CN112936888B - Spinning and pasting mechanism for heat insulation layer in sealing head section of solid rocket engine - Google Patents
Spinning and pasting mechanism for heat insulation layer in sealing head section of solid rocket engine Download PDFInfo
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- CN112936888B CN112936888B CN202110115201.6A CN202110115201A CN112936888B CN 112936888 B CN112936888 B CN 112936888B CN 202110115201 A CN202110115201 A CN 202110115201A CN 112936888 B CN112936888 B CN 112936888B
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- pasting
- arm
- insulation layer
- heat insulation
- sticking
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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
- B29C65/522—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 by spraying, e.g. by flame spraying
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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
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/80—General aspects of machine operations or constructions and parts thereof
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- Lining Or Joining Of Plastics Or The Like (AREA)
Abstract
The invention discloses a spinning and sticking mechanism for a heat insulation layer in a sealing head section of a solid rocket engine, which comprises a sticking arm, a fixed seat, a joint module, a rolling device and a rotating mechanism, wherein an engine shell is placed on an adjusting platform, the heat insulation layer is stuck on the sticking arm of the sticking device, the sticking angle is controlled by the joint module so as to be convenient to enter the inside of the engine shell, pressure is applied to the sticking arm through a lead screw slider mechanism to simulate the manual sticking process, and meanwhile, the rotating mechanism rotates according to the set angle so as to roll all areas of the heat insulation layer through the sticking arm, so that the rolling of the heat insulation layer at 360 degrees is realized, the quality of sticking the heat insulation layer is ensured, the high complex operation problems of manual rolling and entering of a shell of a technical worker are solved, the sticking efficiency is improved, and the operation difficulty is reduced.
Description
Technical Field
The invention relates to the technical field of rocket engine manufacturing, in particular to a spinning and sticking mechanism for a heat insulating layer in a sealing head section of a solid rocket engine.
Background
The inner heat insulating layer of the solid rocket engine shell comprises a cylinder straight line section, a front sealing head section and a rear sealing head section. The inner heat insulation layer of the solid rocket engine is a thermal protection material positioned between the inner surface of the shell and the propellant, and can take away most heat through the continuous decomposition and ablation of the inner heat insulation layer to slow down the propagation speed of the high temperature of the fuel gas to the shell, so that the temperature of the engine shell which crises the structural integrity of the engine shell is avoided in the environment of high-temperature and high-pressure fuel gas, and the normal work of the engine is ensured.
At present, the metal shell end socket of the solid rocket engine is generally formed by manual de-bonding, a cut thermal insulation layer film is preheated and pasted on the inner wall of the curved surface of the engine shell by brushing an adhesive, and the design thickness of the thermal insulation layer structure in the curved surface of the engine is ensured by controlling the pasting positions of the films with different sizes and the accumulated pasting layer number. The manual de-bonding molding inevitably has the problems of large operation difficulty, poor paving quality and low process method efficiency, which result in more interlayer gas storage and more bubbles, and then the de-bonding quality problem is easy to occur after the heat insulation layer is cured, so that the heat insulation layer formed by manual de-bonding molding is likely to cause serious problems of reduced heat protection capability, overhigh local temperature, even thermal deformation and the like in the working process of the rocket.
The existing technology for forming the inner heat insulation layer of the sealing head section of the solid rocket motor shell still depends on the traditional manual de-bonding forming, so that the inner heat insulation layer is accurately positioned in the forming process and the bonding quality is ensured.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a spinning and sticking mechanism for a heat insulating layer in a sealing head section of a solid rocket motor, which realizes the automatic sticking of a heat insulating layer film on the sealing head section of a metal shell of the rocket motor and improves the sticking quality and efficiency.
The invention is realized by the following technical scheme:
a spinning and sticking mechanism for a heat insulation layer in a sealing head section of a solid rocket engine comprises a sticking arm, a fixed seat, a joint module, a rolling and pressing device and a rotating mechanism;
the two pasting arms are symmetrically arranged along the axial center of the fixed seat, one end of each pasting arm is hinged with the fixed seat, and one end of each fixed seat is connected with the end part of the rotating mechanism through the joint module;
roll and press the device including screw slider mechanism and linking arm, screw slider mechanism is connected with the fixing base to can follow the axial displacement of fixing base, the one end and the screw slider mechanism of linking arm are connected, and the other end and the connection of pasting the arm, screw slider mechanism can make and paste the arm and exert pressure to the heat insulation layer film along hinged end turned angle, make it paste on the inner wall of sender's casing.
