CN115385054B - A conveyor line precise attitude adjustment and positioning system for rocket engine pallets - Google Patents
A conveyor line precise attitude adjustment and positioning system for rocket engine pallets Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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Abstract
本发明属于火箭发动机装配技术领域，特别涉及一种面向火箭发动机托盘的输送线精确调姿定位系统。包括全向浮动举升机构、左右同步夹紧机构、前后同步推紧机构及重载滚筒输送线，前后同步推紧机构设置于重载滚筒输送线上，用于实现承载有火箭发动机的托盘沿输送方向上的位移；全向浮动举升机构设置于重载滚筒输送线的底部，全向浮动举升机构用于举升承载有火箭发动机的托盘；左右同步夹紧机构设置于重载滚筒输送线的两侧，用于实现承载火箭发动机的托盘中心与重载滚筒输送线的中心轴线自动找正重合。本发明全自动实现重载转运托盘及发动机的二次调姿定位，大幅提升工作效率，提高定位精度，以满足自动化装配设备及自动检测系统的使用需求。
The present invention belongs to the field of rocket engine assembly technology, and particularly relates to a conveyor line precise attitude adjustment and positioning system for rocket engine pallets. It includes an omnidirectional floating lifting mechanism, a left-right synchronous clamping mechanism, a front-back synchronous pushing mechanism and a heavy-duty roller conveyor line. The front-back synchronous pushing mechanism is arranged on the heavy-duty roller conveyor line to realize the displacement of the pallet carrying the rocket engine along the conveying direction; the omnidirectional floating lifting mechanism is arranged at the bottom of the heavy-duty roller conveyor line, and the omnidirectional floating lifting mechanism is used to lift the pallet carrying the rocket engine; the left-right synchronous clamping mechanism is arranged on both sides of the heavy-duty roller conveyor line to realize the automatic alignment and coincidence of the center of the pallet carrying the rocket engine and the central axis of the heavy-duty roller conveyor line. The present invention fully automatically realizes the secondary attitude adjustment and positioning of the heavy-duty transfer pallet and the engine, greatly improves the work efficiency, and improves the positioning accuracy to meet the use requirements of automated assembly equipment and automatic detection systems.
Description
技术领域Technical Field
本发明属于火箭发动机装配技术领域，特别涉及一种面向火箭发动机托盘的输送线精确调姿定位系统。The invention belongs to the technical field of rocket engine assembly, and in particular relates to a conveyor line precise attitude adjustment and positioning system for a rocket engine tray.
背景技术Background Art
随着空间技术、航天遥测、载人航天、深空探测等领域全面发展，运载火箭的需求量呈现爆发式的增长，与其配套的火箭发动机作为运载火箭的核心，其产能的提升迫在眉睫。传统的装配模式采用天车吊运发动机在不同装配单元间流转的模式，转运效率低下并且存在一定的安全隐患，为解决发动机整体质量大、高度大所带来的移载困难的问题，采用重载输送线的物流形式，通过输送线将发动机移载至不同装配及检测单元并依次完成各单元装配及检测任务。同时为提高火箭发动机的装配效率，需大量引入自动化装配设备及自动检测系统。传统的输送线定位形式，虽然可以保证重载转运托盘及发动机的停靠，但其定位精度远远无法满足自动化装配设备及自动检测系统的±2mm的定位精度需求。With the comprehensive development of space technology, aerospace telemetry, manned spaceflight, deep space exploration and other fields, the demand for launch vehicles has shown explosive growth. As the core of launch vehicles, the rocket engines that match them need to increase their production capacity urgently. The traditional assembly mode uses a crane to lift the engine between different assembly units. The transfer efficiency is low and there are certain safety hazards. In order to solve the problem of the difficulty of loading and unloading caused by the large overall mass and height of the engine, the logistics form of heavy-duty conveyor lines is adopted. The engines are transferred to different assembly and inspection units through the conveyor lines and the assembly and inspection tasks of each unit are completed in turn. At the same time, in order to improve the assembly efficiency of rocket engines, a large number of automated assembly equipment and automatic detection systems need to be introduced. Although the traditional conveyor line positioning form can ensure the docking of heavy-duty transfer pallets and engines, its positioning accuracy is far from meeting the ±2mm positioning accuracy requirements of automated assembly equipment and automatic detection systems.
