CN111331373A - Automatic drilling and riveting equipment suitable for short shell of carrier rocket - Google Patents

Automatic drilling and riveting equipment suitable for short shell of carrier rocket Download PDF

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Publication number
CN111331373A
CN111331373A CN202010117613.9A CN202010117613A CN111331373A CN 111331373 A CN111331373 A CN 111331373A CN 202010117613 A CN202010117613 A CN 202010117613A CN 111331373 A CN111331373 A CN 111331373A
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China
Prior art keywords
riveting
assembly
upright post
rivet
milling
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CN202010117613.9A
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CN111331373B (en
Inventor
周愿愿
袁桢棣
张维轩
梁莹
成群林
王业伟
罗志强
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Shanghai Space Precision Machinery Research Institute
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Shanghai Space Precision Machinery Research Institute
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Publication of CN111331373A publication Critical patent/CN111331373A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/04Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations

Abstract

The invention provides automatic drilling and riveting equipment suitable for a short shell of a carrier rocket, which comprises: the outer riveting upright post assembly 1 comprises an inner riveting upright post assembly 4, a milling assembly 7, a rotating assembly 8 and a control unit 10; the outer riveting column component 1 comprises: the outer riveting device comprises an outer riveting upright post 11, an outer riveting ram group 12, a first reinforcing frame 13, a first connecting frame 14 and a wedge-shaped jacking group 15; the rotating assembly 8 comprises: a rotating assembly body 36, a rotating table 37, a process plate 38 and an adapter plate 39; the rotating assembly body 36 is fixed on a foundation through foundation bolts and an adjusting sizing block; the rotary table 37 is mounted on the rotating assembly body 36 by a circular rail-slider mechanism. The invention can realize automatic drilling and riveting between the short shell end frame and the shell section of the large-size and weak-rigidity carrier rocket and milling of the circumferential opening frame of the shell section, and has the advantages of high riveting quality, high riveting efficiency and integration of drilling, riveting and milling.

Description

Automatic drilling and riveting equipment suitable for short shell of carrier rocket
Technical Field
The invention relates to the field of aerospace drilling and riveting equipment, in particular to automatic drilling and riveting equipment suitable for a short shell of a carrier rocket.
Background
The carrier rocket is provided with a plurality of cabin sections such as a storage tank, tank interval sections and stage sections, a short shell structure is designed at the 2 end of the storage tank and is used for connecting the storage tank with the tank interval sections or connecting the storage tank with the stage sections, the short shell consists of two parts, namely an end frame and a shell section, the end frame and the shell section are connected by riveting, each short shell needs more than 1000 rivets in the circumferential direction, the shell section needs to be opened in the circumferential direction in a circular or directional opening frame, the end frame and the shell section are made of aluminum alloy generally, the diameter of the excircle is phi 3350mm, and the total thickness of the connecting positions of the end frame and the shell section is 6mm-12 mm. At present, the mounting mode between an end frame and a shell section of a short shell is to manually mark the position where a rivet needs to be mounted, then drill a hole, manually insert the rivet into a rivet hole, and then manually rivet; because every short shell all need install 1000 a plurality of rivets, and every arrow that fires has designed dozens of short shell structures, the traditional mode of riveting by drilling has the problem that riveting hole processing position precision is low, riveting efficiency is low, intensity of labour is big.
Patent document CN109451672A discloses a fusion drilling and riveting machine, which includes: the automatic riveting device comprises a lower rack, a table board assembly arranged on the lower rack, a left melting drilling and riveting device and a right melting drilling and riveting device which are arranged on the lower rack; the left melting drilling and riveting device and the right melting drilling and riveting device are respectively arranged at two ends of the table board assembly. The riveting hole processing device has the advantages that the problem that the accuracy of the processing position of the riveting hole is low, the riveting efficiency is low, and the labor intensity is high is solved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide automatic drilling and riveting equipment suitable for a short shell of a launch vehicle.