Preferably, the screw slider mechanism comprises a slip ring, a slider and a screw;
the fixing seat is connected with the joint module through the sleeve, the screw rod is arranged in the sleeve, the sliding block is matched on the screw rod, a guide groove is formed in the side wall of the sleeve along the axial direction of the sliding block, the sliding ring is sleeved on the sleeve, the upper end of the sliding block extends out of the guide groove to be connected with the sliding ring, and the sliding ring is connected with the inner surface of the pasting arm through the connecting arm.
Preferably, the pasting arm comprises a first pasting arm, a second pasting arm and an underactuated device;
one end of the first pasting arm is hinged to one side of the fixing seat, the other end of the first pasting arm is connected with one end of the second pasting arm through the under-actuated device, when the first pasting arm and the second pasting arm are connected to the inner wall of the end of the shell of the engine, the under-actuated device is used for applying pressure to the second pasting arm.
Preferably, the under-actuated device comprises a rotating shaft, a torsion spring and a fixing rod;
the two fixing rods are respectively arranged on the inner wall of the splicing position of the first pasting arm and the second pasting arm, the torsion spring is sleeved on the rotating shaft, and the two torsion arms of the torsion spring are respectively connected with the two fixing rods and used for applying pressure to the first pasting arm and the second pasting arm.
Preferably, an adsorption device is arranged on the pasting arm and used for generating negative pressure to adsorb the heat insulation layer film on the pasting arm.
Preferably, the adsorption device comprises an adsorption groove arranged on the surface of the pasting arm and an adsorption rod arranged on the back of the pasting arm, air holes are formed in the adsorption rod and the adsorption groove, and the air holes are connected with the negative pressure pump through pipelines.
Preferably, paste and be provided with supplementary frame of pasting on the arm, including cylinder and auxiliary rod, the cylinder rigid coupling is at the back of pasting the arm, and the auxiliary rod sets up along the extension direction of pasting the arm, and the middle part of auxiliary rod is connected with the piston of cylinder.
Preferably, the rotating mechanism comprises a rotating arm, a driving gear, an internal gear and a fixed base;
the fixed base is fixedly connected with the rotating device, the fixed base is fixedly connected with a positioning shaft, the rotating arm is sleeved on the positioning shaft, a motor is arranged on the fixed base, the driving gear is connected with the motor, and the internal gear is arranged at the end part of the rotating arm and meshed with the driving gear.
Preferably, the rotating mechanism comprises a limit gear and a driving gear, the support frame is an L-shaped support, the corner of the support frame is hinged to the base, the limit gear is fixedly connected to one side of the corner of the support frame, the driving gear is connected with an output shaft of the rotation driving device and meshed with the limit gear, and the rotation driving device is fixedly connected to the base.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention discloses a spinning pasting mechanism of a heat insulating layer in a sealing head section of a solid rocket engine, which comprises a pasting arm, wherein the heat insulating layer is pasted on the pasting arm, the pasting angle is controlled through a joint module, the heat insulating layer can conveniently enter the inside of an engine shell, pressure is applied to the pasting arm through a lead screw slider mechanism, the manual pasting process is simulated, meanwhile, the pasting arm rotates according to the set angle through a rotating mechanism, the pasting arm rolls all areas of the heat insulating layer, the 360-degree rolling of the heat insulating layer is realized, the pasting quality of the heat insulating layer is ensured, the automatic pasting system realizes the automatic pasting of the heat insulating layer and the engine shell, the high-intensity labor and the instability of the molding quality caused by manual operation are avoided, the whole system is suitable for different series of solid rocket engine shells, and the problem of high complex operation of technical workers in manual rolling and entering the shell is solved, improve the pasting efficiency and reduce the operation difficulty.
Drawings
FIG. 1 is a schematic diagram of an automatic bonding system according to the present invention;
FIG. 2 is a schematic view of a rotary stand according to the present invention;
FIG. 3 is a schematic view of the internal structure of the pasting mechanism of the present invention;
FIG. 4 is an exploded view of the operative state of the attachment mechanism of the present invention;
FIG. 5 is a schematic front view of the attachment mechanism of the present invention;
FIG. 6 is a schematic view of the under-actuated mechanism of the applicator arm of the present invention;
fig. 7 is a schematic structural view of the rolling press device of the present invention;
FIG. 8 is a schematic structural diagram of an adjustment platform according to the present invention;
FIG. 9 is an exploded view of the conditioning platform of the present invention;
fig. 10 is a schematic view of the structure of the roller frame of the present invention.