发明内容Summary of the invention
针对上述问题，本发明的目的在于提供一种面向火箭发动机托盘的输送线精确调姿定位系统，以解决传统输送线定位形式，定位精度无法满足自动化装配设备及自动检测系统的定位精度需求的问题。In response to the above problems, the purpose of the present invention is to provide a conveyor line precise attitude adjustment and positioning system for rocket engine pallets, so as to solve the problem that the positioning accuracy of traditional conveyor line positioning cannot meet the positioning accuracy requirements of automated assembly equipment and automatic detection systems.
为了实现上述目的，本发明采用以下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
本发明提供一种面向火箭发动机托盘的输送线精确调姿定位系统，包括：The present invention provides a conveyor line precise attitude adjustment and positioning system for a rocket engine tray, comprising:
重载滚筒输送线，用于输送承载有火箭发动机的托盘；Heavy-duty roller conveyor lines for transporting pallets carrying rocket engines;
前后同步推紧机构，设置于重载滚筒输送线上，前后同步推紧机构用于实现承载有火箭发动机的托盘沿输送方向上的位移；The front and rear synchronous pushing and tightening mechanism is arranged on the heavy-load roller conveyor line, and the front and rear synchronous pushing and tightening mechanism is used to realize the displacement of the pallet carrying the rocket engine along the conveying direction;
全向浮动举升机构，设置于重载滚筒输送线的底部，且位于前后同步推紧机构的前方，全向浮动举升机构用于举升承载有火箭发动机的托盘；The omnidirectional floating lifting mechanism is arranged at the bottom of the heavy-load roller conveyor line and is located in front of the front and rear synchronous pushing mechanisms. The omnidirectional floating lifting mechanism is used to lift the pallet carrying the rocket engine;
左右同步夹紧机构，设置于重载滚筒输送线的两侧，且与全向浮动举升机构相对应，左右同步夹紧机构用于实现承载有火箭发动机的托盘的中心与重载滚筒输送线的中心轴线自动找正重合。The left and right synchronous clamping mechanisms are arranged on both sides of the heavy-loaded roller conveyor line and correspond to the omnidirectional floating lifting mechanism. The left and right synchronous clamping mechanisms are used to realize automatic alignment and coincidence of the center of the pallet carrying the rocket engine with the central axis of the heavy-loaded roller conveyor line.
所述重载滚筒输送线的末端沿垂直于输送方向设有末端限位板，末端限位板的内表面设有多个输送线限位万象浮动球，输送线限位万象浮动球用于对所述前后同步推紧机构推送的所述托盘进行限位。An end limit plate is provided at the end of the heavy-loaded roller conveyor line perpendicular to the conveying direction, and a plurality of conveyor line limiting universal floating balls are provided on the inner surface of the end limit plate. The conveyor line limiting universal floating balls are used to limit the pallet pushed by the front and rear synchronous pushing mechanisms.
所述全向浮动举升机构包括伺服剪式升降机、升降平台及万象浮动支撑球，其中升降平台设置于伺服剪式升降机的顶部，升降平台的上表面设有多个万象浮动支撑球。The omnidirectional floating lifting mechanism includes a servo scissor lift, a lifting platform and a universal floating support ball, wherein the lifting platform is arranged on the top of the servo scissor lift, and a plurality of universal floating support balls are arranged on the upper surface of the lifting platform.
所述左右同步夹紧机构包括对称设置于所述重载滚筒输送线的两侧的左同步夹紧机构和右同步夹紧机构；The left and right synchronous clamping mechanisms include a left synchronous clamping mechanism and a right synchronous clamping mechanism symmetrically arranged on both sides of the heavy-load roller conveyor line;
左同步夹紧机构和右同步夹紧机构结构相同，均包括机架、直线运动模组、过渡安装板、万象浮动夹紧球、支座及伺服电机，其中机架设置于地面上，直线运动模组设置于机架上，伺服电机与直线运动模组的动力输入端连接，伺服电机用于驱动直线运动模组沿垂直于所述重载滚筒输送线的方向输出动力；支座通过过渡安装板与直线运动模组的输出端连接，支座朝向所述重载滚筒输送线的表面上设有两个万象浮动夹紧球。The left synchronous clamping mechanism and the right synchronous clamping mechanism have the same structure, both of which include a frame, a linear motion module, a transition mounting plate, a Vientiane floating clamping ball, a support and a servo motor, wherein the frame is arranged on the ground, the linear motion module is arranged on the frame, the servo motor is connected to the power input end of the linear motion module, and the servo motor is used to drive the linear motion module to output power in a direction perpendicular to the heavy-loaded roller conveyor line; the support is connected to the output end of the linear motion module through the transition mounting plate, and two Vientiane floating clamping balls are provided on the surface of the support facing the heavy-loaded roller conveyor line.
