CN114178850B

CN114178850B - Guided missile part assembling device

Info

Publication number: CN114178850B
Application number: CN202210131428.4A
Authority: CN
Inventors: 梁志佳; 张赢; 朴一森
Original assignee: Beijing Aerospace Hexing Technology Co Ltd
Current assignee: Beijing Aerospace Hexing Technology Co Ltd
Priority date: 2022-02-14
Filing date: 2022-02-14
Publication date: 2022-04-26
Anticipated expiration: 2042-02-14
Also published as: CN114178850A

Abstract

The invention discloses an assembly device for missile parts, and relates to the technical field of missile assembly. Including transport mechanism and raw materials supply mechanism, raw materials supply mechanism is located the transport mechanism side, and fixed establishment is installed to transport mechanism top one side, and transport mechanism top opposite side fixedly connected with assembly devices, assembly devices include two parallel arrangement's support side frame, support side frame top and install positioning mechanism, and the lift cylinder is installed to the positioning mechanism below, lift cylinder bottom fixedly connected with arm. According to the engine assembly device, the engine is inversely fixed on the fixing mechanism, is transported to the interior of the assembly mechanism by the transfer mechanism, is taken by the clamping claw controlled by the mechanical arm, is fixed by the outer supporting clamping plate and the inner supporting wheel which are matched with each other on the clamping claw, and is arranged on the shell in a pressing and hammering mode, so that the stability of the engine during installation is better, and the safety coefficient is higher.

Description

Guided missile part assembling device

Technical Field

The invention relates to the technical field of missile assembly, in particular to an assembly device for missile parts.

Background

The missile has high precision requirement when in use, and the assembly requirement of parts of the missile is also high, so that special part assembly equipment is required to be used for assisting in assembling the missile so as to improve the qualification rate of missile assembly.

The Chinese patent with the patent publication number of CN110449855A discloses a full-automatic missile engine assembly device, which can be completely completed by equipment in the installation process of an adjusting pad, completely realizes man-machine separation, has high automation degree, improves the production efficiency and reduces the potential safety hazard.

However, the above patent also has the following problems: 1. in the aspect of adjusting and assembling the adjusting pad, a bottom-up assembling mode is adopted, the adjusting pad is embedded in a mode that the engine shell moves downwards, and the installation process of the adjusting pad is unstable due to the large mass of the engine main body, so that the assembly effect is influenced; 2. when the adjusting pad rotates, a plurality of adjusting pads with different specifications are placed on the workbench, but only one or two adjusting pads can be utilized, excessive redundancy is designed, an automatic adjusting pad feeding system is not provided, and when a plurality of engines are continuously assembled, the whole assembly efficiency is influenced.

Disclosure of Invention

The invention aims to provide a missile part assembling device to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an assembly device for missile parts comprises a transfer mechanism and a raw material supply mechanism, wherein the raw material supply mechanism is positioned on the side surface of the transfer mechanism, a fixing mechanism is installed on one side of the top of the transfer mechanism, an assembly mechanism is fixedly connected to the other side of the top of the transfer mechanism, the assembly mechanism comprises two support side frames which are arranged in parallel, a positioning mechanism is installed on the top of each support side frame, a lifting cylinder is installed below each positioning mechanism, the bottom of each lifting cylinder is fixedly connected with an mechanical arm, a clamping cylinder is installed at the movable end of each mechanical arm, a clamping claw is fixedly connected to the output end of the bottom of each clamping cylinder and comprises a limiting disc connected with the clamping cylinder, a central motor is installed at the center of the bottom of each limiting disc, a cross plate is fixedly connected to the output end of the central motor, four ends of the cross plate are respectively and rotatably connected with rocker arms, and the other ends of the rocker arms are respectively and rotatably connected with inner supporting wheels, the rocking arm side is connected with the cross through the centre gripping push rod, and the centre gripping push rod is the rotation with rocking arm and cross to be connected, and spacing dish top runs through all around and is provided with the arc groove, and arc inslot portion sliding connection has the traveller, traveller bottom fixedly connected with outer supporting splint, the crisscross guide slot piece of central motor output end outer wall fixed connection, the traveller alternates respectively in the inside guiding groove of four early guide slot pieces, support limit frame back fixedly connected with backplate, backplate back equidistance installs spacing cover section of thick bamboo, and spacing cover section of thick bamboo back all installs gets the material cylinder, gets material cylinder bottom output end fixedly connected with and gets the material ring, gets the material ring both sides and all installs fixed push rod with the form of embedding, the equal fixedly connected with convex stationary dog of opposite side of fixed push rod.