According to the invention, the automatic drilling and riveting equipment suitable for the short shell of the carrier rocket comprises: an outer riveting upright post component, a nail feeding system, a drilling and riveting component, an inner riveting upright post component, an inner riveting component, an outer milling upright post component, a milling component, a rotating component, a video monitoring system and a control system, wherein,
-the outer rivet stud assembly comprises: the outer riveting upright post is a high-rigidity part manufactured integrally and is fixed on a foundation through foundation bolts and an adjusting sizing block; the first reinforcing frame is arranged on the outer riveting upright post and is used for reinforcing the rigidity of the outer riveting upright post; one side of the first connecting frame is arranged on the outer riveting upright post, and the other side of the first connecting frame is arranged on the rotating assembly and is used for fixing the relative positions of the outer riveting upright post assembly and the rotating assembly; the wedge-shaped jacking group is arranged on the outer riveting upright post and is used for laterally jacking the guide rail; the outer riveting ram group comprises an outer riveting ram I and an outer riveting ram II, the outer riveting ram I is installed on the back face of the outer riveting upright post through a guide rail slider mechanism, driving force is provided through a motor and a speed reducer, the driving force is transmitted through a screw rod nut mechanism to realize up-and-down movement, the outer riveting ram II is installed on the front face of the outer riveting upright post through the guide rail slider mechanism and is matched with the outer riveting ram I through a shaft hole and fixedly connected with a bolt, the outer riveting ram group performs accurate feedback control on the up-and-down movement position through a grating ruler, and the movement limit position is controlled through upper and lower 2 groups of photoelectric switches;
-the rotating assembly comprises: the device comprises a body, a rotary table board, a process board and an adapter plate, wherein the body is fixed on a foundation through foundation bolts and an adjusting sizing block, and a window is designed on the circumference of the body, so that people can conveniently enter and exit; the rotary table top is arranged on the body through a circular guide rail sliding block mechanism, provides rotary driving force through a motor and a speed reducer, transmits the driving force through a roller rolling ring, and performs accurate feedback control on a rotary angle through a circular grating; the process plate comprises a plurality of mounting plates, the mounting plates are uniformly distributed and fixed on the inner circular surface of the rotary table top in the circumferential direction, the lower protruding outer circular surface of the process plate is embedded into the inner circular surface of the upper plate of the body and used for ensuring the mounting coaxiality between the rotary table top and the body, the lower outer circular surfaces of the plurality of mounting plates of the process plate and the mounting step surfaces of the guide rail, the rolling ring and the grating ruler of the rotary table top are integrally processed to ensure the coaxiality, and the process plate is detached after the; the adapter plate is arranged on the rotary table top through a shaft hole structure, the upper surface of the adapter plate is a working surface and is used for installing an end frame of the rocket short shell, the end frame and the adapter plate are positioned through pin holes and fixed through screws uniformly distributed in the circumferential direction;
preferably, the inner rivet stud assembly comprises: the inner riveting upright post, the inner riveting ram group, the second reinforcing frame, the second connecting frame and the wedge-shaped jacking group are similar to the outer riveting upright post component in composition and structure, the inner riveting upright post component is fixedly arranged on a foundation in the rotating component through a foundation bolt and an adjusting sizing block, and the longitudinal middle plane of the inner riveting upright post component is aligned with the longitudinal middle plane of the outer riveting upright post component;
preferably, the external milling stud assembly comprises: the outer milling upright post, the outer milling ram group, the third reinforcing frame, the third connecting frame and the wedge-shaped jacking group are similar to the outer riveting upright post component in composition and structure form, the outer milling upright post component is fixedly arranged on a foundation outside the rotating component through foundation bolts and an adjusting sizing block, and the longitudinal middle plane of the outer milling upright post component is vertical to the longitudinal middle plane of the outer riveting upright post component;
preferably, the drill-rivet assembly comprises: the first 2-axis sliding table is installed on an outer riveting ram group of an outer riveting upright post assembly, the first 2-axis sliding table is provided with 2 moving degrees of freedom in the X direction and the Y direction, the X direction degree of freedom and the Y direction degree of freedom are both driven by a motor, driving force is transmitted through a lead screw nut mechanism and guided by a guide rail slider mechanism, the outer riveting rod is installed on the outer riveting cylinder, the outer riveting cylinder and the drilling main shaft are horizontally installed on the first 2-axis sliding table along the Y direction, and the outer riveting cylinder and the drilling main shaft are provided with 3 moving degrees of freedom in the X direction, the Y direction and the Z direction; the drilling and riveting component realizes drilling at a target position through the drilling main shaft, realizes switching of the outer riveting cylinder and the drilling main shaft along the Y-direction position through the first 2-axis sliding table, provides X-direction static pressure riveting force through the outer riveting cylinder, and designs the matching surface of the outer riveting rod and the rivet into an arc surface;