所述前后同步推紧机构包括旋转头组件、可旋转推杆、导向套、旋转支座、电动推杆支座、电动推杆及旋转拨动组件，其中电动推杆支座和旋转支座沿输送方向依次设置于所述重载滚筒输送线的侧部，电动推杆设置于电动推杆支座上，且沿所述重载滚筒输送线方向输出动力；The front and rear synchronous tightening mechanism includes a rotating head assembly, a rotatable push rod, a guide sleeve, a rotating support, an electric push rod support, an electric push rod and a rotating toggle assembly, wherein the electric push rod support and the rotating support are sequentially arranged on the side of the heavy-load roller conveyor line along the conveying direction, and the electric push rod is arranged on the electric push rod support, and outputs power along the direction of the heavy-load roller conveyor line;
旋转支座上设有导向套，可旋转推杆穿过导向套且与导向套滑动配合，可旋转推杆的后端通过连接套与电动推杆的输出端连接，可旋转推杆可相对连接套转动；可旋转推杆的前端与旋转头组件连接；A guide sleeve is provided on the rotating support, and a rotatable push rod passes through the guide sleeve and is slidably matched with the guide sleeve. The rear end of the rotatable push rod is connected to the output end of the electric push rod through the connecting sleeve, and the rotatable push rod can rotate relative to the connecting sleeve; the front end of the rotatable push rod is connected to the rotating head assembly;
旋转拨动组件设置于旋转支座上，可旋转推杆向前或向后移动时，旋转拨动组件驱动可旋转推杆转动。The rotary toggle assembly is arranged on the rotary support, and when the rotatable push rod moves forward or backward, the rotary toggle assembly drives the rotatable push rod to rotate.
所述可旋转推杆上沿轴向设有旋转导向沟槽；The rotatable push rod is provided with a rotation guide groove along the axial direction;
所述旋转拨动组件包括导向轴，导向轴沿径向与所述导向套螺纹连接，且导向轴的端部容置于所述可旋转推杆上的旋转导向沟槽内。The rotary toggle assembly comprises a guide shaft which is threadedly connected with the guide sleeve in the radial direction, and the end of the guide shaft is accommodated in the rotary guide groove on the rotatable push rod.
所述旋转导向沟槽包括依次连续设置的后直槽段、弧形槽段和前直槽段。The rotary guide groove comprises a rear straight groove section, an arc groove section and a front straight groove section which are arranged in sequence.
所述旋转头组件包括推块和旋转头，其中旋转头的一端与所述可旋转推杆垂直连接，旋转头的另一端设置推块。The rotating head assembly comprises a push block and a rotating head, wherein one end of the rotating head is vertically connected to the rotatable push rod, and the other end of the rotating head is provided with a push block.
所述前后同步推紧机构还包括旋转到位检测机构；The front and rear synchronous pushing mechanism also includes a rotation-in-place detection mechanism;
旋转到位检测机构包括旋转到位检测传感器和传感器支架，其中传感器支架与所述旋转支座连接，旋转到位检测传感器设置于传感器支架上，旋转到位检测传感器用于检测所述可旋转推杆是否旋转到位。The rotation into position detection mechanism comprises a rotation into position detection sensor and a sensor bracket, wherein the sensor bracket is connected to the rotating support, the rotation into position detection sensor is arranged on the sensor bracket, and the rotation into position detection sensor is used to detect whether the rotatable push rod is rotated into position.
所述前后同步推紧机构为两组，且对称设置于所述重载滚筒输送线的两侧。The front and rear synchronous pushing mechanisms are in two groups and are symmetrically arranged on both sides of the heavy-load roller conveyor line.
本发明的优点及有益效果是：The advantages and beneficial effects of the present invention are:
1.本发明在满足工艺要求及机械性能的条件下，避免不必要的设计，机构尽可能集多种功能于一身，尽可能降低本发明成本需求。1. The present invention avoids unnecessary design while meeting the process requirements and mechanical properties, and the mechanism integrates multiple functions as much as possible to reduce the cost requirements of the present invention as much as possible.
2.本发明充分优化结构设计，在实现所需功能的前提下无任何冗余结构，因此本发明结构简单。2. The present invention fully optimizes the structural design and has no redundant structure while achieving the required functions, so the present invention has a simple structure.
