CN113909833B - Automatic overturning butt joint heavy-duty equipment for assembly of space engine - Google Patents
Automatic overturning butt joint heavy-duty equipment for assembly of space engine Download PDFInfo
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- CN113909833B CN113909833B CN202111055974.6A CN202111055974A CN113909833B CN 113909833 B CN113909833 B CN 113909833B CN 202111055974 A CN202111055974 A CN 202111055974A CN 113909833 B CN113909833 B CN 113909833B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/01—Aircraft parts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
The automatic overturning butt joint heavy-duty equipment for the assembly of the space engine comprises a bottom layer structure, a middle layer structure, an upper layer structure, an overturning material frame structure, a thrust frame structure, an overturning driving structure and an overturning supporting structure; the middle layer structure is arranged on the bottom layer structure, the upper layer structure is arranged on the middle layer structure, and the bottom layer structure and the middle layer structure are combined to realize X-direction, Y-direction and Z-direction movements of the automatic overturning butt joint heavy-load equipment; the overturning driving structure is arranged on the upper layer structure, and the thrust frame structure is arranged on the upper layer structure and connected with the overturning driving structure; the overturning supporting structure is arranged on the upper layer structure; the overturning material frame structure is hinged with the thrust frame structure, and the overturning material frame structure is hinged with the overturning supporting structure; the overturning driving structure drives the thrust frame structure to reciprocate, so that the overturning material frame structure is driven to overturn. The invention is used for realizing automatic overturning and automatic butt joint of the engine in the assembly process of the space engine, improving the assembly butt joint precision and assembly efficiency of the engine and reducing the operation risk.
Description
Technical Field
The invention relates to the field of assembly of space engines, in particular to automatic overturning butt joint heavy-duty equipment for assembly of space engines.
Background
At present, the space engine assembly in China is still installed in a hoisting mode, and the problems of poor butting precision, long butting time, high collision risk in butting and the like exist in the traditional hoisting overturning and hoisting butting. In order to solve the problems of the traditional assembly method, the equipment for automatically overturning and automatically butting the engine is designed in combination with the traditional assembly process mode, so that the traditional assembly mode is replaced, the butting precision is improved, the assembly efficiency is improved, and the operation risk is reduced.
At present, the turning of heavy workpieces in China basically adopts a centering turning mode of a fixed rotating shaft, and the turning mode has the problems of large equipment size, high mechanism cost, large equipment weight and the like.
Disclosure of Invention
The invention aims to provide automatic overturning and butting heavy-duty equipment for assembling an aerospace engine, which is used for realizing automatic overturning and automatic butting of the engine in the assembly process of the aerospace engine, improving the assembly and butting precision and the assembly efficiency of the engine and reducing the operation risk.
In order to achieve the aim, the invention provides automatic overturning butt joint heavy-duty equipment for assembly of an aerospace engine, which comprises a bottom layer structure, a middle layer structure, an upper layer structure, an overturning material frame structure, a thrust frame structure, an overturning driving structure and an overturning supporting structure; the middle layer structure is arranged on the bottom layer structure, the upper layer structure is arranged on the middle layer structure, and the bottom layer structure and the middle layer structure are combined to realize X-direction, Y-direction and Z-direction movements of the automatic overturning butt joint heavy-load equipment; the overturning driving structure is arranged on the upper layer structure, and the thrust frame structure is arranged on the upper layer structure and connected with the overturning driving structure; the overturning supporting structure is arranged on the upper layer structure; the overturning material frame structure is hinged with the thrust frame structure, and the overturning material frame structure is hinged with the overturning supporting structure; the overturning driving structure drives the thrust frame structure to reciprocate, so that the overturning material frame structure is driven to overturn.
The automatic overturning butt joint heavy-duty equipment for the assembly of the space engine, wherein the upper structure is provided with the overturning guide rail; the thrust frame structure is provided with a first sliding block, and the first sliding block is arranged on the turnover guide rail and can move along the turnover guide rail; the overturning supporting structure is provided with two linear guide rails, a combined sliding block connecting piece, a second sliding block and a bearing; the two linear guide rails are arranged vertically; the second sliding blocks are fixed into a whole through a combined sliding block connecting piece and are respectively matched with the two linear guide rails; the combined sliding block connecting piece is provided with a bearing; the overturning material frame structure is connected with the thrust frame structure through a transition hinge; the overturning material frame structure is provided with an overturning rotating shaft which is connected with the bearing of the overturning supporting structure.
The automatic overturning butt-joint heavy-duty equipment for the assembly of the space engine is further provided with a control system and an IGPS sensor, wherein the IGPS sensor is arranged on the overturning material frame structure and is connected with the control system; the control system establishes a virtual plane in space by utilizing the position information of the automatic overturning butt-joint heavy-load equipment fed back by the IGPS sensor, compares the virtual plane with a reference plane, calculates the clamping degree of the two planes at any moment, controls the overturning driving structure to move according to the requirement, adjusts the clamping degree of the two planes, and completes the automatic overturning by the process of adjusting the 0 degree to 90 degrees.