preferably, the staple feeding system comprises: the rivet receiving device comprises a rivet conveying machine, a rivet cabinet, rivet conveying pipelines, rivet receiving units and rivet inserting units, wherein the rivet cabinet is placed on the ground, a plurality of different specifications of the rivet conveying machine are installed in the rivet cabinet, each of the rivet conveying machines is provided with the corresponding specification of the rivet conveying pipeline, the corresponding specification of rivets are sent out by the rivet conveying machines, the rivets are sent to the tail ends of the rivet conveying pipelines, the rivet receiving units are automatically moved to the tail end positions of the rivet conveying pipelines to receive the rivets through the control of a system, the rivets are inserted into rivet holes through the rivet inserting units, shafts of outer riveting cylinders stretch out at the moment, reverse moving supports are provided for the rivets through outer riveting rods, and the rivets cannot retreat;
preferably, the inner rivet assembly comprises: the fixing frame is arranged on an inner riveting ram group of the inner riveting upright post assembly, the inner riveting cylinder is arranged on the fixing frame, the inner riveting rod is arranged on the inner riveting cylinder, the shaft of the inner riveting cylinder extends out along the-X direction, static pressure is provided for the rivet through the inner riveting rod, the rivet is extruded and deformed to form an upset head, and riveting is completed;
preferably, the milling assembly comprises: the second 2-axis sliding table, the milling main shaft and the oil mist cooling system are arranged on an outer milling ram group of an outer milling upright post assembly, the second 2-axis sliding table comprises 2 mobile degrees of freedom in the X direction and the Y direction, the milling main shaft is arranged on the second 2-axis sliding table and combines with the Z-direction degree of freedom provided by the outer milling upright post assembly on the outer milling ram group to form 3 mobile degrees of freedom and 1 rotary degree of freedom, and the functional requirements of the short shell processing opening frame are met, and the oil mist cooling system is arranged on the second 2-axis sliding table and cools a milling cutter arranged on the milling main shaft;
preferably, the video monitoring system is used for recording a video of the riveting process of the rivet and judging the riveting quality, the judgment of the riveting quality is to collect the size and the shape of the upset head after riveting of the rivet in a photographing mode, then compare the size and the shape of the upset head with the size and the shape of the upset head set in the system, send an alarm to the unqualified upset head and give a prompt for re-riveting;
preferably, the control system is used for controlling electric devices in the whole equipment to realize the functions of automatically drilling, riveting and milling the opening frame of the short shell.
During operation, the installation of short shell is the first step, at first installs the end frame of short shell on rotating assembly's keysets, carries on spacingly through 4 pins between end frame and the keysets, through the 30 fix with screws of circumference equipartition, secondly embolias the end frame with the shell section of short shell, and the disc is clearance fit with the outer disc of end frame in the shell section, then according to the drawing requirement, to assembling the manual drilling of short shell circumference together, 8 rivet preliminary fixings. The second step is drilling, feeding, inserting and riveting, firstly, equipment executes a drilling and riveting program, a drilling main shaft of a drilling and riveting assembly is controlled to drill a short shell target position, while drilling is carried out, a nail feeding system sends rivets with corresponding specifications to a nail receiving unit according to the set program, after drilling is finished, a first 2-shaft sliding table of the drilling and riveting assembly works, the drilling main shaft is withdrawn along-X direction, then an outer riveting cylinder and the drilling main shaft simultaneously move along + Y direction, the outer riveting cylinder is moved to the position of a just finished rivet hole, the nail feeding system continues working, the rivets are fed to the rivet hole which is just drilled, at the moment, an outer riveting rod provides reverse moving support for the rivets, and the rivets cannot retreat; secondly, the inner riveting cylinder extends out along the-X direction, the rivet is extruded through the inner riveting rod, the riveting process is controlled through double feedback of the moving position of the inner riveting rod and the riveting force born by the inner riveting cylinder, and finally the rivet riveting is completed; thirdly, photographing the rivet upset head through a video monitoring system, comparing the photographed image with the upset head size and shape set in the system, and judging the riveting quality; repeating the processes to complete the riveting of a plurality of riveting points of 1000 circumferential short shells. After riveting is finished, the milling assembly and the rotating assembly form a four-axis linkage system, a control system program is executed, and machining of the shell section opening frame of the short shell is finished.