Further, the transport mechanism includes the transfer platform, and the notch has been seted up at transfer platform top center, and notch inner wall equidistance rotates and is connected with the backing roll, and the position that the transfer platform top is located both sides around the notch is provided with movable storehouse respectively, rotates between the activity storehouse lateral wall to be connected with the transportation lead screw, and activity storehouse side-mounting has the torque motor who is connected with the transportation lead screw, and torque motor runs through in the transfer platform lateral wall, transports lead screw outer wall threaded connection and has the bottom silk braid, bottom silk braid top fixedly connected with transportation board, transports the board bottom and contacts with the backing roll, fixed establishment is fixed in the transportation board top.

Furthermore, the fixed establishment includes the protection casing, protection casing bottom inner wall central point puts to rotate and is connected with rotatory fluted disc, the rotating electrical machines is installed respectively to protection casing top both sides, the rotating electrical machines output runs through the fixedly connected with driving gear behind the protection casing, the driving gear meshes with rotatory fluted disc mutually, rotatory fluted disc top runs through fixedly connected with rotary disk behind the protection casing through the connecting axle, the rotary disk top is circumference form equidistance fixedly connected with fixed side frame, fixed side frame top all rotates and is connected with the fixed arm, the fixed arm bottom all rotates and is connected with the rocking arm, the common fixedly connected with atress board of the other end of rocking arm, atress board bottom center fixedly connected with attenuator, the attenuator bottom is connected with the protection casing top.

Furthermore, the top of the stress plate is fixedly connected with a protection pad, the fixed arm is of an arch structure, the top of the fixed arm is fixedly connected with a friction head, and two sides of the top of the protection cover are respectively and fixedly connected with a dust cover surrounding the rotating motor.

Furthermore, the positioning mechanism comprises two first lead screw sliding tables arranged on two sides of the top of the support side frame, a second lead screw sliding table is arranged between the two first lead screw sliding tables, and the lifting cylinder is arranged below the second lead screw sliding table.

Furthermore, the raw material supply mechanism comprises a transfer conveying belt, wherein the transfer conveying belt is arranged on the side surface of the transfer conveying belt at equal intervals, a positioning conveying belt is arranged at one end of the transfer conveying belt and is positioned below the limiting cover cylinder, and infrared sensors corresponding to the limiting cover cylinder are arranged on the side wall of the positioning conveying belt at equal intervals.

Furthermore, the transfer conveyer belt side fixedly connected with prevents inclining the frame, place the conveyer belt both sides and all install the guide frame, location conveyer belt lateral wall fixedly connected with bending form's guide board, guide board bending area's top fixedly connected with roller frame.

Furthermore, a control console is installed at the front position of the transferring mechanism, and the transferring mechanism, the fixing mechanism, the assembling mechanism and the raw material supplying mechanism are respectively electrically connected with the control console.

Compared with the prior art, the invention has the beneficial effects that:

this assembly quality of guided missile part, fix on fixed establishment through invering the engine, utilize transport mechanism to transport it inside assembly devices, utilize positioning mechanism to carry out the space positioning of adjusting the pad, and utilize the gripper jaw of arm control to get the adjusting pad and take, and utilize the gripper jaw to go up mutually supporting outer splint and the internal stay wheel of propping and carry out the fixed of adjusting the pad, and install the adjusting pad on the engine housing with the mode of following pressure and hammering, fixed engine stability is better when installing.

This assembly quality of guided missile part, raw materials supply mechanism through setting up, can carry out the output of suitable adjustment pad according to the shell clearance of different engines, through the location transportation area that has infrared ray sensor, can transport the adjustment pad that needs to get the material ring below of getting of material cylinder control, and the centre gripping through fixed push rod and stationary dog is got the adjustment pad from the bottom clamp, and transmit the gripper jaw for arm control, with this material loading process of perfecting the adjustment pad, thereby improve the efficiency when continuous engine assembly.