The automatic overturning butt joint heavy-duty equipment for the assembly of the space motor, wherein the overturning driving structure comprises a trapezoidal screw rod, a first screw rod nut, a first screw rod supporting seat, a first servo motor and a first speed reducer; the first servo motor is matched with the first speed reducer to provide power, the power drives the trapezoidal screw rod to rotate, and the first screw rod nut reciprocates through the matching of the trapezoidal screw rod and the first screw rod nut; the two ends of the trapezoid screw rod are respectively provided with a first screw rod supporting seat, and the first screw rod supporting seats are arranged on the superstructure; the first speed reducer is installed on the superstructure.
The automatic overturning butt joint heavy-duty equipment for the assembly of the space engine, wherein the thrust frame structure comprises a first frame assembly, a first sliding block and an overturning driving nut installation frame; the two sides of the first frame assembly are provided with first sliding blocks, and the first sliding blocks are arranged at the bottom of the first frame assembly; the overturning driving screw nut mounting frame is arranged on the first frame assembly and connected with a first screw nut of the overturning driving structure, and the first screw nut is driven to reciprocate.
The automatic overturning butt-joint heavy-duty equipment for the assembly of the space engine, wherein the overturning material frame structure further comprises a second frame assembly, an auxiliary support arm and an overturning rotating shaft; the main body of the second frame assembly is of a hollow semi-cylindrical structure; the two side edges of the second frame assembly are respectively provided with an auxiliary support arm, and the auxiliary support arms are hinged with the second frame assembly through a rotating shaft structure; the two sides of the second frame assembly are respectively provided with the turnover rotating shafts to realize hinged connection with the turnover supporting structure; IGPS sensors are arranged at the edges of two sides of the second frame assembly.
The automatic overturning butt-joint heavy-duty equipment for the assembly of the space engine, wherein the overturning material frame structure further comprises a workpiece connecting quick-change block; and two sides of one end of the second frame assembly are respectively provided with one workpiece quick-change connecting block.
The automatic overturning butt-joint heavy-duty equipment for the assembly of the space engine, wherein the bottom structure comprises a third frame assembly, a driving wheel assembly, a driven wheel assembly and a height lifting system; the driving wheel assembly, the driven wheel assembly and the height lifting system are all arranged on the third frame assembly; the driving wheel assembly provides X-direction moving power for the automatic overturning butt-joint heavy-load equipment, and the driving wheel assembly moves along the X-direction to drive the third frame assembly to move so as to drive the driven wheel assembly to move along the X-direction; the middle layer structure is connected with the height lifting system.
The automatic overturning butt joint heavy-duty equipment for the assembly of the space engine, wherein the middle layer structure comprises a fourth frame assembly, a Y-direction guide rail, a Y-direction sliding block and a Y-direction driving assembly; the Y-shaped guide rail is fixed on the fourth frame assembly; the Y-direction sliding block is arranged on the Y-direction guide rail and can move on the Y-direction guide rail; the Y-direction driving assembly comprises a ball screw, a second screw nut, a second screw support, a second servo motor and a second speed reducer; the second servo motor is matched with the second speed reducer to provide power for Y-direction movement, the power drives the ball screw to rotate, and the second screw nut is matched with the ball screw to realize reciprocating movement along the Y-direction; the ball screw is arranged on the fourth frame assembly through a second screw support; the upper layer structure is connected with the Y-direction sliding block and the screw nut.
The automatic overturning butt-joint heavy-duty equipment for the assembly of the space engine, wherein the upper structure comprises a fifth frame assembly and an overturning guide rail; the two sides of the fifth frame assembly are respectively provided with the overturning guide rail.