Compared with the prior art, the invention has the following beneficial effects:
the invention can realize the automatic drilling and riveting between the end frame and the shell section of the large-size and weak-rigidity carrier rocket short shell, and the milling of the circumferential opening frame of the shell section, the motion control of equipment is carried out by the control system, the video recording and quality detection are carried out in the riveting process by the video monitoring system, the drilling, riveting and milling procedures are carried out by the equipment, the automatic drilling, riveting and milling opening frame of the carrier rocket short shell can be met, and the invention has the advantages of high riveting quality, high riveting efficiency and drilling, riveting and milling integration.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of the assembly principle of the present invention;
FIG. 2 is a schematic view of an outer rivet stud assembly;
FIG. 3 is a schematic view of a drilling and riveting assembly and a nail feeding system;
FIG. 4 is a schematic view of the inner riveting column assembly and the inner riveting assembly;
FIG. 5 is a schematic diagram of an external milling column assembly and a milling assembly;
FIG. 6 is a schematic view of a rotating assembly;
in the figure: 1 is an outer riveting upright post component, 2 is a nail feeding system, 3 is a drilling and riveting component, 4 is an inner riveting upright post component, 5 is an inner riveting component, 6 is an outer milling upright post component, 7 is a milling component, 8 is a rotating component, 9 is a video monitoring system, 10 is a control system, 11 is an outer riveting upright post, 12 is an outer riveting ram group, 13 is a first reinforcing frame, 14 is a first connecting frame, 15 is a wedge-shaped jacking group, 16 is a first 2-axis sliding table, 17 is an outer riveting cylinder, 18 is an outer riveting rod, 19 is a drilling main shaft, 20 is a nail feeding machine, 21 is a nail cabinet, 22 is a nail feeding pipeline, 23 is a nail connecting unit, 24 is a nail inserting unit, 25 is an inner riveting cylinder, 26 is a fixed frame, 27 is an inner riveting rod, 28 is an inner riveting upright post, 29 is an inner riveting ram group, 30 is an outer milling upright post, 31 is an outer milling ram group, 32 is a third connecting frame, 33 is a third reinforcing frame, 34 is a second 2-axis, and 35 is a milling main shaft, 36 is the rotating assembly body, 37 is the rotating table, 38 is the process plate, 39 is the adapter plate.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1 to 6, an automatic drilling and riveting device for a short shell of a launch vehicle comprises: the device comprises an outer riveting upright post component 1, a nail feeding system 2, a drilling and riveting component 3, an inner riveting upright post component 4, an inner riveting component 5, an outer milling upright post component 6, a milling component 7, a rotating component 8, a video monitoring system 9 and a control system 10, wherein,
the external riveting stud assembly 1 comprises: the outer riveting upright post 11, the outer riveting ram group 12, the first reinforcing frame ((13)), the first connecting frame (14) and the wedge-shaped jacking group 15 are integrally manufactured high-rigidity parts, and the outer riveting upright post 11 is fixed on a foundation through foundation bolts and an adjusting sizing block; the first reinforcing frame 13 is arranged on the outer riveting upright post 11 and used for reinforcing the rigidity of the outer riveting upright post 11; one side of the first connecting frame 14 is mounted on the outer riveting upright post 11, and the other side is mounted on the rotating assembly 8 and used for fixing the relative positions of the outer riveting upright post assembly 1 and the rotating assembly 8; the wedge-shaped jacking group 15 is arranged on the outer riveting upright post 11 and is used for laterally jacking the guide rail; the outer riveting ram group 12 comprises an outer riveting ram I and an outer riveting ram II, the outer riveting ram I is mounted on the back face of the outer riveting upright post 11 through a guide rail slider mechanism, driving force is provided through a motor and a speed reducer, the driving force is transmitted through a screw rod nut mechanism to realize up-and-down movement, the outer riveting ram II is mounted on the front face of the outer riveting upright post 11 through the guide rail slider mechanism and is matched with the outer riveting ram I through a shaft hole and fixedly connected with a bolt, the outer riveting ram group 12 performs accurate feedback control on the up-and-down movement position through a grating ruler, and the movement limit position is controlled through upper and lower 2 groups of photoelectric switches;
the rotating assembly 8 comprises: the device comprises a body 36, a rotary table top 37, a process plate 38 and an adapter plate 39, wherein the body 36 is fixed on a foundation through foundation bolts and an adjusting sizing block, and a window is designed in the circumferential direction of the body, so that people can conveniently enter and exit; the rotary table top 37 is arranged on the body 36 through a circular guide rail sliding block mechanism, provides rotary driving force through a motor and a speed reducer, transmits the driving force through a roller rolling ring, and performs accurate feedback control on a rotary angle through a circular grating; the process plate 38 comprises a plurality of mounting plates, the mounting plates are uniformly distributed and fixed on the inner circular surface of the rotary table top in the circumferential direction, the lower protruding outer circular surface of the process plate is embedded into the inner circular surface of the upper plate of the body 36 and is used for ensuring the mounting coaxiality between the rotary table top 37 and the body 36, the lower outer circular surfaces of the plurality of mounting plates of the process plate 38 and the mounting step surfaces of the guide rail, the rolling ring and the grating ruler of the rotary table top 37 are integrally processed to ensure the coaxiality, and the process plate 3 is detached after; the adapter plate 39 is installed on the rotary table surface 37 through a shaft hole structure, the upper surface of the adapter plate 39 is a working surface and used for installing an end frame of the rocket short shell, the end frame is located through pin holes, and the end frame is fixed through screws uniformly distributed in the circumferential direction.