This assembly quality of guided missile part utilizes the cooperation of fixed arm, rocking arm and the atress board of fixed establishment can rely on the self gravity of engine to fix when the engine is invertd and fix to rely on the transport mechanism can carry out the stable transportation of engine, and can carry out the engine of multiple specification at the within range that the fixed arm can be placed and fix, make the application scene of equipment more extensive.

Drawings

FIG. 1 is a schematic overall front view of the present invention;

FIG. 2 is a schematic view of the overall backside structure of the present invention;

FIG. 3 is a schematic view of the assembly mechanism of the present invention;

FIG. 4 is a schematic view of the robot arm position configuration of the present invention;

FIG. 5 is a schematic view of a gripper of the present invention;

FIG. 6 is an enlarged view taken at A in FIG. 3 according to the present invention;

FIG. 7 is a schematic view of the fixing mechanism of the present invention;

FIG. 8 is a schematic structural view of a transfer mechanism of the present invention;

FIG. 9 is a schematic view of the structure of the material supplying mechanism of the present invention.

In the figure: 1. a transfer mechanism; 101. a transfer table; 102. a movable bin; 103. a torque motor; 104. transferring a lead screw; 105. a bottom thread sleeve; 106. a transfer plate; 107. a support roller; 2. a fixing mechanism; 201. a protective cover; 202. rotating the fluted disc; 203. a rotating electric machine; 204. a driving gear; 205. rotating the disc; 206. fixing the side frame; 207. a fixed arm; 208. a rotating arm; 209. a stress plate; 210. a protective pad; 211. a damper; 212. a friction head; 213. a dust cover; 3. an assembly mechanism; 301. supporting the side frame; 302. a longitudinal positioning box; 303. longitudinally positioning a motor; 304. longitudinally positioning a lead screw; 305. connecting a thread sleeve; 306. a transverse positioning box; 307. a transverse positioning motor; 308. transversely positioning a lead screw; 309. a mounting frame; 310. a lifting cylinder; 311. a mechanical arm; 312. a clamping cylinder; 313. a gripper jaw; 314. a back plate; 315. a limiting cover cylinder; 316. a material taking cylinder; 317. taking a material ring; 318. fixing the push rod; 319. a fixed jaw; 320. a camera; 321. a limiting disc; 322. a central motor; 323. an arc groove; 324. a traveler; 325. an external supporting splint; 326. a guide slot piece; 327. a cross plate; 328. a rocker arm; 329. an inner supporting wheel; 330. clamping the push rod; 4. a raw material supply mechanism; 401. a transfer conveyor belt; 402. positioning a conveyor belt; 403. placing a conveyer belt; 404. an anti-tipping frame; 405. a guide plate; 406. a roller frame; 407. an infrared sensor; 408. a guide frame; 5. a console.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that in the description of the present invention, the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of description and simplification of description, and do not indicate or imply that the referred device or element must have a specific orientation, be configured in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Further, it will be appreciated that the dimensions of the various elements shown in the figures are not drawn to scale, for ease of description, and that the thickness or width of some layers may be exaggerated relative to other layers, for example.

It should be noted that like reference numerals and letters refer to like items in the following figures, and thus, once an item is defined or illustrated in one figure, it will not need to be further discussed or illustrated in detail in the description of the following figure.

Examples

The missile part assembling device is used in the assembly operation of the adjusting pad of the missile fixed engine, the adjusting pad of the missile fixed engine with continuous solid fuel can be assembled accurately for engines with different specifications, the assembling process of the device is controlled automatically, manual operation is not needed in the whole process, the gap of the engine is needed to be determined according to different engine forms, the fixed adjusting pad is selected for installation, and due to the fact that the missile engine is large in size and mass, the device needs suspension equipment such as a gantry crane to place the engine on the fixing mechanism 2 of the device in the use process, and subsequent operation can be conducted.