In the figure: 1. a rotating device; 2. a post-bonding device; 3. a front pasting device; 4. an engine housing; 5. adjusting the platform; 6. a sticking mechanism; 7. a rotating mechanism; 8. a glue spraying manipulator; 9. an auxiliary sticking frame;
11. a base; 12. a limit gear; 13. a driving gear; 14. a support frame; 15. a cantilever;
21. a rotating shaft; 22. a torsion spring; 23. fixing the rod;
31. a connecting arm; 32. a slip ring; 33. a self-driven slider; 34. a lead screw; 35. a guide post;
41. a transverse rail; 42. an adjusting plate; 43. horizontally adjusting a lead screw;
51. a rail car; 52. a height adjusting bracket; 53. a horizontal adjusting frame; 54. a height adjustment device; 55. a roller frame; 56. a track; 57. a rack; 58. meshing teeth; 59. a support frame; 60. fixing grooves;
61. a pasting arm; 62. a rear adsorption rod; 63. pressing device; 64. a joint module; 65. a sleeve; 66. a fixed seat; 67. a front adsorption tank; 68. a side adsorption tank; 69. a CCD camera;
551. a roller base; 552. a roller screw rod; 553. a roller adjusting rod; 611. a first pasting arm; 612. a second pasting arm;
71. a rotating arm; 72. a drive gear; 73. an internal gear; 74. and fixing the base.
91. A cylinder; 92. an auxiliary lever.
Detailed Description
The present invention will now be described in further detail with reference to the attached drawings, which are illustrative, but not limiting, of the present invention.
Referring to fig. 1-10, an automatic bonding system for an insulation layer in a head sealing section of a solid rocket motor comprises a bonding unit and an adjusting platform.
The adjusting platform is arranged on a working path of the pasting unit, the engine shell is placed on the adjusting platform, and the adjusting platform is used for enabling the engine shell 4 to move towards the pasting unit.
The pasting unit comprises a rotating device 1, a glue spraying manipulator 8 and two pasting devices.
The rotating device 1 comprises a support frame 14, a rotating mechanism and a base 11, wherein the support frame 14 is installed on the base 11 and connected with the rotating mechanism, the two pasting devices are a rear pasting device 2 and a front pasting device 3 respectively, the rear pasting device 2 and the front pasting device 3 are connected with the support frame 14 through a cantilever 15 respectively and extend towards one side of the engine shell, and the rotating mechanism is used for driving the support frame 14 to rotate for 90 degrees so that one pasting device is aligned with the center of the engine shell.
The rotating mechanism comprises a limiting gear 12 and a driving gear 13, the supporting frame 14 is an L-shaped support, the corner of the supporting frame is hinged to the base 11, the limiting gear 12 is fixedly connected to one side of the corner of the supporting frame 14, the driving gear 13 is connected with an output shaft of the rotating driving device and meshed with the limiting gear 12, the rotating driving device is fixedly connected to the base, and the rotating driving device drives the limiting gear 13 to rotate through the driving gear, so that the supporting frame 14 can rotate by 90 degrees.
The limiting gear is a gear with 1/4 circular areas, namely a fan-shaped structure with a plane of 90 degrees, and the rotation of the limiting gear is that two arms of the supporting frame are respectively contacted with the surface of the base, so that 90-degree rotation is realized.
The two sticking devices are respectively connected with the end parts of the two arms of the support frame through the cantilever, when one sticking device is aligned with the center of the engine shell, the other sticking device is staggered with the engine shell, and when sticking is ensured, one sticking device is positioned inside the engine shell, and the other sticking device is positioned outside.
The front pasting device 3 comprises a pasting mechanism 6, a rotating mechanism 7, a glue spraying manipulator 8 and an auxiliary pasting frame 9.
The pasting mechanism 6 comprises a pasting arm 61, a fixing seat 66, a sleeve 65, a joint module 64, a rolling device 63 and an auxiliary pasting frame 9.