Further, the inner riveting column assembly 4 comprises: the inner riveting upright post assembly 4 is similar to the outer riveting upright post assembly 1 in composition and structure form, is fixedly arranged on a foundation inside the rotating assembly 8 through a foundation bolt and an adjusting sizing block, and the longitudinal middle plane of the inner riveting upright post assembly 4 is aligned with the longitudinal middle plane of the outer riveting upright post assembly 1;
further, the external milling column assembly 6 includes: the outer milling upright post 30, the outer milling ram group 31, the third reinforcing frame ((33)), the third connecting frame ((32)), and the wedge-shaped jacking group, wherein the composition and the structural form of the outer milling upright post assembly 6 are similar to those of the outer riveting upright post assembly 1, the outer milling upright post assembly is fixedly arranged on a foundation outside the rotating assembly 1 through foundation bolts and an adjusting sizing block, and the longitudinal middle plane of the outer milling upright post assembly 6 is vertical to the longitudinal middle plane of the outer riveting upright post assembly 1;
further, the drill-rivet assembly 3 includes: the first 2-axis sliding table (16), the outer riveting cylinder 17, the outer riveting rod 18 and the drilling main shaft 19, wherein the first 2-axis sliding table 16 is installed on the outer riveting ram group 12 of the outer riveting upright post assembly 1, the first 2-axis sliding table 16 has 2 degrees of freedom of movement in the X direction and the Y direction, the degrees of freedom in the X direction and the Y direction are both driven by a motor, driving force is transmitted through a screw and nut mechanism and guided through a guide rail and slider mechanism, the outer riveting rod 18 is installed on the outer riveting cylinder 17, the outer riveting cylinder 17 and the drilling main shaft 19 are horizontally installed on the first 2-axis sliding table 16 along the Y direction, and the outer riveting cylinder 17 and the drilling main shaft 19 have 3 degrees of freedom of movement in the X direction, the Y direction and the Z direction; the drilling and riveting component 3 realizes drilling at a target position through the drilling main shaft 19, realizes switching of the outer riveting 17 cylinder and the drilling main shaft 19 along the Y-direction position through the first 2-axis sliding table 16, provides X-direction static pressure riveting force through the outer riveting cylinder 17, and designs the matching surface of the outer riveting rod 18 and the rivet as an arc surface;
further, the staple feeding system 2 includes: the automatic rivet receiving machine comprises a nail feeding machine 20, a nail cabinet 21, a nail feeding pipeline 22, a nail receiving unit 23 and a nail inserting unit 24, wherein the nail cabinet 21 is placed on the ground, the nail feeding machine 20 with different specifications is arranged in the nail cabinet 21, the nail feeding pipeline 22 with the corresponding specification is arranged on each nail feeding machine 20, the nail feeding machine 20 sends out rivets with the corresponding specification, the rivets are sent to the tail end of the nail feeding pipeline 22, the nail receiving unit 23 is automatically moved to the tail end of the nail feeding pipeline 22 to receive the nails through system control, the rivets are inserted into rivet holes through the nail inserting unit 24, at the moment, shafts of outer riveting cylinders 17 extend out, reverse moving support is provided for the rivets through outer riveting rods 18, and the rivets cannot retreat;
further, the inner riveting component 5 comprises: the riveting device comprises an inner riveting cylinder 25, an inner riveting rod 27 and a fixed frame 26, wherein the fixed frame 26 is arranged on an inner riveting ram group 29 of the inner riveting upright post assembly 4, the inner riveting cylinder 25 is arranged on the fixed frame 26, the inner riveting rod 27 is arranged on the inner riveting cylinder 25, the shaft of the inner riveting cylinder 25 extends out along the-X direction, static pressure is provided for a rivet through the inner riveting rod 27, the rivet is extruded and deformed to form an upset head, and riveting is completed;
further, the milling assembly 7 comprises: the second 2-axis sliding table (34), the milling spindle 35 and the oil mist cooling system are arranged, the second 2-axis sliding table 34 is arranged on an outer milling ram group 31 of an outer milling upright post assembly 6, the second 2-axis sliding table 34 comprises X-direction and Y-direction 2 moving degrees of freedom, the milling spindle 35 is arranged on the second 2-axis sliding table 34 and combines the Z-direction degrees of freedom provided by the outer milling upright post assembly 6 on the outer milling ram group 31 with the rotating degrees of freedom provided by the outer milling upright post assembly 6, and the rotating assembly 8 forms 3 moving degrees of freedom and 1 rotating degree of freedom in combination with the rotating degrees of freedom provided by a rotating table surface 37, so that the functional requirements of a short shell processing opening frame are met, and the oil mist cooling system is arranged on the second 2-axis sliding table 34 and cools a milling cutter arranged on;
furthermore, the video monitoring system 9 is used for recording a video of the riveting process of the rivet and judging the riveting quality, wherein the judgment of the riveting quality is to collect the size and the shape of the upset head after riveting of the rivet in a photographing mode, compare the size and the shape of the upset head with the size and the shape of the upset head set in the system, send an alarm to the unqualified upset head and give a prompt for re-riveting;
further, the control system 10 is used for controlling electric devices in the whole equipment, and functions of automatically drilling, riveting and milling the short shell are achieved.