3.本发明结构新颖巧妙实现重载转运托盘及发动机正确、高效、自动的精确定位，无需人工辅助操作。3. The novel structure of the present invention can ingeniously realize the correct, efficient and automatic precise positioning of the heavy-load transfer pallet and the engine without the need for manual auxiliary operation.
4.本发明通过全向浮动举升机构将重载转运托盘及发动机于输送线在高度方向脱开一定距离，同时采用多组万向球支撑结构减少左右同步夹紧机构所需夹紧力，调姿定位平稳。4. The present invention uses an omnidirectional floating lifting mechanism to separate the heavy-load transfer pallet and the engine from the conveyor line in the height direction by a certain distance, and at the same time adopts multiple sets of universal ball support structures to reduce the clamping force required by the left and right synchronous clamping mechanisms, so that the posture adjustment and positioning are stable.
5.本发明通过左右对称分布的两组伺服控制的同步夹紧机构联合动作，实现发动机中心与输送线中心轴线自动找正重合，调姿定位精度高。5. The present invention realizes automatic alignment and coincidence of the engine center and the central axis of the conveyor line through the joint action of two groups of servo-controlled synchronous clamping mechanisms that are symmetrically distributed on the left and right, and the posture adjustment and positioning accuracy is high.
6.本发明通过左右对称分布的两组前后同步推紧机构联合动作，实现发动机沿输送方向上的位移，使托盘与输送线末端的限位万象浮动球贴合，实现最终的调姿定位精度。6. The present invention realizes the displacement of the engine along the conveying direction through the joint action of two groups of front and rear synchronous pushing mechanisms that are symmetrically distributed on the left and right, so that the pallet fits with the limiting universal floating ball at the end of the conveyor line, thereby achieving the final posture adjustment and positioning accuracy.
7.本发明通过左右同步夹紧机构的万象浮动夹紧球及输送线限位万象浮动球结构共同导向作用下，采用球面接触减少下降过程中接触的摩擦力，保证全向浮动举升机构将托盘及发动机平稳落回输送线之上时，保持已完成定位的精度。7. The present invention uses spherical contact to reduce the friction of contact during the descent process under the joint guidance of the universal floating clamping balls of the left and right synchronous clamping mechanisms and the universal floating ball structure of the conveyor line limit, ensuring that the accuracy of the completed positioning is maintained when the omnidirectional floating lifting mechanism smoothly drops the pallet and the engine back onto the conveyor line.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明一种面向火箭发动机托盘的输送线精确调姿定位系统的主视图；FIG1 is a front view of a conveyor line precise attitude adjustment and positioning system for a rocket engine tray according to the present invention;
图2为图1的左视图；Fig. 2 is a left side view of Fig. 1;
图3为图1的俯视图；FIG3 is a top view of FIG1 ;
图4为本发明中的全向浮动举升机构的主视图；FIG4 is a front view of the omnidirectional floating lifting mechanism of the present invention;
图5为图4的俯视图；FIG5 is a top view of FIG4;
图6为本发明中左右同步夹紧机构的结构示意图；FIG6 is a schematic structural diagram of the left and right synchronous clamping mechanism of the present invention;
图7为图6的俯视图；FIG7 is a top view of FIG6;
图8为本发明中前后同步推紧机构的结构示意图；FIG8 is a schematic structural diagram of the front and rear synchronous tightening mechanism of the present invention;
图9为本发明中可旋转推杆的结构示意图；FIG9 is a schematic diagram of the structure of a rotatable push rod in the present invention;
图10为图9的俯视图；FIG10 is a top view of FIG9 ;
图中：1为全向浮动举升机构，2为左右同步夹紧机构，3为前后同步推紧机构，4为伺服剪式升降机，5为升降平台，6为万象浮动支撑球，7为机架，8为直线运动模组，9为过渡安装板，10为万象浮动夹紧球，11为支座， 12为伺服电机，13为推块，14为旋转头，15为可旋转推杆，151为旋转导向沟槽，16为导向套，17为旋转支座，18为导向轴，19为连接套，20为电动推杆支座，21为电动推杆，22为重载滚筒输送线，23为托盘，24为火箭发动机，25为输送线限位万象浮动球，26为末端限位板，27为旋转到位检测传感器，28为传感器支架。In the figure: 1 is an omnidirectional floating lifting mechanism, 2 is a left and right synchronous clamping mechanism, 3 is a front and rear synchronous pushing mechanism, 4 is a servo scissor lift, 5 is a lifting platform, 6 is a Vientiane floating support ball, 7 is a frame, 8 is a linear motion module, 9 is a transition mounting plate, 10 is a Vientiane floating clamping ball, 11 is a support, 12 is a servo motor, 13 is a push block, 14 is a rotating head, 15 is a rotatable push rod, 151 is a rotating guide groove, 16 is a guide sleeve, 17 is a rotating support, 18 is a guide shaft, 19 is a connecting sleeve, 20 is an electric push rod support, 21 is an electric push rod, 22 is a heavy-duty roller conveyor line, 23 is a pallet, 24 is a rocket engine, 25 is a conveyor line limit Vientiane floating ball, 26 is an end limit plate, 27 is a rotation in place detection sensor, and 28 is a sensor bracket.