As shown in fig. 1 to 9, the present invention provides a technical solution: an assembly device for missile parts comprises a transfer mechanism 1 and a raw material supply mechanism 4, wherein the raw material supply mechanism 4 is positioned on the side surface of the transfer mechanism 1, a fixing mechanism 2 is installed on one side of the top of the transfer mechanism 1, an assembly mechanism 3 is fixedly connected to the other side of the top of the transfer mechanism 1, the assembly mechanism 3 comprises two support side frames 301 which are arranged in parallel, a positioning mechanism is installed on the tops of the support side frames 301, a lifting cylinder 310 is installed below the positioning mechanism, a mechanical arm 311 is fixedly connected to the bottom of the lifting cylinder 310, a clamping cylinder 312 is installed at the movable end of the mechanical arm 311, a clamping claw 313 is fixedly connected to the output end of the bottom of the clamping cylinder 312, the clamping claw 313 comprises a limiting disc 321 connected with the clamping cylinder 312, a central motor 322 is installed at the center of the bottom of the limiting disc 321, a cross plate 327 is fixedly connected to the output end of the central motor 322, four ends of the cross plate 327 are respectively and rotatably connected with rocker arms 328, the other end of the rocker arm 328 is rotatably connected with an inner supporting wheel 329, the side surface of the rocker arm 328 is connected with a cross plate 327 through a clamping push rod 330, the clamping push rod 330 is rotatably connected with the rocker arm 328 and the cross plate 327, an arc groove 323 is arranged on the periphery of the top of the limiting disc 321 in a penetrating manner, a sliding column 324 is slidably connected in the arc groove 323, an outer supporting clamping plate 325 is fixedly connected at the bottom of the sliding column 324, the outer wall of the output end of the central motor 322 is fixedly connected with a cross-shaped guide slot plate 326, the sliding column 324 is respectively inserted into the guide slots in the early four guide slot plates 326, the back of the supporting side frame 301 is fixedly connected with a back plate 314, the back of the back plate 314 is equidistantly provided with limiting cover cylinders 315, the back of each limiting cover cylinder 315 is provided with a material taking cylinder 316, the output end of the bottom of each material taking cylinder 316 is fixedly connected with a material taking ring 317, two sides of each material taking ring 317 are provided with fixed push rods 318 in an embedded mode, and the opposite sides of the fixed push rods 318 are fixedly connected with arc-shaped fixed claws 319.

It should be noted that, during the use of the device, the engine fixed on the fixing mechanism 2 needs to be transported to between the two supporting side frames 301 of the assembling mechanism 3 by the transfer mechanism 1, and an adjusting pad with a suitable specification is selected by the raw material supply mechanism 4 according to the size parameter of the output engine housing and assembled by the assembling mechanism 3, during the assembly, the positioning mechanism needs to be used to control the clamping claw 313 at the front end of the mechanical arm 311 to grab the adjusting pad fixed by the fixing push rod 318 and the fixing claw 319 between the material taking rings 317, during the grabbing, the limiting disc 321 of the whole clamping claw 313 needs to be aligned with the adjusting pad first, through the adjustment of the mechanical arm 311, the adjusting pad is positioned between the outer supporting clamp plate 325 and the inner supporting wheel 329, through the rotation of the central motor 322, the sliding column 324 rotates along the arc groove 323, the outer supporting clamp plate 325 contracts inwards to contact the outer wall of the adjusting plate, and then the extension of the clamping push rod 330 is utilized to make the inner supporting wheel 329 abut against the inner wall of the adjusting pad, the contact position of the outer supporting clamping plate 325 and the inner supporting wheel 329 is corresponding to enough friction force to lift the whole adjusting pad, thereby realizing the grabbing of the adjusting pad, after the grabbing is finished, the adjusting pad is placed on the shell through the control of the positioning mechanism and the mechanical arm 311, and the adjusting pad is pressed down by the lifting cylinder 310 and the clamping cylinder 312, the clamping claw 313 is utilized to apply force to the adjusting pad fixed on the clamping claw 313, so that the adjusting pad is embedded on the shell, after the pressing down to a certain degree, in order to avoid the clamping claw 313 touching other structures beside the engine, thereby the clamping claw 313 loosens the adjusting pad, the central motor 322 is rotated, the control sliding column 324 moves inwards again, the outer supporting clamping plate 325 is used as a hammer for pressing down, thereby hammering the rest adjusting pad into the shell in the form of micro vibration, thereby realizing the stable installation of the adjusting pad.