During operation, the installation of short shell is the first step, at first installs the end frame of short shell on rotating assembly 8's keysets 39, carries on spacingly through 4 pins between end frame and the keysets 39, through 30 fix with screw of circumference equipartition, secondly embolias the end frame with the shell section of short shell, and the disc is clearance fit with the outer disc of end frame in the shell section, then according to the drawing requirement, to assembling the manual drilling of short shell circumference together, 8 rivet preliminary fixings. The second step is drilling, feeding, inserting and riveting, firstly, equipment executes a drilling and riveting program, a drilling main shaft 19 of a drilling and riveting assembly 3 is controlled to drill a short shell target position, while drilling is carried out, a nail feeding system 2 sends rivets with corresponding specifications to a nail receiving unit 23 according to the set program, after the drilling is finished, a first 2-axis sliding table 16 of the drilling and riveting assembly 3 works, the drilling main shaft 19 retreats along-X direction, then an outer riveting cylinder 17 and the drilling main shaft 19 simultaneously move along + Y direction, the outer riveting cylinder 17 moves to the position of a just finished rivet hole, the nail feeding system 2 continues working, the rivets are sent to the rivet hole which is just drilled, at the moment, an outer riveting rod 18 provides reverse movement support for the rivets, and the rivets cannot retreat; secondly, the inner riveting cylinder 25 extends out along the-X direction, the rivet is extruded through the inner riveting rod 27, the riveting process is controlled through double feedback of the moving position of the inner riveting rod 27 and the riveting force born by the inner riveting cylinder 25, and finally the rivet riveting is completed; thirdly, the video monitoring system 9 is used for photographing the rivet upset head, the size and the shape of the upset head are compared with those set in the system, and riveting quality is judged; repeating the processes to complete the riveting of a plurality of riveting points of 1000 circumferential short shells. After riveting is finished, the milling assembly 7 and the rotating assembly 8 form a four-axis linkage system, a control system program is executed, and machining of a shell section opening frame of the short shell is finished.
The invention provides automatic drilling and riveting equipment for a short shell of a carrier rocket. The equipment comprises an outer riveting upright post assembly, a nail feeding system, a drilling and riveting assembly, an inner riveting upright post assembly, an inner riveting assembly, an outer milling upright post assembly, a milling assembly, a rotating assembly, a video monitoring system and a control system. The invention provides automatic drilling and riveting equipment for a short shell of a carrier rocket, which is used for realizing automatic drilling and riveting between an end frame and a shell section of the short shell of the carrier rocket and realizing milling of a circumferential opening frame of the shell section. The L-shaped end frame is arranged on the rotating assembly through the end face, the shell section is sleeved into the end frame in a shaft hole matching mode, and the inner surface of the shell section is attached to the outer surface of the end frame; the rotating assembly drives the short shell to automatically rotate, and the accurate control of the rotating angle is realized through the circular grating; the drilling and riveting component is arranged on the outer riveting upright post component, and the outer upright post component drives the drilling and riveting component to move up and down; the drilling and riveting component comprises a riveting module, a drilling module and a switching sliding table, has the functions of drilling, switching riveting positions, drilling feeding and riveting feeding, and is used for drilling a short shell target position, then conveying a rivet to a target hole and keeping tight jacking; the rivet feeding system is arranged on the drilling and riveting assembly, has the functions of automatic selection and automatic rivet feeding of rivets with various specifications, and can automatically feed the rivets to the riveting module; the inner riveting component is arranged on the inner upright post component, and the inner upright post component drives the inner riveting component to move up and down; the inner riveting component has a riveting feeding function and comprises an inner riveting cylinder and an inner riveting rod, and the inner riveting rod extends out under the driving of the inner riveting cylinder to rivet a rivet at a target position in a static pressure manner; the milling assembly is arranged on the outer milling upright post assembly, and the outer milling upright post assembly drives the milling assembly to move up and down; the milling assembly has 3 degrees of freedom of movement, and forms a four-axis system with the rotating assembly to realize automatic milling of the short shell circumferential opening frame; the video monitoring system monitors the riveting process in real time, and automatically judges the riveting quality by adopting an image recognition and processing method; the control system controls all motors, riveting cylinders, an oil way lubricating system and a video monitoring system of the whole device, and realizes circumferential automatic drilling and riveting between an end frame and a shell section of the short shell of the carrier rocket and milling of a circumferential opening frame of the shell section. The automatic drilling and riveting equipment for the short shell of the carrier rocket can realize automatic drilling and riveting between the end frame and the shell section of the short shell of the carrier rocket with large size and weak rigidity and milling of the circumferential opening frame of the shell section, and has the advantages of high riveting quality, high riveting efficiency and integration of drilling, riveting and milling.