具体实施方式DETAILED DESCRIPTION
为了使本发明的目的、技术方案和优点更加清楚，下面结合附图和具体实施例对本发明进行详细描述。In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.
如图1-3所示，本发明提供的一种面向火箭发动机托盘的输送线精确调姿定位系统，包括全向浮动举升机构1、左右同步夹紧机构2、前后同步推紧机构3及重载滚筒输送线22，重载滚筒输送线22用于输送承载有火箭发动机 24的托盘23；前后同步推紧机构3设置于重载滚筒输送线22上，前后同步推紧机构3用于实现承载有火箭发动机24的托盘23沿输送方向上的位移；全向浮动举升机构1设置于重载滚筒输送线22的底部，且位于前后同步推紧机构3的前方，全向浮动举升机构1用于举升承载有火箭发动机24的托盘23，使托盘23脱离重载滚筒输送线22；左右同步夹紧机构2设置于重载滚筒输送线22的两侧，且与全向浮动举升机构1相对应，左右同步夹紧机构2用于实现承载有火箭发动机24的托盘23的中心与重载滚筒输送线22的中心轴线自动找正重合。As shown in Figures 1-3, the present invention provides a conveyor line precise posture adjustment and positioning system for rocket engine pallets, including an omnidirectional floating lifting mechanism 1, a left and right synchronous clamping mechanism 2, a front and rear synchronous pushing mechanism 3 and a heavy-duty roller conveyor line 22, the heavy-duty roller conveyor line 22 is used to convey a pallet 23 carrying a rocket engine 24; the front and rear synchronous pushing mechanism 3 is arranged on the heavy-duty roller conveyor line 22, and the front and rear synchronous pushing mechanism 3 is used to realize the displacement of the pallet 23 carrying the rocket engine 24 along the conveying direction; the omnidirectional floating lifting mechanism 1 is arranged at the bottom of the heavy-duty roller conveyor line 22, and is located in front of the front and rear synchronous pushing mechanism 3, the omnidirectional floating lifting mechanism 1 is used to lift the pallet 23 carrying the rocket engine 24, so that the pallet 23 is separated from the heavy-duty roller conveyor line 22; the left and right synchronous clamping mechanisms 2 are arranged on both sides of the heavy-duty roller conveyor line 22, and correspond to the omnidirectional floating lifting mechanism 1, and the left and right synchronous clamping mechanisms 2 are used to realize the automatic alignment and coincidence of the center of the pallet 23 carrying the rocket engine 24 with the central axis of the heavy-duty roller conveyor line 22.
如图3所示，本发明的实施例中，重载滚筒输送线22的末端沿垂直于输送方向设有末端限位板26，末端限位板26的内表面设有多个输送线限位万象浮动球25，输送线限位万象浮动球25用于对前后同步推紧机构3推送的托盘 23进行限位。优选地，多个输送线限位万象浮动球25沿垂直于输送方向依次间隔排列。As shown in FIG3 , in the embodiment of the present invention, an end stop plate 26 is provided at the end of the heavy-duty roller conveyor line 22 perpendicular to the conveying direction, and a plurality of conveyor line stop universal floating balls 25 are provided on the inner surface of the end stop plate 26. The conveyor line stop universal floating balls 25 are used to stop the pallet 23 pushed by the front and rear synchronous pushing mechanisms 3. Preferably, the plurality of conveyor line stop universal floating balls 25 are sequentially spaced perpendicular to the conveying direction.