Compared with the prior art, the invention has the beneficial technical effects that:
1) The automatic overturning butt-joint heavy-duty equipment for the assembly of the space engine adopts the double-slider overturning mechanism with double guide rails for realizing the overturning of the heavy-duty workpiece, has the characteristics of low gravity center, good stability, high reliability and the like, meets the overturning requirement of the heavy-duty workpiece on the low gravity center, has the bearing capacity of a large load, and can realize the 90-degree overturning function of the heavy-duty engine; the equipment meets the gesture adjusting function of four degrees of freedom, namely, along the track motion (X), the vertical track motion (Y), the vertical ground motion (Z) and the material frame overturning motion (B), and has high assembly butt joint precision, high assembly efficiency and low operation risk;
2) The automatic overturning butt-joint heavy-duty equipment for the assembly of the space motor is provided with the IGPS sensor, can realize real-time feedback of position data in a measuring field, and realizes the functions of automatic overturning and automatic posture adjustment of the equipment through operation; the full servo control system is provided, so that accurate control of each motion axis can be realized, the linear motion precision is less than or equal to 0.2mm, and the overturning precision is less than or equal to 1'; the servo control system and the IGPS sensor are combined to realize closed-loop control, so that the assembly butt joint precision and the assembly efficiency are improved;
3) According to the automatic overturning butt-joint heavy-duty equipment for the assembly of the space motor, the overturning driving structure is driven by the trapezoidal screw rod, so that the automatic overturning butt-joint heavy-duty equipment has a self-locking function, and the operation safety in the overturning process is ensured;
4) According to the automatic overturning butt-joint heavy-duty equipment for the assembly of the space engine, the overturning material frame structure is provided with the auxiliary support arm and the workpiece connecting quick-change block, so that the equipment can adapt to workpieces of various types, can reliably clamp workpieces of different types, and ensures the safety in the overturning process;
5) The automatic overturning butt-joint heavy-duty equipment for the assembly of the space engine is compact in structure, and the structural design reduces the size and the weight of the equipment and the space required in the overturning process of the equipment and reduces the equipment cost.
Drawings
The invention relates to automatic overturning butt joint heavy-duty equipment for assembly of an aerospace engine, which is provided by the following embodiments and attached drawings.
FIG. 1 is a schematic structural view of an automatic flip docking and reloading apparatus for an aerospace engine assembly according to a preferred embodiment of the present invention.
FIG. 2 is a front view of an automatic flip docking and reloading apparatus for use in an aerospace engine assembly according to a preferred embodiment of the present invention.
FIG. 3 is a schematic view of a bottom layer structure according to a preferred embodiment of the present invention.
FIG. 4 is a schematic diagram of a middle layer structure according to a preferred embodiment of the present invention.
FIG. 5 is a schematic diagram of the upper layer structure in the preferred embodiment of the invention.
Fig. 6 is a schematic diagram of a flip driving structure according to a preferred embodiment of the invention.
Fig. 7 is a schematic view of a thrust frame structure according to a preferred embodiment of the present invention.
FIG. 8 is a diagram illustrating a structure of a turnover frame according to a preferred embodiment of the present invention.
FIG. 9 is a schematic view of a transition hinge according to a preferred embodiment of the present invention.
Fig. 10 is a schematic view of a turnover support structure according to a preferred embodiment of the invention.
FIG. 11 is a schematic view of a sliding assembly structure according to a preferred embodiment of the invention.
Detailed Description
The automatic roll-over docking heavy duty apparatus for space motor assembly of the present invention will be described in further detail below with reference to fig. 1-11.
FIG. 1 is a schematic view of an automatic flip docking and reloading apparatus for use in an aerospace engine assembly according to a preferred embodiment of the present invention; FIG. 2 is a front view of an automatic flip docking and reloading apparatus for use in an aerospace engine assembly according to a preferred embodiment of the present invention.
Referring to fig. 1 to 2, the automatic overturning butt-joint heavy-duty device for assembling an aerospace engine of the present embodiment comprises a bottom layer structure 1, a middle layer structure 2, an upper layer structure 3, an overturning material frame structure 4, a thrust frame structure 5, an overturning driving structure 6, an overturning supporting structure 7 and a control system 8;
the bottom structure 1 is arranged on a ground paved guide rail (not shown), and the bottom structure 1 can move along the ground guide rail to realize the movement of the automatic overturning butt joint heavy-load equipment along the X direction, so that the adjustment of the automatic overturning butt joint heavy-load equipment at the X direction position can be realized;
the bottom layer structure 1 is provided with a height lifting system, the middle layer structure 2 is connected with the height lifting system, and the automatic overturning butt joint heavy-load equipment can move along the Z direction through the height lifting system, so that the adjustment of the position of the automatic overturning butt joint heavy-load equipment in the Z direction can be realized;
the middle layer structure 2 is provided with a Y-direction sliding block and a Y-direction driving assembly, the upper layer structure 3 is connected with the Y-direction sliding block and the Y-direction driving assembly, and the automatic overturning butt joint heavy-load equipment can move along the Y direction through the Y-direction sliding block and the Y-direction driving assembly, so that the adjustment of the Y-direction position of the automatic overturning butt joint heavy-load equipment can be realized;
the overturning driving structure 6 and the overturning supporting structure 7 are fixedly arranged on the superstructure 3;
the upper structure 3 is provided with a turnover guide rail; the thrust frame structure 5 is arranged on the upper structure 3, and the thrust frame structure 5 is connected with the overturning driving structure 6; the overturning material frame structure 4 is hinged with the thrust frame structure 5, and the overturning material frame structure 4 is hinged with the overturning supporting structure 7; the overturning driving structure 6 can drive the thrust frame structure 5 to move along the overturning guide rail, and the movement of the thrust frame structure 5 drives the overturning material frame structure 4 to overturn;
an IGPS sensor is arranged on the overturning material frame structure 4;
the control system 8 is fixed on the underlying structure 1 and is in the form of a power distribution cabinet.