The rolling device 63 comprises a screw slider mechanism and a connecting arm 31, the screw slider mechanism is connected with a sleeve and can move axially along the sleeve 65, one end of the connecting arm 31 is connected with the screw slider mechanism, the other end of the connecting arm is connected with the back of the pasting arm 61, the screw slider mechanism enables the pasting arm 61 to apply pressure to the heat insulation layer film along the rotation angle of the hinged end, and the heat insulation layer film is pasted on the inner wall of the engine shell.
The structure of the screw rod sliding block mechanism is as follows:
the screw slider mechanism comprises a slip ring 32, a self-driven slider 33, a screw 34 and a guide post 35.
Be provided with the backup pad along its axial in the sleeve, the both ends of lead screw 34 are supported in the backup pad, form a complete set on lead screw 34 from driving slider 33, guide post 35 is located self-driving slider 33's top, be provided with the guide way along its axial on the telescopic lateral wall, sliding ring 32 cover is established on the sleeve, the guide way is stretched out to the upper end of guide post 35 and is connected with sliding ring 32, two linking arm symmetries set up the both sides at the sliding ring, sliding ring 32 passes through linking arm 31 and pastes the internal surface connection of arm, remove along the lead screw when from driving slider 33, can drive and paste the arm and rotate along its hinged end, exert pressure to the heat insulation layer film, guarantee the fastness of pasting.
The self-driven sliding block 33 is a sliding block internally provided with a driving device and a threaded sleeve, the threaded sleeve is sleeved on the lead screw, the driving device drives the threaded sleeve to rotate, and further the self-driven sliding block 33 moves along the axial direction of the lead screw.
The screw slider mechanism is a linear screw driving module, such as a DH embedded screw sliding table.
The applicator arm 61 includes a first applicator arm 611, a second applicator arm 612, and an under-actuated device.
One end of the first pasting arm 611 is hinged to one side of the fixing seat 66, the other end of the first pasting arm 611 is connected with one end of the second pasting arm 612 through an under-actuated device, the other end of the second pasting arm 612 is a free end, and when the first pasting arm 611 and the second pasting arm 612 are connected to the inner wall of the end of the engine shell, the under-actuated device is used for the second pasting arm 612 to apply pressure.
The under-actuated device comprises a rotating shaft 21, a torsion spring 22 and a fixing rod 23.
Two fixing rods are respectively arranged on the inner wall of the joint of the first pasting arm 611 and the second pasting arm 612, a torsion spring is sleeved on the rotating shaft, and two torsion arms of the torsion spring 22 are respectively connected with the two fixing rods and used for applying pressure to the first pasting arm 611 and the second pasting arm 612.
Paste the arm and go up front and terminal surface and be provided with adsorption equipment respectively for adsorb the heat insulation layer film on pasting the arm, paste the front of arm and be provided with preceding adsorption tank 67 along its length direction, that is with one side of engine housing end contact, the lateral wall of pasting the arm free end is provided with side adsorption tank 68, pastes the back of arm and is provided with back adsorption rod 62, and the one end of back adsorption rod 62 is connected with the free end of pasting the arm, and the other end extends to the sleeve.
A plurality of air holes are arranged in the front adsorption groove 67 and the side adsorption groove 68, the air holes penetrate through the pasting arm and are connected with the negative pressure pump through pipelines, the rear adsorption rod 62 is of a hollow structure, the top surface of the rear adsorption rod is provided with the air holes, and the air holes are connected with the negative pressure pump.
The front of pasting the arm is provided with the buffer layer, avoids rolling the in-process and causing the damage to the heat insulation layer film, the buffer layer is the gasbag, and the gasbag setting is in the front of pasting the arm to be located around the adsorption tank before.
It should be noted that the pasting mechanism of the invention only pastes the heat insulation layer flexible sheet to the front seal head section and the rear seal head section of the two ends of the engine shell, the heat insulation layer flexible sheet is a preformed piece, the shape of the heat insulation layer flexible sheet is matched with the structures of the inner walls of the front seal head section and the rear seal head section, and the heat insulation layer flexible sheet is a rubber sheet.
The cross sections of the front head sealing section and the rear head sealing section of the engine shell are both arc-shaped, the centers of the front head sealing section and the rear head sealing section are provided with holes, the center hole of the rear head sealing section is larger than the hole of the front head sealing section, and when the front head sealing section and the rear head sealing section are pasted, the pasting mechanisms enter from the center hole of the rear head sealing section.