如图4-5所示，本发明的实施例中，全向浮动举升机构1包括伺服剪式升降机4、升降平台5及万象浮动支撑球6，其中伺服剪式升降机4通过膨胀螺栓连接于地面上，升降平台5通过螺栓安装于伺服剪式升降机4的顶部，升降平台5的上表面设有多个万象浮动支撑球6。本实施例中，升降平台5上通过螺栓安装有十二组万象浮动支撑球6。As shown in Fig. 4-5, in the embodiment of the present invention, the omnidirectional floating lifting mechanism 1 includes a servo scissor lift 4, a lifting platform 5 and a universal floating support ball 6, wherein the servo scissor lift 4 is connected to the ground by expansion bolts, the lifting platform 5 is installed on the top of the servo scissor lift 4 by bolts, and a plurality of universal floating support balls 6 are provided on the upper surface of the lifting platform 5. In this embodiment, twelve groups of universal floating support balls 6 are installed on the lifting platform 5 by bolts.
本发明的实施例中，左右同步夹紧机构2包括对称设置于重载滚筒输送线22的两侧的左同步夹紧机构和右同步夹紧机构，且左同步夹紧机构和右同步夹紧机构结构相同，左同步夹紧机构和右同步夹紧机构协同作用下实现对托盘的夹紧及对中。In an embodiment of the present invention, the left and right synchronous clamping mechanisms 2 include a left synchronous clamping mechanism and a right synchronous clamping mechanism symmetrically arranged on both sides of the heavy-loaded roller conveyor line 22, and the left synchronous clamping mechanism and the right synchronous clamping mechanism have the same structure. The left synchronous clamping mechanism and the right synchronous clamping mechanism cooperate to achieve clamping and centering of the pallet.
如图6-7所示，本发明的实施例中，左同步夹紧机构和右同步夹紧机构均包括机架7、直线运动模组8、过渡安装板9、万象浮动夹紧球10、支座11 及伺服电机12，其中机架7通过膨胀螺栓安装于输送线两侧地面上，直线运动模组8通过螺栓安装于机架7上，直线运动模组8通过螺栓安装在机架7 上，伺服电机12与直线运动模组8的动力输入端连接，伺服电机12用于驱动直线运动模组8沿垂直于重载滚筒输送线22的方向输出动力；支座11通过过渡安装板9与直线运动模组8的输出端连接，支座11朝向重载滚筒输送线22的表面上设有两个万象浮动夹紧球10。As shown in Figures 6-7, in an embodiment of the present invention, the left synchronous clamping mechanism and the right synchronous clamping mechanism both include a frame 7, a linear motion module 8, a transition mounting plate 9, a universal floating clamping ball 10, a support 11 and a servo motor 12, wherein the frame 7 is installed on the ground on both sides of the conveyor line through expansion bolts, the linear motion module 8 is installed on the frame 7 through bolts, the linear motion module 8 is installed on the frame 7 through bolts, the servo motor 12 is connected to the power input end of the linear motion module 8, and the servo motor 12 is used to drive the linear motion module 8 to output power in a direction perpendicular to the heavy-loaded roller conveyor line 22; the support 11 is connected to the output end of the linear motion module 8 through the transition mounting plate 9, and two universal floating clamping balls 10 are provided on the surface of the support 11 facing the heavy-loaded roller conveyor line 22.
如图8所示，本发明的实施例中，前后同步推紧机构3包括旋转头组件、可旋转推杆15、导向套16、旋转支座17、电动推杆支座20、电动推杆21及旋转拨动组件，其中电动推杆支座20和旋转支座17沿输送方向依次设置于重载滚筒输送线22的侧部，电动推杆21通过螺栓连接在电动推杆支座20上，且沿重载滚筒输送线22方向输出动力；旋转支座17上通过螺栓连接有导向套16，可旋转推杆15穿过导向套16且与导向套16滑动配合，可旋转推杆 15的后端通过连接套19与电动推杆21的输出端连接，可旋转推杆15可相对连接套19转动；可旋转推杆15的前端与旋转头组件连接；旋转拨动组件设置于旋转支座17上，可旋转推杆15向前或向后移动时，旋转拨动组件驱动可旋转推杆15转动。As shown in FIG8 , in an embodiment of the present invention, the front and rear synchronous pushing mechanism 3 includes a rotating head assembly, a rotatable push rod 15, a guide sleeve 16, a rotating support 17, an electric push rod support 20, an electric push rod 21 and a rotating toggle assembly, wherein the electric push rod support 20 and the rotating support 17 are sequentially arranged on the side of the heavy-loaded roller conveyor line 22 along the conveying direction, the electric push rod 21 is connected to the electric push rod support 20 by bolts, and outputs power along the direction of the heavy-loaded roller conveyor line 22; the rotating support 17 is connected with a guide sleeve 16 by bolts, the rotatable push rod 15 passes through the guide sleeve 16 and slides with the guide sleeve 16, the rear end of the rotatable push rod 15 is connected to the output end of the electric push rod 21 by a connecting sleeve 19, and the rotatable push rod 15 can rotate relative to the connecting sleeve 19; the front end of the rotatable push rod 15 is connected to the rotating head assembly; the rotating toggle assembly is arranged on the rotating support 17, and when the rotatable push rod 15 moves forward or backward, the rotating toggle assembly drives the rotatable push rod 15 to rotate.