FIG. 3 is a schematic view of a bottom layer structure according to a preferred embodiment of the invention.
Referring to fig. 3, the substructure includes a frame assembly 101, a drive wheel assembly, a driven wheel assembly, and a height lift system;
the frame assembly 101 is formed by welding standard sectional materials and plates, and has a shaping effect;
the driving wheel assembly is mounted on the frame assembly 101 through bolts and is used for providing X-direction moving power for the whole automatic overturning butt-joint heavy-load equipment; the driving wheel assembly comprises an X-direction servo motor 102, a speed reducer 103, a driving gear 104, a driven gear 105, a wheel shaft 106, a roller 107 and a jaw clutch 108; the X-direction servo motor 102 and the speed reducer 103 are matched to generate X-direction moving power, and the X-direction moving power is transmitted to the wheel shaft 106 through the meshing of the driving gear 104 and the driven gear 105, so that the rollers 107 move along the ground guide rail; the output shaft of the speed reducer 103 is provided with a jaw clutch 108, the driving gear 104 is connected with the jaw clutch 108, and the jaw clutch 108 is controlled to automatically turn over and automatically switch the X direction of the butt-joint heavy-duty equipment;
the driven wheel assembly comprises a bearing 111 with a seat, a rotating shaft 112 and a roller 113, wherein the roller 113 is connected with the rotating shaft 112, and the rotating shaft 112 is connected with the bearing 111 with the seat; the seated bearing 111 is mounted to the frame assembly 101 by screws 114;
the driving wheel assembly moves along the X direction to drive the frame assembly 101 to move, so that the driven wheel assembly is driven to move along the ground guide rail;
the height lift system is mounted on the frame assembly 101; the height lifting system comprises a screw type lifter 121, a connecting rod 122, a reverser 123, a servo motor 124, a bearing support 125 and a Z-direction guide sleeve 126; the servo motor 124 provides power, the power is transmitted to the screw type lifter 121 after passing through the reverser 123, and the lifting function of the automatic overturning butt-joint heavy-load equipment along the Z direction is realized through the screw type lifter 121; three spiral lifters 121 are respectively arranged on two sides (along the X direction) of the frame assembly 101, the three spiral lifters 121 on the same side are connected in series through a connecting rod 122, and two ends of the connecting rod 122 are respectively supported on the frame assembly 101 through a bearing support 125; the Z-direction guide sleeve 126 is connected with the frame assembly 101 through a screw 127; the middle part of the frame assembly 101 is also provided with a height limit switch 128 for ensuring the height direction (Z direction) travel of the automatic overturning butt-joint heavy-duty equipment;
a power distribution cabinet is arranged on each side (along the X direction) of one end (along the Y direction) of the frame assembly 101, and the control system 8 is arranged in the power distribution cabinet.
FIG. 4 is a schematic diagram of a middle layer structure according to a preferred embodiment of the invention.
Referring to fig. 4, the middle layer structure comprises a frame assembly 201, a Y-directional guide rail 202, a Y-directional slider 203, a Y-directional drive assembly and a Z-directional guide shaft 206;
the frame assembly 201 is formed by welding standard sectional materials and plates, and has a shaping effect; the frame assembly 201 is connected with the spiral lifter 121 of the bottom layer structure, so that the middle layer structure is connected with the bottom layer structure; the screw type lifter 121 can drive the frame assembly 201 to move in the Z direction;
the Y-direction guide rail 202 is fixed on the frame assembly 201 through bolts 204; in this embodiment, the Y-directional guide rail 202 is a linear guide rail; the Y-direction slider 203 is provided on the Y-direction guide rail 202, and is movable on the Y-direction guide rail 202;
the Y-direction driving assembly comprises a ball screw 211, a screw nut 212, a screw support 213, a servo motor 214 and a speed reducer 215; the servo motor 214 is matched with the speed reducer 215 to provide power for Y-direction movement, the power drives the ball screw 211 to rotate, and the screw nut 212 is driven to reciprocate along the Y-direction through the matching of the ball screw 211 and the screw nut 212; the ball screw 211 is mounted on the frame assembly 201 by a screw mount 213; a width limit switch 216 is arranged in the middle of the frame assembly 201;
the Z-direction guide shaft 206 is fixed on the frame assembly 201 through a screw 205; the Z-direction guide shaft 206 is inserted into the Z-direction guide sleeve 126 of the bottom structure 1, and when the rotary lifter 121 pushes the middle structure to move in the Z direction, the Z-direction guide shaft 206 moves up and down in the Z-direction guide sleeve 126, so that the stability of the Z-direction movement of the automatic overturning butt-joint heavy-load equipment is ensured.