Before pasting, the front of pasting the arm and the inner wall structure phase-match of preceding seal head section, with the inner wall of heat insulation layer film attached to the front of pasting the arm, will be located about pasting the arm both sides heat insulation layer film and buckle to pasting the back of arm to with the contact of back adsorption rod, start the negative pressure pump, preceding adsorption tank 67, side adsorption tank 68 and the gas pocket of back adsorption rod 62 produce suction, fold the heat insulation layer film and adsorb on pasting the arm, realize the fixed before the heat insulation layer film is pasted.
The rotation mechanism 7 includes a hollow rotation arm 71, a drive gear 72, an internal gear 73, and a fixed base 74.
The front pasting device 3 and the rear pasting device have the same structure and are different in installation position, the front pasting device 3 is used for pasting a heat insulation layer on the front head sealing section of the engine shell, and the rear pasting device 2 is used for pasting a heat insulation layer on the rear head sealing section of the engine shell, so that one end, located on the back of the pasting arm, of the sleeve of the front pasting device 3 is connected with the cantilever, one end, located on the front of the pasting arm, of the sleeve of the rear pasting device 2 is connected with the cantilever, and after the front pasting device 3 and the rear pasting device 2 rotate through respective joint modules, the front of the pasting arm is opposite to the inner end face of the engine shell.
Spout gluey manipulator and adopt articulated manipulator, set up the spray gun at the tip of manipulator, the spray gun passes through pipe connection and glues the bucket, through the angle of manipulator control spray gun, realizes evenly spouting gluey to engine housing, it needs to explain that, only need set up in the front and spout gluey manipulator on pasting the device, through angle regulation and position, can realize behind the engine housing seal head section and preceding seal head section spout gluey.
The joint module is a T-shaped series of corner of the robot joint.
Referring to fig. 8-10, the adjustable platform 5 includes a rail car 51, a height adjustment frame 52, a horizontal adjustment frame 53, and a roller frame 55.
The horizontal adjusting frame 53 is arranged on the rail car 51 through a horizontal adjusting mechanism, the height adjusting frame 52 is arranged on the horizontal adjusting frame 53, the height adjusting frame 52 is connected with the height adjusting device 54, the roller frame 55 is arranged on the height adjusting frame 52, and the engine shell is supported on the roller frame 55.
The adjusting platform adjusts the position of the engine housing 4 through the horizontal adjusting mechanism and the height adjusting frame 52, so that the engine housing 4 is aligned with the center of the adhering device, a CCD camera 69 is arranged in a sleeve of each adhering device and used for acquiring the center of the engine housing 4, and when the center of the engine housing 4 is aligned with the focal length of the CCD camera 69, the axial center of the engine housing 4 is aligned with the center of the adhering device.
The rail car 51 comprises a car body and a rail 56, a driving system is arranged in the car body, the car body can move to one side of the pasting mechanism along the rail 56, the rail car 51 is further provided with a fine adjustment device which comprises a rack 57 and meshing teeth 58, the rack is located between the two rails and arranged in parallel, a driving motor is arranged at the end part of the car body, the meshing teeth 58 are connected with the driving motor, and the meshing teeth 58 are meshed with the rack. When the vehicle body needs to be moved rapidly, the vehicle body moves along the rail through an internal driving system, and when the position needs to be adjusted in a micro-scale mode, the fine adjustment device is started to adjust the position of the vehicle body.
The top of the rail car is provided with transverse rails 41 along the width direction of the two rails, and the bottom of the horizontal adjusting frame 53 is provided with rollers which are assembled on the transverse rails to realize the transverse movement of the horizontal adjusting frame 53 along the rail car.
Horizontal adjustment mechanism includes horizontal adjustment lead screw 43 and regulating plate 42, and horizontal adjustment lead screw 43 sets up the top surface at the railcar to with horizontal track parallel arrangement, the bottom rigid coupling of regulating plate 42 has the swivel nut, the swivel nut is supporting on horizontal adjustment lead screw 43, regulating plate 42 and horizontal adjustment frame 53 rigid coupling, horizontal adjustment lead screw 43 is connected with the motor, motor drive horizontal adjustment lead screw 43 rotates, realizes horizontal adjustment frame 53's regulation.