Transport mechanism 1 includes transfer table 101, the notch has been seted up at transfer table 101 top center, notch inner wall equidistance rotates and is connected with backing roll 107, the position that transfer table 101 top is located both sides around the notch is provided with movable storehouse 102 respectively, it is connected with transportation lead screw 104 to rotate between the movable storehouse 102 lateral wall, movable storehouse 102 side-mounting has the torque motor 103 that is connected with transportation lead screw 104, torque motor 103 runs through in transfer table 101 lateral wall, it has bottom silk braid 105 to transport lead screw 104 outer wall threaded connection, bottom silk braid 105 top fixedly connected with transportation board 106, transportation board 106 bottom contacts with backing roll 107, fixed establishment 2 is fixed in transportation board 106 top.

It should be noted that, in order to realize stable transfer of the engine, the supporting rollers 107 are provided as main bearing portions of the engine and the fixing mechanism 2, and are provided with a plurality of torque motors 103 which can uniformly disperse loads and drive the fixing mechanism 2 and the engine to advance, so that the engine can be operated at a high torque and a low speed, the engine can be kept to stably advance, and the transfer screw 104 which is driven to advance does not bear a vertical load.

The fixing mechanism 2 comprises a protective cover 201, a rotary fluted disc 202 is rotatably connected to the central position of the inner wall of the bottom of the protective cover 201, rotary motors 203 are respectively installed on two sides of the top of the protective cover 201, the output ends of the rotary motors 203 penetrate through the protective cover 201 and then are fixedly connected with a driving gear 204, the driving gear 204 is meshed with the rotary fluted disc 202, the top of the rotary fluted disc 202 penetrates through the protective cover 201 through a connecting shaft and then is fixedly connected with a rotary disc 205, the top of the rotary disc 205 is circumferentially and equidistantly and fixedly connected with a fixed side frame 206, the top ends of the fixed side frame 206 are rotatably connected with a fixed arm 207, the bottom ends of the fixed arm 207 are rotatably connected with a rotating arm 208, the other ends of the rotating arm 208 are fixedly connected with a stress plate 209 together, the center of the bottom of the stress plate 209 is fixedly connected with a damper 211, the bottom of the damper 211 is connected with the top of the protective cover 201, the top of the stress plate 209 is fixedly connected with a protective pad 210, and the fixed arm 207 is of an arc structure, friction heads 212 are fixedly connected to the top portions of the two protective covers 201, and dust covers 213 enclosing the rotating electric machines 203 are fixedly connected to the two sides of the top portions of the protective covers 201.

It should be noted that, in order to ensure the stability of the engine, a self-locking fixing mechanism 2 is used, in the use of the fixing mechanism 2, the engine is placed upside down above the fixing mechanism 2 by using a suspension device, the engine is placed at a position between the fixing arms 207, the bottom of the engine contacts the stress plate 209, the protective pad 210 on the stress plate 209 can prevent the head of the engine from being damaged due to the self weight, the stress plate 209 can move downwards under the pressure of the engine, during the moving downwards process, the rotating arm 208 can push the fixing arms 207 to rotate, so that the friction head 212 at the top of the arched fixing arms 207 can contact the outer wall of the engine, the whole engine can be fixed between the fixing arms 207 by the gravity transmitted by the engine under a certain load, so as to realize the self-locking fixing of the engine, and the damper 211 at the bottom of the stress plate 209 is arranged to prevent the engine from falling too fast, therefore, the whole fixing mechanism 2 can be rotated by the rotating motors 203, the two rotating motors 203 drive the rotating fluted disc 202 to rotate, and the engine on the rotating disc 205 can be further rotated, so that the assembling position can be more conveniently operated in the assembling process.