Referring to fig. 4, in this embodiment, three Y-direction guide rails 202 and three Y-direction sliders 203 are respectively disposed on two sides (along the X-direction) of the frame assembly 201, and one Y-direction slider 203 corresponds to one Y-direction guide rail 202; the Y-direction drive assembly is disposed at the center of the frame assembly 201; the four corners of the frame assembly 201 are each provided with a Z-guide sleeve 126.
FIG. 5 is a schematic diagram of the upper layer structure in the preferred embodiment of the invention.
Referring to fig. 5, the superstructure comprises a frame assembly 301, a flip guide rail 302, and a Y-direction limiting paddle 307;
the frame assembly 301 is formed by welding standard sectional materials and plates, and has a shaping effect; the frame assembly 301 is connected with the Y-direction sliding block 203 of the middle layer structure through bolts, the frame assembly 301 is connected with the lead screw nut 212 of the middle layer structure through bolts, and Y-direction reciprocating motion of the lead screw nut 212 drives the Y-direction reciprocating motion of the frame assembly 301 (the upper layer structure), and the cooperation of the Y-direction sliding block 203 and the Y-direction guide rail 202 ensures the Y-direction stable motion of the upper layer structure;
two sides of the frame assembly 301 are respectively provided with a turnover guide rail 302, and the turnover guide rails 302 are fixed on the frame assembly through bolts 303; the overturning guide rail 302 is a linear guide rail, and the length direction of the linear guide rail is along the X direction;
a Y-direction limiting pulling piece 307 is arranged in the middle of the frame assembly 301, and the Y-direction limiting pulling piece 307 is matched with the width limit switch 216 of the middle layer structure and is used for ensuring the width direction (i.e. Y-direction) travel of the automatic overturning butt-joint heavy-duty equipment;
limit switches 304 are arranged at two ends (along the Y direction) of the frame assembly 301, and hard limit structures 305 and 306 are arranged beside the limit switches 304 and used for guaranteeing the safety of the automatic overturning butt-joint heavy-duty equipment.
Fig. 6 is a schematic diagram of a flip driving structure according to a preferred embodiment of the invention.
Referring to fig. 6, the turnover driving structure 6 includes a trapezoidal screw 601, a screw nut 602, a screw support 603, a servo motor 604 and a speed reducer 605; the servo motor 604 is matched with the speed reducer 605 to provide power, the trapezoidal screw 601 is driven by the power to rotate, and the reciprocating motion of the screw nut 602 is realized through the matching of the trapezoidal screw 601 and the screw nut 602; screw supporting seats 603 are arranged at two ends of the trapezoid screw 601, and the screw supporting seats 603 are arranged on the frame assembly 301 of the upper layer structure through bolts; the speed reducer 605 is also mounted on the superstructure frame assembly 301 by bolts; the trapezoidal screw 601 has a length along the X direction, and the screw nut 602 can reciprocate in the X direction by the engagement of the trapezoidal screw 601 and the screw nut 602.
Fig. 7 is a schematic view of a thrust frame structure according to a preferred embodiment of the present invention.
Referring to fig. 7, the thrust frame structure 5 includes a frame assembly 501, a slider 502, a turnover driving nut mounting frame 503, and a limit switch pulling piece 504;
the frame assembly 501 is formed by welding standard sectional materials and plates, and has a shaping effect;
the two sides of the frame assembly 501 are respectively provided with a sliding block 502, the sliding blocks 502 are arranged at the bottom of the frame assembly 501 through bolts, the sliding blocks 502 at the two sides of the frame assembly 501 are respectively arranged on the turnover guide rails 302 at the two sides of the upper layer structure frame assembly 301, and the sliding blocks 502 can move on the turnover guide rails 302, so that the thrust frame structure 5 is driven to move on the turnover guide rails 302, namely the thrust frame structure 5 is driven to move along the X direction;
the overturning driving screw mounting frame 503 is arranged on the frame assembly 501 and is connected with a screw nut 602 of the overturning driving structure 6, the X-direction reciprocating motion of the screw nut 602 pushes the frame assembly 501 (drives the thrust frame structure 5) to move in the X-direction reciprocating motion, and the cooperation of the sliding block 502 and the overturning guide rail 302 ensures the stable motion of the thrust frame structure 5X-direction;
the limit switch pulling sheet 504 is installed on the frame assembly 501 and matched with the limit switch 304 of the upper layer structure, and is used for ensuring the movement stroke of the thrust frame 5 in the overturning process of the automatic overturning butt-joint heavy-load equipment.