The two ends of the horizontal adjusting frame 53 are provided with supporting frames 59, the two ends of the height adjusting frame 52 are arranged in the supporting frames 59, the height adjusting device 54 is arranged at the end part of the supporting frame and is positioned at the top part of the height adjusting frame 52, the height adjusting device 54 drives the height adjusting frame 52 to move in the height range of the supporting frame, and the height adjustment of the height adjusting frame 52 is realized.
The height adjustment device 54 is a lead screw elevator.
Both ends of the horizontal adjustment frame 53 are provided with fixing grooves 60 in which the roller frame 55 is fitted, and the roller frame 55 includes a roller adjustment lever 553, a roller screw 552, and a roller base 551.
The roller screw 552 is connected with the roller base 551, the top of the roller base 551 is provided with a roller, the two roller bases are assembled at two ends of the fixing groove, the two roller screws 552 are connected with the roller adjusting rod, the two roller bases move relatively or move back to back by rotating the roller adjusting rod, the distance control of the two roller bases is realized, and the two roller bases can use engine shells with different sizes.
The following is a detailed description of the operation method of the automatic bonding system for the thermal insulation layer in the sealing head section of the solid rocket motor.
The automatic pasting system is only used for solving the pasting problem of the heat insulating layers of the front sealing head section and the rear sealing head section.
The following describes in detail the pasting method of the automatic pasting system of the present invention, taking the front seal segment as an example, and specifically includes the following steps:
step 1, hanging the engine shell on an adjusting platform and positioning the engine shell on a roller frame 55, connecting a glue gun of a glue spraying manipulator 8 with a glue barrel, connecting a pasting arm of a pasting device with a negative pressure pump, and simultaneously controlling a joint module of a rear pasting device 2 to enable the radial direction of the pasting arm to be approximately parallel to the extending method of a cantilever.
And 2, assembling the heat insulation layer film of the front seal head section on a pasting arm 61 of the front pasting device 3, folding the rest parts of the heat insulation layer film to a rear adsorption rod at the upper edge and the lower edge of the pasting arm, and simultaneously starting a negative pressure pump to adsorb the heat insulation layer film on the pasting arm.
And 3, starting the rotating device to rotate the base 11, enabling the front pasting device to be opposite to the engine shell, simultaneously starting the adjusting platform, enabling the rail car to move along the rail front pasting device 3, arranging a photoelectric trigger switch on the rail, and determining the reference of the axis direction of the shell when the engine shell shields a light beam to trigger the photoelectric trigger switch.
And 4, controlling a height adjusting frame 52 and a horizontal adjusting frame 53 of the adjusting platform to enable the front pasting device to be opposite to a central hole of the engine shell 4, controlling the rail car to move again to enable the front pasting device 3 to accurately enter the engine shell, then controlling a sliding ring 32 of the rolling device to move to enable the two pasting arms to move relatively, further enabling the front pasting device to shrink, and finally controlling a joint module 64 to rotate to enable the surfaces of the pasting arms to be opposite to the inner wall of the rear head sealing section.
And step 5, the rail car continues to move, when the heat insulation layer film and the front seal head section reach a preset distance, the CCD camera is started, the adjusting platform is controlled by utilizing a machine vision technology and closed-loop control, and the positions of the horizontal adjusting frame 53 and the height adjusting frame 52 are adjusted, so that the axial center of the engine shell is aligned with the center of the front pasting device, and the accurate positioning of the heat insulation layer film is completed.
And 6, adjusting the glue spraying manipulator to a working position, and then driving the glue spraying manipulator to rotate for a circle through a rotating mechanism 7, so that the glue spraying manipulator uniformly sprays glue on the inner wall of the rear sealing head section.
It should be noted that the glue spraying manipulator can spray glue to three parts of the engine housing, and only the position of the engine housing needs to be controlled, and the glue spraying manipulator controls the thickness of the glue layer by controlling the distance between the glue gun and the inner wall, the glue spraying amount of the glue gun and the rotating speed of the rotating arm 71, so as to meet the design requirement of glue spraying.
And 7, after standing for a certain time, when the glue state meets the sticking requirement, moving the adjusting platform along the track until the inner wall of the front seal head section is attached to the flexible heat-insulating layer on the sticking arm.
Step 8, starting a screw slider mechanism of the rolling device 63 to drive the two pasting arms to expand, sequentially applying pressure to the first pasting arm and the second pasting arm through the connecting arm 31 and the torsion spring, realizing progressive rolling of the pasting arms from the hinged end to the free end, controlling rolling pressure through a pressure sensor arranged on the pasting arms, repeatedly rolling for multiple times, keeping the pressure for a certain time, and finishing partial pasting of the heat insulation layer flexible sheet.