The positioning mechanism comprises two first lead screw sliding tables arranged at two sides of the top of the supporting side frame 301, a second lead screw sliding table is arranged between the two first lead screw sliding tables, the lifting cylinder 310 is arranged below the second lead screw sliding table, the first lead screw sliding table consists of a longitudinal positioning box 302, a longitudinal positioning motor 303, a longitudinal positioning lead screw 304 and a connecting screw sleeve 305, the second lead screw sliding table consists of a transverse positioning box 306, a transverse positioning motor 307, a transverse positioning lead screw 308 and a mounting frame 309, the two longitudinal positioning boxes 302 are arranged in parallel, the two longitudinal positioning boxes 302 are respectively fixed at the top of the two supporting side frames 301, the longitudinal positioning motor 303 is arranged on the outer wall of one end of the longitudinal positioning box 302, the longitudinal positioning lead screw 304 is fixedly connected to the output end of the longitudinal positioning motor 303 after penetrating through the longitudinal positioning box 302, the longitudinal positioning lead screw 304 is rotatably connected with the inner wall of the other end of the longitudinal positioning box 302, the connecting screw sleeve 305 is in threaded connection with the outer wall of the longitudinal positioning lead screw 304, fixedly connected with horizontal location box 306 between the connecting screw cover 305, horizontal location motor 307 is installed to horizontal location box 306 one side embedded type, horizontal location motor 307 output end fixedly connected with horizontal location lead screw 308, the horizontal location lead screw 308 other end rotates with horizontal location box 306 opposite side inner wall to be connected, horizontal location lead screw 308 outer wall threaded connection has mounting bracket 309, lift cylinder 310 top is installed in mounting bracket 309 bottom.

It should be noted that the positioning of the positioning mechanism is realized by two sets of screws, the transverse positioning screw 308 can enable the mechanical arm 311 to move transversely, the longitudinal positioning screw 304 can enable the mechanical arm 311 to move longitudinally, and the position accuracy can be ensured by using the screws as moving carriers.

The raw material supply mechanism 4 comprises a transfer conveyor belt 401, the side surface of the transfer conveyor belt 401 is equidistantly provided with a placement conveyor belt 403, one end of the transfer conveyor belt 401 is provided with a positioning conveyor belt 402, the positioning conveyor belt 402 is positioned below a limiting cover cylinder 315, the side wall of the positioning conveyor belt 402 is equidistantly provided with an infrared sensor 407 corresponding to the limiting cover cylinder 315, the side surface of the transfer conveyor belt 401 is fixedly connected with an anti-tilting frame 404, the two sides of the placement conveyor belt 403 are both provided with guide frames 408, the side wall of the positioning conveyor belt 402 is fixedly connected with a bent guide plate 405, and the upper part of the bent area of the guide plate 405 is fixedly connected with a roller frame 406.

The control cabinet 5 is installed to the positive position of transport mechanism 1, and transport mechanism 1, fixed establishment 2, assembly devices 3 and raw materials supply mechanism 4 respectively with control cabinet 5 electric connection, control the work and the cooperation of each mechanism.