Fig. 8 is a schematic diagram showing a structure of a turnover material frame according to a preferred embodiment of the invention.
Referring to fig. 8, the turnover material frame structure 4 includes a frame assembly 401, an auxiliary support arm 402, a turnover rotating shaft 403 and a workpiece connection quick-change block 404;
the frame assembly 401 is formed by welding standard sectional materials and plates, and has a shaping effect; the main body of the frame assembly 401 is of a hollow semi-cylindrical structure, and the structural weight and the structural size are reduced to the greatest extent on the premise of ensuring the assembly space of the workpiece;
the two sides of the frame assembly 401 are respectively provided with a connecting rod part 408, and the connecting rod parts 408 and the main body of the frame assembly 401 are of an integrated structure and are formed by welding standard sectional materials and plates; the two connecting rod parts 408 are hinged with the two sides of the thrust frame structure 5 through transition hinges respectively, the transition hinges are shown in fig. 9, one end of each transition hinge is connected with the frame assembly 501 of the thrust frame structure 5 through bolts, the other end of each transition hinge is connected with the connecting rod part 408 of the frame assembly 401 through bolts, and the transition hinges are provided with bearings and can rotate;
two side edges of the frame assembly 401 are respectively provided with an auxiliary support arm 402, and the auxiliary support arms 402 are designed for adapting to workpieces of special types (namely, workpieces with connecting points larger than 90 degrees); the auxiliary support arm 402 is hinged with the frame assembly 401 through a rotating shaft structure 405, and the auxiliary support arm 402 can rotate relative to the frame assembly 401; in this embodiment, the auxiliary support arm 402 is formed by welding standard section bars and plates, and is triangular in shape as a whole;
IGPS sensors 407 are also arranged at the edges of the two sides of the frame assembly 401;
two sides of the frame assembly 401 are respectively provided with a turnover rotating shaft 403, and the turnover rotating shafts 403 are arranged on the frame assembly 401 through bolts 406; the turning shaft 403 is a stepped shaft;
two sides of one end of the frame assembly 401 are respectively provided with a workpiece quick-change connecting block 404, and the workpiece quick-change connecting blocks 404 are mounted on the frame assembly 401 through bolts.
FIG. 10 is a schematic view of a flip support structure according to a preferred embodiment of the present invention; FIG. 11 is a schematic view showing a sliding assembly structure according to a preferred embodiment of the invention.
Referring to fig. 10 and 11, the flip support structure 7 includes a frame assembly 701, a linear guide 702, a slider 703, a composite slider connector 704, and a bearing 705;
the frame assembly 701 is fixedly mounted on the frame assembly 301 of the superstructure by bolts;
two linear guide rails 702 are mounted on the frame assembly 701, the two linear guide rails 702 are mutually perpendicular and form 90 degrees, wherein the length direction of one linear guide rail is along the Z direction, and the length direction of the other linear guide rail is along the X direction, so that the support strength of the two directions is ensured;
the four sliding blocks 703 are fixed into a whole through a combined sliding block connecting piece 704 and are respectively matched with the two linear guide rails 702;
the combined sliding block connecting piece 704 is provided with a bearing 705, and the overturning rotating shaft 403 of the overturning material frame structure 4 is connected with the bearing 705 to realize overturning support.
Referring to fig. 1 and 3, the igps sensor 407, the roll-over drive structure 6, the drive wheel assembly of the substructure, the elevation lifting system of the substructure, and the Y-drive assembly of the substructure are all connected to a control system 8; the control system 8 is arranged in the power distribution cabinet of the substructure 1 and is used for servo control of the whole automatic overturning butt-joint heavy-load equipment; the IGPS sensor 407 is used for feeding back the position of the automatic overturning butt-joint heavy-load device in a measuring field, and realizing closed-loop control with a servo system; a touch type integrated machine 801 is arranged on a control cabinet door of the power distribution cabinet and is used for data operation of the whole automatic overturning butt joint heavy-load equipment.