The invention can realize the automatic drilling and riveting between the short shell end frame and the shell section of the large-size and weak-rigidity carrier rocket and the milling of the circumferential opening frame of the shell section, the motion control is carried out on the equipment through the control system 10, the video recording and quality detection are carried out on the riveting process through the video monitoring system 9, the drilling, riveting and milling procedures are executed by the equipment, the automatic drilling, riveting and milling opening frame of the short shell of the carrier rocket can be met, and the invention has the advantages of high riveting quality, high riveting efficiency and drilling, riveting and milling integration.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, units provided by the present invention as pure computer readable program code, the system and its various devices, units provided by the present invention can be fully enabled to implement the same functions by logically programming the method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, units and units thereof provided by the invention can be regarded as a hardware component, and the devices, units and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, elements, units for performing various functions may also be regarded as structures within both software and hardware components for performing the method.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (9)

1. An automatic drilling and riveting device suitable for a short shell of a carrier rocket is characterized by comprising: the outer riveting upright post assembly (1) comprises an inner riveting upright post assembly (4), a milling assembly (7), a rotating assembly (8) and a control unit (10);
the inner riveting upright post assembly (4) is arranged on a foundation inside the rotating assembly (8), and the longitudinal middle plane of the inner riveting upright post assembly (4) is aligned with the longitudinal middle plane of the outer riveting upright post assembly (1);
the milling assembly (7) and the rotating assembly (8) form four-axis linkage to execute the instruction of the control unit (10);
the outer riveting column assembly (1) comprises: the outer riveting upright post (11), the outer riveting ram group (12), a first reinforcing frame (13), a first connecting frame (14) and a wedge-shaped jacking group (15);
the outer riveting upright post (11) is fixedly connected with the foundation;
the first reinforcing frame (13) is arranged on the outer riveting upright post (11);
one side of the first connecting frame (14) is arranged on the outer riveting upright post (11), and the other side of the first connecting frame (14) is arranged on the rotating assembly (8);
the wedge-shaped jacking group (15) is arranged on the outer riveting upright post (11);
the outer rivet ram group (12) includes: the first outer riveting ram and the second outer riveting ram are mounted on the back surface of the outer riveting upright post (11) through a guide rail slider mechanism, and the second outer riveting ram is mounted on the front surface of the outer riveting upright post (11) through the guide rail slider mechanism;
the rotating assembly (8) comprises: the rotary component comprises a rotary component body (36), a rotary table-board (37), a process board (38) and an adapter board (39);
the rotating assembly body (36) is mounted on a foundation;
the rotary table top (37) is arranged on the rotary assembly body (36) through a circular guide rail sliding block mechanism;
the control unit (10) guides the automatic drilling and riveting equipment suitable for the short shell of the carrier rocket to automatically drill, rivet and mill the opening frame.
2. The automatic drill-rivet apparatus for short launcher shells according to claim 1, further comprising: a process plate (38);
the process plate (38) comprises a plurality of mounting plates which are uniformly distributed and fixed on the inner circular surface of the rotary table top in the circumferential direction;
the lower protruding outer circular surface of the process plate (38) is embedded into the inner circular surface of the upper plate of the rotating assembly body (36) and used for ensuring the installation coaxiality between the rotating table top (37) and the rotating assembly body (36), the lower outer circular surfaces of a plurality of installation plates of the process plate (38) and installation step surfaces of a guide rail, a rolling ring and a grating ruler of the rotating table top (37) are integrally processed to ensure the coaxiality, and the process plate (38) is detached after the installation is finished; the adapter plate (39) is installed on the rotary table top (37) through a shaft hole structure, the upper surface of the adapter plate (39) is a working surface and used for installing an end frame of the rocket short shell, the end frame is located through pin holes, and the end frame is fixed through screws uniformly distributed in the circumferential direction.
3. Automatic drilling and riveting equipment suitable for short shells of launch vehicles according to claim 1, characterized in that said internal riveting upright assembly (4) comprises: the inner riveting upright post (28), the inner riveting ram group (29), the second reinforcing frame, the second connecting frame and the wedge-shaped jacking group;
the inner riveting upright post assembly (4) is installed on a foundation inside the rotating assembly (8), and the longitudinal middle plane of the inner riveting upright post assembly (4) is aligned with the longitudinal middle plane of the outer riveting upright post assembly (1).