It should be noted that the side of the supporting side frame 301 and the bottom of the mounting frame 309 are provided with the camera 320, the camera 320 can monitor the whole assembling process of the engine and transmit images to the console 5, and a person on the console 5 monitors the assembling process to prevent accidents.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an assembly quality of guided missile part, includes transport mechanism (1) and raw materials supply mechanism (4), and raw materials supply mechanism (4) are located transport mechanism (1) side, its characterized in that: the mechanism comprises a transfer mechanism (1), a fixing mechanism (2) is installed on one side of the top of the transfer mechanism (1), an assembling mechanism (3) is fixedly connected to the other side of the top of the transfer mechanism (1), the assembling mechanism (3) comprises two support side frames (301) which are arranged in parallel, a positioning mechanism is installed on the tops of the support side frames (301), a lifting cylinder (310) is installed below the positioning mechanism, a mechanical arm (311) is fixedly connected to the bottom of the lifting cylinder (310), a clamping cylinder (312) is installed at the movable end of the mechanical arm (311), a clamping claw (313) is fixedly connected to the bottom output end of the clamping cylinder (312), the clamping claw (313) comprises a limiting disc (321) connected with the clamping cylinder (312), a central motor (322) is installed at the center of the bottom of the limiting disc (321), a cross plate (327) is fixedly connected to the output end of the central motor (322), and four ends of the cross plate (327) are respectively rotatably connected with a rocker arm (328), the other end of the rocker arm (328) is rotatably connected with an inner supporting wheel (329), the side surface of the rocker arm (328) is connected with a cross plate (327) through a clamping push rod (330), the clamping push rod (330) is rotatably connected with the rocker arm (328) and the cross plate (327), an arc groove (323) penetrates through the periphery of the top of the limiting disc (321), a sliding column (324) is slidably connected inside the arc groove (323), an outer supporting clamping plate (325) is fixedly connected to the bottom of the sliding column (324), the outer wall of the output end of the central motor (322) is fixedly connected with a cross-shaped guiding slot sheet (326), the sliding column (324) penetrates through the guiding slots inside the four guiding slot sheets (326) respectively, the back surface of the supporting side frame (301) is fixedly connected with a back plate (314), limiting cover barrels (315) are equidistantly installed on the back surface of the back surface (314), material taking cylinders (316) are installed on the back surface of the limiting cover barrels (315), and material taking rings (317) are fixedly connected to the output end of the bottom of the material taking cylinders (316), two sides of the material taking ring (317) are respectively provided with a fixed push rod (318) in an embedded mode, and the opposite sides of the fixed push rods (318) are respectively fixedly connected with a circular arc-shaped fixed claw (319); the fixing mechanism (2) comprises a protective cover (201), a rotary fluted disc (202) is rotatably connected to the center position of the inner wall of the bottom of the protective cover (201), rotary motors (203) are respectively installed on two sides of the top of the protective cover (201), the output ends of the rotary motors (203) penetrate through a driving gear (204) fixedly connected to the rear of the protective cover (201), the driving gear (204) is meshed with the rotary fluted disc (202), the top of the rotary fluted disc (202) penetrates through a rotary disc (205) fixedly connected to the rear of the protective cover (201) through a connecting shaft, the top of the rotary disc (205) is fixedly connected with a fixed side frame (206) in a circumferential equidistant manner, the top of the fixed side frame (206) is rotatably connected with a fixed arm (207), the bottom end of the fixed arm (207) is rotatably connected with a rotating arm (208), the other end of the rotating arm (208) is fixedly connected with a stress plate (209) together, and a damper (211) is fixedly connected to the center of the bottom of the stress plate (209), the bottom of the damper (211) is connected with the top of the protective cover (201); the top of the stress plate (209) is fixedly connected with a protection pad (210), the fixed arm (207) is of an arch structure, the top of the fixed arm is fixedly connected with a friction head (212), and two sides of the top of the protection cover (201) are respectively fixedly connected with a dust cover (213) surrounding the rotating motor (203).

2. A missile part assembling device as defined in claim 1, wherein: transport mechanism (1) is including transport table (101), the notch has been seted up at transport table (101) top center, notch inner wall equidistance rotates and is connected with backing roll (107), the position that transport table (101) top is located both sides around the notch is provided with movable storehouse (102) respectively, it is connected with transportation lead screw (104) to rotate between movable storehouse (102) the lateral wall, movable storehouse (102) side-mounting has torque motor (103) that are connected with transportation lead screw (104), torque motor (103) run through in transport table (101) lateral wall, it has bottom silk cover (105) to transport lead screw (104) outer wall threaded connection, bottom silk cover (105) top fixedly connected with transportation board (106), transportation board (106) bottom contacts with backing roll (107), fixed establishment (2) are fixed in transportation board (106) top.

3. A missile part assembling device as defined in claim 1, wherein: the positioning mechanism comprises two first lead screw sliding tables arranged on two sides of the top of the supporting side frame (301), a second lead screw sliding table is arranged between the two first lead screw sliding tables, and the lifting cylinder (310) is arranged below the second lead screw sliding table.

4. A missile part assembling device as defined in claim 1, wherein: raw materials supply mechanism (4) are including transfer conveyer belt (401), and transfer conveyer belt (401) side equidistance is arranged and is placed conveyer belt (403), and location conveyer belt (402) is installed to transfer conveyer belt (401) one end, and location conveyer belt (402) are located the below of spacing cover section of thick bamboo (315), infrared inductor (407) that correspond with spacing cover section of thick bamboo (315) position are installed to location conveyer belt (402) lateral wall equidistance.

5. A missile part assembling device as claimed in claim 4, wherein: transfer conveyer belt (401) side fixedly connected with prevents inclining frame (404), place conveyer belt (403) both sides and all install guide frame (408), location conveyer belt (402) lateral wall fixedly connected with bends form guide board (405), guide board (405) regional top fixedly connected with roller frame (406) of buckling.

6. A missile part assembling device as defined in claim 1, wherein: control cabinet (5) are installed to transport mechanism (1) openly position, transport mechanism (1), fixed establishment (2), assembly devices (3) and raw materials supply mechanism (4) respectively with control cabinet (5) electric connection.