The automatic overturning principle of the automatic overturning butt-joint heavy-duty equipment in the embodiment is as follows:
(1) The servo motor 605 and the speed reducer 606 of the turnover driving structure 6 cooperate to generate output force, so that the trapezoidal screw 601 rotates, and the screw nut 605 changes the rotation into linear motion along the screw direction;
(2) The screw nut 605 is connected with the thrust frame structure 5, so that the thrust frame structure 5 is driven to reciprocate along the turnover guide rail 302 on the upper layer structure 3 (the slide block 502 of the thrust frame structure 5 is matched with the turnover guide rail 302) and is used as a lower slide block of the double-slide block turnover mechanism;
(3) The thrust frame structure 5 transmits thrust to the turnover material frame structure 4 through a transition hinge (a connecting hinge at the lower part of the double-slider turnover mechanism);
(4) The turning rotating shaft 403 of the turning material frame structure 4 is connected with the sliding combined structures (703, 704 and 705) of the turning support structure 7 and is used as a connecting hinge at the upper part of the double-slider turning mechanism;
(5) The sliding combined structures (703, 704, 705) of the turnover supporting structure 7 are limited by the linear guide rail 702, so that the sliding combined structures can move up and down along the linear guide rail 702 to serve as upper sliding blocks of the double-sliding block turnover mechanism;
(6) The pushing frame structure 5 is used as a lower sliding block, the sliding combined structures (703, 704 and 705) are used as an upper sliding block, and the lower sliding block and the upper sliding block are matched with two rotatable connecting hinges to form a double-sliding block turnover mechanism, wherein the turnover material frame structure 4 serves as a connecting rod of the double-sliding block turnover mechanism;
(7) The screw nut 605 reciprocates to provide thrust, and a double-slide block turnover mechanism is formed by a thrust frame structure 5 (lower slide block), a sliding combined structure (upper slide block), a transition hinge (lower connecting hinge), a turnover rotating shaft 403 (upper connecting hinge) and a turnover material frame structure 4 (connecting rod) to push the turnover material frame structure 4 to turn;
(8) By utilizing four IGPS sensors 407 on the overturning material frame structure 4, a virtual plane can be established in space, the included angle of the two planes at any moment can be calculated through the comparison of the virtual plane and a ground plane (a reference plane), the included angle of the two planes can be adjusted according to the requirement, and the process of adjusting the included angle from 0 degree to 90 degrees is completed; the calculation of the included angle is completed by the control system 8, and the adjustment of the included angle is realized by the control system 8 controlling the overturning driving structure 6;
(9) Before a workpiece (an engine in the embodiment) is installed in the automatic overturning butt-joint heavy-load equipment, the overturning material frame structure 4 is vertically arranged (namely, the axis of the overturning material frame structure 4 is vertical to the ground); after the workpiece is placed in the vertically placed turnover material frame structure 4, the turnover material frame structure 4 is turned over, so that the turnover material frame structure 4 is horizontally placed (namely, the axis of the turnover material frame structure 4 is parallel to the ground), and the workpiece turnover is completed.
The automatic overturning butt joint heavy-duty equipment breaks through the traditional heavy-duty workpiece overturning method, and adopts a new overturning mode with low gravity center, miniaturization and high stability.
Claims (9)
1. The automatic overturning butt joint heavy-duty equipment for the assembly of the space engine is characterized by comprising a bottom layer structure, a middle layer structure, an upper layer structure, an overturning material frame structure, a thrust frame structure, an overturning driving structure and an overturning supporting structure;
the middle layer structure is arranged on the bottom layer structure, the upper layer structure is arranged on the middle layer structure, and the bottom layer structure and the middle layer structure are combined to realize X-direction, Y-direction and Z-direction movements of the automatic overturning butt joint heavy-load equipment;
the overturning driving structure is arranged on the upper layer structure, and the thrust frame structure is arranged on the upper layer structure and connected with the overturning driving structure;
the overturning supporting structure is arranged on the upper layer structure;
the overturning material frame structure is hinged with the thrust frame structure, and the overturning material frame structure is hinged with the overturning supporting structure;
the overturning driving structure drives the thrust frame structure to reciprocate, so that the overturning material frame structure is driven to overturn;
the upper layer structure is provided with a turnover guide rail;
the thrust frame structure is provided with a first sliding block, and the first sliding block is arranged on the turnover guide rail and can move along the turnover guide rail;
the overturning supporting structure is provided with two linear guide rails, a combined sliding block connecting piece, a second sliding block and a bearing; the two linear guide rails are arranged vertically; the second sliding blocks are fixed into a whole through a combined sliding block connecting piece and are respectively matched with the two linear guide rails; the combined sliding block connecting piece is provided with a bearing;
the overturning material frame structure is connected with the thrust frame structure through a transition hinge; the overturning material frame structure is provided with an overturning rotating shaft which is connected with the bearing of the overturning supporting structure.
2. The automatic roll-over docking and reloading equipment for assembling an aerospace engine according to claim 1, wherein the automatic roll-over docking and reloading equipment is further provided with a control system and an IGPS sensor, and the IGPS sensor is arranged on the roll-over frame structure and is connected with the control system; the control system establishes a virtual plane in space by utilizing the position information of the automatic overturning butt-joint heavy-load equipment fed back by the IGPS sensor, compares the virtual plane with a reference plane, calculates the clamping degree of the two planes at any moment, controls the overturning driving structure to move according to the requirement, adjusts the clamping degree of the two planes, and completes the automatic overturning by the process of adjusting the 0 degree to 90 degrees.