本发明的实施例中，旋转头组件包括推块13和旋转头14，其中旋转头 14的一端与可旋转推杆15垂直连接，旋转头14的另一端设置推块13。具体地，旋转头14的一端通过方形开口穿入可旋转推杆15，并由螺母及垫片等进行轴向固定，推块13通过螺栓连接在旋转头14上。In the embodiment of the present invention, the rotating head assembly includes a push block 13 and a rotating head 14, wherein one end of the rotating head 14 is vertically connected to the rotatable push rod 15, and the push block 13 is arranged at the other end of the rotating head 14. Specifically, one end of the rotating head 14 penetrates the rotatable push rod 15 through a square opening and is axially fixed by nuts and washers, etc., and the push block 13 is connected to the rotating head 14 by bolts.
如图9-10所示，本发明的实施例中，可旋转推杆15上沿轴向设有非直线结构的旋转导向沟槽151；旋转拨动组件包括导向轴18，导向轴18沿径向与导向套16连接，且导向轴18的端部容置于可旋转推杆15上的旋转导向沟槽151内。As shown in Figures 9-10, in an embodiment of the present invention, a rotation guide groove 151 with a non-linear structure is axially provided on the rotatable push rod 15; the rotary dial assembly includes a guide shaft 18, which is radially connected to the guide sleeve 16, and the end of the guide shaft 18 is accommodated in the rotation guide groove 151 on the rotatable push rod 15.
具体地，旋转导向沟槽151包括依次连续设置的后直槽段、弧形槽段和前直槽段。Specifically, the rotation guide groove 151 includes a rear straight groove section, an arc groove section and a front straight groove section which are arranged in sequence.
进一步地，前后同步推紧机构3还包括用于检测可旋转推杆15是否旋转到位的旋转到位检测机构；如图8所示，旋转到位检测机构包括旋转到位检测传感器27和传感器支架28，其中传感器支架28与旋转支座17连接，旋转到位检测传感器27设置于传感器支架28上，旋转到位检测传感器27用于检测可旋转推杆15是否旋转到位。Furthermore, the front and rear synchronous pushing mechanism 3 also includes a rotation into position detection mechanism for detecting whether the rotatable push rod 15 has been rotated into position; as shown in Figure 8, the rotation into position detection mechanism includes a rotation into position detection sensor 27 and a sensor bracket 28, wherein the sensor bracket 28 is connected to the rotating support 17, and the rotation into position detection sensor 27 is arranged on the sensor bracket 28, and the rotation into position detection sensor 27 is used to detect whether the rotatable push rod 15 has been rotated into position.
优选地，前后同步推紧机构3为两组，且对称设置于重载滚筒输送线22 的两侧。承载有火箭发动机24的托盘23被左右同步夹紧机构2在左右方向夹紧定位后，由布置于输送线两侧的两套前后同步推紧机构3同步动作，最终将托盘23在水平方向完全定位。前后同步推紧机构3既要保证托盘23进入输送线过程中无干涉情况，又要保证推块13和旋转头14能够顺利与托盘 23接触，因此该机构需具备90度旋转功能。本实施例采用纯机械式旋转结构，电动推杆21伸出带动连接套19及可旋转拉杆15向托盘方向伸出，同时在可旋转拉杆15上增加旋转导向沟槽151。一方面，可旋转拉杆15在导向套16 的作用下可以进行直线前后运动；另一方面，导向轴18的端部容置于可旋转推杆15上的旋转导向沟槽151内。旋转导向沟槽151分为后直槽段+弧形槽段+前直槽段的连续三段，导向轴18在前、后直槽段内时，可旋转拉杆15伸出过程中不旋转；导向轴18在弧形槽段内时，可旋转拉杆15伸出的同时在导向轴18作用下同步旋转，弧形槽段结束后，前端的推块13和旋转头14并未与托盘23接触，电动推杆21继续伸出一段行程后最终使推块13和旋转头 14与托盘接触并推紧。此时托盘底面与万象浮动支撑球6接触，左右两侧与万象浮动夹紧球10接触，后端与推块13接触，前端与输送线限位万象浮动球25接触。Preferably, there are two sets of front and rear synchronous tightening mechanisms 3, which are symmetrically arranged on both sides of the heavy-duty roller conveyor line 22. After the pallet 23 carrying the rocket engine 24 is clamped and positioned in the left and right directions by the left and right synchronous clamping mechanisms 2, the two sets of front and rear synchronous tightening mechanisms 3 arranged on both sides of the conveyor line act synchronously, and finally the pallet 23 is completely positioned in the horizontal direction. The front and rear synchronous tightening mechanisms 3 must ensure that there is no interference when the pallet 23 enters the conveyor line, and must ensure