in real time according to the feedback data of a force measuring sensor (803) connected to each rotating roller (802), so that the uniform transmission of the transport capacity is achieved;
the material belt separating mechanism (9) comprises a waste belt storage box (901), a driving device E (902), a visual detection device C (903) and a separating roller (904); the liquid heat-insulating material is aired and solidified into a heat-insulating band, the heat-insulating band is separated from the base band under the action of a separation roller (904) and a driving device E (902), the base band separated from the heat-insulating band enters a waste band storage box (901), a visual detection device C (903) monitors the accumulation amount of the waste band in the waste band storage box in real time, and replacement is reminded when the waste band storage box is full; the heat-insulating tape separated from the base tape continues to move forward by the driving means E (902).
2. The rocket engine fuel tank heat insulation layer automatic pasting robot system according to claim 1, characterized in that the frame (1) and the two supporting platforms (2) form a sliding pair capable of translating relatively, wherein the frame (1) is provided with a driving device A (101) for driving the supporting platforms (2) to move in translation.
3. The automatic sticking robot system for the insulation layer of the rocket engine fuel tank according to claim 1, wherein the rocket tank end cover clamping and rotating mechanism (3) comprises a fastening device (301), a driving device B (302) and a visual detection device A (303); the fastening device (301) is used for clamping an end cover of the fuel storage tank of the engine and then driven by the driving device B (302) to rotate, and the visual detection device A (303) is used for identifying marks on the end cover so that the end cover can rotate to a position required by installation.
4. The automatic pasting robot system for the thermal insulation layer of the rocket engine fuel tank according to claim 1, wherein the height adjusting mechanism (4) comprises a V-shaped wheel (401), the two ends of the supporting shaft of the cylinder body can be ensured to be in a relatively horizontal state by adjusting the height of the V-shaped wheel (401) in advance and fixing, and the V-shaped wheel (401) can ensure the positioning precision of the cylinder body and improve the winding precision of the thermal insulation layer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911287299.2A CN111002576B (en) | 2019-12-14 | 2019-12-14 | Automatic pasting robot system for heat insulation layer of rocket engine fuel storage tank |
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| CN201911287299.2A CN111002576B (en) | 2019-12-14 | 2019-12-14 | Automatic pasting robot system for heat insulation layer of rocket engine fuel storage tank |
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| CN111002576B true CN111002576B (en) | 2021-04-20 |
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| CN112936889B (en) * | 2021-01-27 | 2022-08-16 | 西安交通大学 | Automatic pasting system for heat insulation layer in sealing head section of solid rocket engine |
| CN112936887B (en) * | 2021-01-27 | 2022-08-16 | 西安交通大学 | Solid rocket engine seals end section interior heat insulation layer and pastes device |
| CN112936888B (en) * | 2021-01-27 | 2022-08-05 | 西安交通大学 | Spinning and pasting mechanism for heat insulation layer in sealing head section of solid rocket engine |
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| CN102909867A (en) * | 2012-10-26 | 2013-02-06 | 镇江铁科橡塑制品有限公司 | Continuous production process and unit for multilayer composite material |
| CN204739416U (en) * | 2015-06-30 | 2015-11-04 | 中机中联工程有限公司 | Large -scale storage tank surface heat insulation layer winding equipment |
| CN108327310A (en) * | 2017-12-06 | 2018-07-27 | 上海复合材料科技有限公司 | One kind being used for cylinder combined housing heat insulation layer automatic winding machine and its application method |
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