3. The automatic roll-over docking and reloading apparatus for space engine assembly of claim 2 wherein said roll-over driving structure comprises a trapezoidal screw, a first screw nut, a first screw support, a first servo motor and a first speed reducer; the first servo motor is matched with the first speed reducer to provide power, the power drives the trapezoidal screw rod to rotate, and the first screw rod nut reciprocates through the matching of the trapezoidal screw rod and the first screw rod nut; the two ends of the trapezoid screw rod are respectively provided with a first screw rod supporting seat, and the first screw rod supporting seats are arranged on the superstructure; the first speed reducer is installed on the superstructure.
4. The automatic roll-over docking and reloading apparatus for an aerospace engine assembly of claim 3 wherein said thrust frame structure comprises a first frame assembly, a first slider and a roll-over drive nut mount; the two sides of the first frame assembly are provided with first sliding blocks, and the first sliding blocks are arranged at the bottom of the first frame assembly; the overturning driving screw nut mounting frame is arranged on the first frame assembly and connected with a first screw nut of the overturning driving structure, and the first screw nut is driven to reciprocate.
5. The automatic roll-over docking and reloading apparatus for an aerospace engine assembly of claim 2, wherein said roll-over frame structure further comprises a second frame assembly, auxiliary arms and a roll-over spindle; the main body of the second frame assembly is of a hollow semi-cylindrical structure; the two side edges of the second frame assembly are respectively provided with an auxiliary support arm, and the auxiliary support arms are hinged with the second frame assembly through a rotating shaft structure; the two sides of the second frame assembly are respectively provided with the turnover rotating shafts to realize hinged connection with the turnover supporting structure; IGPS sensors are arranged at the edges of two sides of the second frame assembly.
6. The automatic roll-over docking and reloading apparatus for space engine assembly of claim 5 wherein said roll-over frame structure further comprises a workpiece connection quick change block; and two sides of one end of the second frame assembly are respectively provided with one workpiece connecting quick-change block.
7. The automatic roll-over docking and heavy-duty apparatus for space engine assembly of claim 2, wherein said substructure comprises a third frame assembly, a drive wheel assembly, a driven wheel assembly, a height lift system; the driving wheel assembly, the driven wheel assembly and the height lifting system are all arranged on the third frame assembly; the driving wheel assembly provides X-direction moving power for the automatic overturning butt-joint heavy-load equipment, and the driving wheel assembly moves along the X-direction to drive the third frame assembly to move so as to drive the driven wheel assembly to move along the X-direction; the middle layer structure is connected with the height lifting system.
8. The automatic roll-over docking and reloading apparatus for an aerospace engine assembly of claim 2 wherein said middle layer structure comprises a fourth frame assembly, a Y-directional guide rail, a Y-directional slider and a Y-directional drive assembly; the Y-shaped guide rail is fixed on the fourth frame assembly; the Y-direction sliding block is arranged on the Y-direction guide rail and can move on the Y-direction guide rail; the Y-direction driving assembly comprises a ball screw, a second screw nut, a second screw support, a second servo motor and a second speed reducer; the second servo motor is matched with the second speed reducer to provide power for Y-direction movement, the power drives the ball screw to rotate, and the second screw nut is matched with the ball screw to realize reciprocating movement along the Y-direction; the ball screw is arranged on the fourth frame assembly through a second screw support; the upper layer structure is connected with the Y-direction sliding block and the screw nut.
9. The automatic roll-over docking and reloading apparatus for an aerospace engine assembly of claim 2 wherein said superstructure comprises a fifth frame assembly and roll-over guide rails; the two sides of the fifth frame assembly are respectively provided with the overturning guide rail.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111055974.6A CN113909833B (en) | 2021-09-09 | 2021-09-09 | Automatic overturning butt joint heavy-duty equipment for assembly of space engine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111055974.6A CN113909833B (en) | 2021-09-09 | 2021-09-09 | Automatic overturning butt joint heavy-duty equipment for assembly of space engine |
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| CN113909833A CN113909833A (en) | 2022-01-11 |
| CN113909833B true CN113909833B (en) | 2023-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111055974.6A Active CN113909833B (en) | 2021-09-09 | 2021-09-09 | Automatic overturning butt joint heavy-duty equipment for assembly of space engine |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114603326B (en) * | 2022-03-10 | 2023-04-07 | 天津航天机电设备研究所 | Universal frame type adjustable overturning device |
| CN116214242B (en) * | 2023-05-09 | 2023-06-30 | 长沙市速工科技有限责任公司 | Turning position changing device, turning position changing method and processing equipment |
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| ES332368A1 (en) * | 1965-10-22 | 1967-08-01 | Gen Electric | A method of manufacturing an electric motor. (Machine-translation by Google Translate, not legally binding) |
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| CN113909833A (en) | 2022-01-11 |
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