4. The automatic drill-rivet apparatus for short launcher shells according to claim 1, further comprising: an external milling column assembly (6);
the external milling column assembly (6) comprises: the device comprises an outer milling upright post (30), an outer milling ram group (31), a third reinforcing frame (33), a third connecting frame (32) and a wedge-shaped jacking group;
the outer milling upright post assembly (6) is installed on a foundation outside the rotating assembly (8), and the longitudinal middle plane of the outer milling upright post assembly (6) is perpendicular to the longitudinal middle plane of the outer riveting upright post assembly (1).
5. The automatic drill-rivet apparatus for short launcher shells according to claim 1, further comprising: a drilling and riveting component (3);
the drilling and riveting assembly (3) comprises: the first 2-axis sliding table (16), the outer riveting cylinder (17), the outer riveting rod (18) and the drilling main shaft (19), wherein the first 2-axis sliding table (16) is installed on an outer riveting ram group (12) of the outer riveting upright post assembly (1), the first 2-axis sliding table (16) is provided with 2 upward movement degrees of freedom in the X direction and the Y direction, the X direction degree of freedom and the Y direction degree of freedom are both driven by a motor, the driving force is transmitted through a screw rod nut mechanism, the guide rail slider mechanism guides the first 2-axis sliding table, the outer riveting rod (18) is installed on the outer riveting cylinder (17), the outer riveting cylinder (17) and the drilling main shaft (19) are horizontally installed on the first 2-axis sliding table (16) along the Y direction, and the outer riveting cylinder (17) and the drilling main shaft (19) are provided with 3 movement degrees of freedom in the X direction, the Y direction and the Z; the drilling and riveting assembly (3) realizes drilling at a target position through the drilling main shaft (19), realizes switching of the outer riveting cylinder (17) and the drilling main shaft (19) along the Y-direction position through the first 2-axis sliding table (16), provides X-direction static pressure riveting force through the outer riveting cylinder (17), and designs the fitting surface of the outer riveting rod (18) and the rivet into an arc surface.
6. The automatic drill-rivet apparatus for short launcher shells according to claim 1, further comprising: a nail feeding unit (2);
the nail feeding unit (2) comprises: the nail feeding machine (20), the nail cabinet (21), the nail feeding pipeline (22), the nail receiving unit (23) and the nail inserting unit (24);
the utility model discloses a rivet cabinet, including nail cabinet (21), nail cabinet (21) internally mounted's the nail machine (20) that send of a plurality of different specifications, the corresponding specification of every nail machine (20) installation of sending nail pipeline (22), send the rivet of nail machine (20) to send out corresponding specification, the rivet is sent to sending nail pipeline (22) end, connect the control of nail unit (23) through the unit, automatic movement connects the nail to sending nail pipeline (22) end position, the rivet inserts the rivet hole with the rivet through inserting nail unit (24), the axle of riveting jar (17) outward stretches out this moment, provide the reverse movement support for the rivet through outer riveting rod (18), the rivet can't retreat.
7. The automatic drill-rivet apparatus for short launcher shells according to claim 1, further comprising: an inner riveting component (5);
the inner rivet assembly (5) comprises: interior riveting cylinder (25), interior riveting rod (27), mount (26) are installed on interior riveting ram group (29) of interior riveting stand subassembly (4) including, interior riveting cylinder (25) are installed on mount (26), interior riveting rod (27) are installed including on riveting cylinder (25), and the axle of interior riveting cylinder (25) is along-X to stretching out, provides the static pressure through interior riveting rod (27) to the rivet.
8. Automatic drilling and riveting equipment suitable for short shells of launch vehicles according to claim 1, characterized in that said milling assembly (7) comprises: a second 2-axis sliding table (34), a milling spindle (35) and an oil mist cooling unit;
2 axle slip table of second (34) are installed and are being milled outside of stand subassembly (6) and mill on ram group (31), 2 axle slip table of second (34) include X to with Y to 2 removal degrees of freedom, mill main shaft (35) and install on 2 axle slip table of second (34), mill stand subassembly (6) outward and mill the Z that ram group (31) provided to the degree of freedom, rotatory degree of freedom combination formation 3 removal degrees of freedom and 1 rotation degree of freedom that rotatory subassembly (8) provided to revolving stage face (37), satisfy the functional requirement of short shell processing mouth frame, oil mist cooling unit installs on 2 axle slip table of second (34), cools off the milling cutter of installing on milling main shaft (35).
9. The automatic drill-rivet apparatus for short launcher shells according to claim 1, further comprising: a video monitoring unit (9);
the video monitoring unit (9) can record a video of the rivet riveting process;
the video monitoring unit (9) is connected with the control unit (10).
CN202010117613.9A 2020-02-25 2020-02-25 Automatic drilling and riveting equipment suitable for short shell of carrier rocket Active CN111331373B (en)

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