And 9, closing the adsorption force of the front adsorption groove and the side adsorption grooves, reducing the adsorption pressure of the rear adsorption rod to a preset pressure, simultaneously starting a screw slider mechanism of the rolling and pressing device 63 to drive the two pasting arms to contract, starting the auxiliary pasting frame 9, controlling the auxiliary rod to ascend through an air cylinder, and jacking up the heat insulation layer film on the upper parts of the pasting arms.
Step 10, the rotating mechanism is started, the driving gear 72 drives the rotating arm to rotate through the inner gear, and then the rotating arm moves the sleeve 63 to rotate through the joint module 64, so that the two pasting arms rotate 90 degrees, namely the two pasting arms are in vertical positions, and meanwhile, the folding area of the heat insulation layer film is unfolded.
And step 11, starting the rolling and pressing device again, unfolding the two connecting arms through the sliding ring 32 and the connecting arms 31, simultaneously enabling the front adsorption groove to work, pasting the unfolded heat insulation layer film on the inner wall of the rear head sealing section, and repeating rolling and pressing actions for multiple times to realize pasting of the unfolding area of the heat insulation layer film.
And step 12, starting the rotating mechanism again, rotating the two pasting arms to a certain angle, then rolling again until all areas of the heat insulation layer film are pasted, and finishing the automatic pasting work of the heat insulation layer film at the front sealing end.
And step 13, contracting the two pasting arms through a rolling device, moving the adjusting platform to separate the front pasting device from the front sealing head section to a preset distance, rotating the front pasting device through a joint module by 83 degrees, and continuously moving the adjusting platform to separate the front pasting device from the engine shell.
The above is the process of pasting the heat insulating layer film of the front seal section, and the process of pasting the back seal section is the same, and different pasting devices 2 are adopted to paste the front seal section, and the process of pasting the front seal section is the same as that of the front seal section, and is not described in detail.
According to the automatic sticking system for the heat insulation layer in the sealing head section of the solid rocket engine, the sticking device extends into the engine shell, glue is uniformly sprayed through the glue spraying manipulator, the phenomena of uneven glue brushing, brush leakage and the like caused by manual operation are avoided, the glue spraying area can be controlled by adjusting the size and the flow rate of the nozzle, the automatic glue spraying control is realized, the sticking arm is driven by the rolling device to move, the rolling of the heat insulation layer flexible sheet is realized, the rolling pressure is controlled through the feedback of the pressure sensor, the heat insulation layer flexible sheet is reliably stuck to the inner wall of the sealing head, and the gas on the sticking surface is discharged through rolling, so that the sticking quality is ensured.
The automatic pasting system realizes the automatic pasting of the heat insulation layer and the engine shell, avoids the instability of high-intensity labor and forming quality caused by manual operation, can enable the whole system to be suitable for solid rockets of different series to be all engine shells, solves the high complex operation problem that technical workers manually roll and enter the shells, improves the pasting efficiency and reduces the operation difficulty.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (9)
1. A spinning and sticking mechanism for a heat insulating layer in a sealing head section of a solid rocket engine is characterized by comprising two sticking arms (61), a fixed seat (66), a joint module (64), a rolling and pressing device (63) and a rotating mechanism (7);
the two pasting arms (61) are symmetrically arranged along the axial center of the fixed seat (66), one end of each pasting arm (61) is hinged with the fixed seat (66), and one end of each fixed seat (66) is connected with the end part of the rotating mechanism (7) through the joint module (64);
roll pressure equipment device (63) and include lead screw slider mechanism and linking arm (31), lead screw slider mechanism is connected with fixing base (66) to can follow the axial displacement of fixing base (66), the one end and the lead screw slider mechanism of linking arm (31) are connected, the other end with paste the being connected of arm (61), lead screw slider mechanism can make paste arm (61) along hinged end turned angle to heat insulation layer film applys pressure, make it paste on the inner wall of transmitter casing.
2. The spinning pasting mechanism of the thermal insulation layer in the solid rocket motor head sealing section according to claim 1, characterized in that the lead screw slider mechanism comprises a slip ring (32), a slider and a lead screw (34);
the fixing seat (66) is connected with the joint module through a sleeve (65), the screw rod is arranged in the sleeve, the sliding block is matched with the screw rod (34), a guide groove is formed in the side wall of the sleeve along the axial direction of the sliding block, the sliding ring (32) is sleeved on the sleeve, the upper end of the sliding block extends out of the guide groove to be connected with the sliding ring (32), and the sliding ring (32) is connected with the inner surface of the pasting arm through a connecting arm (31).
3. The spinning pasting mechanism of the thermal insulation layer in the solid rocket motor head sealing section as claimed in claim 1, characterized in that the pasting arm (61) comprises a first pasting arm (611), a second pasting arm (612) and an underactuated device;
one end of the first pasting arm (611) is hinged to one side of the fixing seat (66), the other end of the first pasting arm is connected with one end of the second pasting arm (612) through an under-actuated device, and when the first pasting arm (611) and the second pasting arm (612) are connected to the inner wall of the end of the engine shell, the under-actuated device is used for the second pasting arm (612) to exert pressure.
4. The spinning pasting mechanism of the thermal insulation layer in the solid rocket motor head sealing section as claimed in claim 3, wherein the under-actuated device comprises a rotating shaft (21), a torsion spring (22) and a fixing rod (23);
the two fixing rods are respectively arranged on the inner wall of the joint of the first pasting arm (611) and the second pasting arm (612), the torsion spring is sleeved on the rotating shaft, and the two torsion arms of the torsion spring (22) are respectively connected with the two fixing rods and used for applying pressure to the first pasting arm (611) and the second pasting arm (612).
5. The spinning and pasting mechanism for the thermal insulation layer in the end sealing section of the solid rocket motor as claimed in claim 1, wherein the pasting arm is provided with an adsorption device, and the adsorption device is used for generating negative pressure to adsorb the thermal insulation layer film onto the pasting arm.
6. The spinning and pasting mechanism for the thermal insulation layer in the sealing head section of the solid rocket motor according to claim 5, wherein the adsorption device comprises an adsorption groove arranged on the surface of the pasting arm and an adsorption rod arranged on the back of the pasting arm, and air holes are arranged in the adsorption rod and the adsorption groove and connected with the negative pressure pump through a pipeline.
7. The spinning pasting mechanism of the heat insulating layer in the solid rocket motor head sealing section as claimed in claim 1, wherein the pasting arm is provided with an auxiliary pasting frame (9) comprising a cylinder (91) and an auxiliary rod (92), the cylinder (91) is fixedly connected to the back of the pasting arm (61), the auxiliary rod (92) is arranged along the extending direction of the pasting arm, and the middle part of the auxiliary rod (92) is connected with the piston of the cylinder (91).
8. The spinning pasting mechanism of the inner heat insulating layer of the solid rocket engine head sealing section according to claim 1, characterized in that the rotating mechanism (7) comprises a rotating arm (71), a driving gear (72), an internal gear (73) and a fixed base (74);
fixed baseplate (74) and rotary device (1) rigid coupling, fixed baseplate rigid coupling have the location axle, and swinging boom (71) cover is established on the location axle, is provided with the motor on the fixed baseplate, and drive gear (72) are connected with the motor, and internal gear (73) set up at the tip of swinging boom (71) and with drive gear meshing.
9. The spinning and pasting mechanism of the thermal insulation layer in the end sealing section of the solid rocket motor according to claim 8, characterized in that the rotating device (1) comprises a supporting frame (14), a rotating mechanism and a base (11), the supporting frame (14) is installed on the base (11) and connected with the rotating mechanism,
the rotary mechanism comprises a limiting gear (12) and a driving gear (13), the supporting frame (14) is an L-shaped support, the corner of the support is hinged to the base (11), the limiting gear (12) is fixedly connected to one side of the corner of the supporting frame (14), the driving gear (13) is connected with an output shaft of the rotary driving device and meshed with the limiting gear (12), and the rotary driving device is fixedly connected to the base.
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| CN202110115201.6A CN112936888B (en) | 2021-01-27 | 2021-01-27 | Spinning and pasting mechanism for heat insulation layer in sealing head section of solid rocket engine |
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| CN113464533B (en) * | 2021-07-05 | 2023-03-24 | 国光电器股份有限公司 | Antenna pasting and assembling jig |
| CN114658737B (en) * | 2022-03-28 | 2024-05-03 | 航天材料及工艺研究所 | Automatic cork pasting device and method for space capsule sections |
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