that the push block 13 and the rotating head 14 can smoothly contact the pallet 23, so the mechanism needs to have a 90-degree rotation function. This embodiment adopts a purely mechanical rotation structure, and the electric push rod 21 extends to drive the connecting sleeve 19 and the rotatable pull rod 15 to extend toward the pallet direction, and at the same time, a rotation guide groove 151 is added to the rotatable pull rod 15. On the one hand, the rotatable pull rod 15 can move forward and backward in a straight line under the action of the guide sleeve 16; on the other hand, the end of the guide shaft 18 is accommodated in the rotation guide groove 151 on the rotatable push rod 15. The rotating guide groove 151 is divided into three continuous sections: rear straight groove section + arc groove section + front straight groove section. When the guide shaft 18 is in the front and rear straight groove sections, the rotatable pull rod 15 does not rotate during the extension process; when the guide shaft 18 is in the arc groove section, the rotatable pull rod 15 extends and rotates synchronously under the action of the guide shaft 18. After the arc groove section ends, the front push block 13 and the rotating head 14 do not contact the tray 23. The electric push rod 21 continues to extend for a stroke and finally makes the push block 13 and the rotating head 14 contact and push the tray. At this time, the bottom surface of the tray contacts the Vientiane floating support ball 6, the left and right sides contact the Vientiane floating clamping ball 10, the rear end contacts the push block 13, and the front end contacts the Vientiane floating ball 25 for conveyor line limit.
本发明提供的一种面向火箭发动机托盘的输送线精确调姿定位系统，其动作过程如下：The present invention provides a conveyor line precise attitude adjustment and positioning system for a rocket engine tray, and its action process is as follows:
载有火箭发动机24的托盘23被重载滚筒输送线22移载至精定位工位；The pallet 23 carrying the rocket engine 24 is transferred to the precision positioning station by the heavy-duty roller conveyor line 22;
托盘23进入精定位工位并停止后，全向浮动举升机构1上的伺服剪式升降机4上升并带动升降平台5及多组万象浮动支撑球6与托盘23的底部平面接触，将托盘底面举起并与输送线滚筒面脱开一定距离；After the pallet 23 enters the precise positioning station and stops, the servo scissor lift 4 on the omnidirectional floating lifting mechanism 1 rises and drives the lifting platform 5 and multiple sets of universal floating support balls 6 to contact the bottom plane of the pallet 23, lift the bottom surface of the pallet and separate it from the conveyor line roller surface by a certain distance;
载有火箭发动机24的托盘23被举升到位后，左右同步夹紧机构2中伺服电机12驱动直线运动模组8实现直线移动，带动过渡安装板9和安装在支座11上的两组万象浮动夹紧球10与托盘23的侧面靠近、接触并且左右两组机构同步夹紧托盘23至托盘中心与输送线中心线重合；After the pallet 23 carrying the rocket engine 24 is lifted into place, the servo motor 12 in the left and right synchronous clamping mechanisms 2 drives the linear motion module 8 to achieve linear movement, driving the transition mounting plate 9 and the two sets of universal floating clamping balls 10 installed on the support 11 to approach and contact the side of the pallet 23, and the left and right sets of mechanisms synchronously clamp the pallet 23 until the center of the pallet coincides with the center line of the conveyor line;
载有火箭发动机24的托盘23被左右同步夹紧机构2夹紧定位后，电动推杆21伸出带动连接套19及可旋转拉杆15动作，在导向套16及导向轴18 联合作用下，使推块13和旋转头14在向前伸出的同时旋转90度，这样既保证托盘23在进入输送线过程中，旋转头14处于输送线之外避免干涉，又可以实现推块13和旋转头14旋转90度后可以与托盘23的后部侧面相接触，并最终推紧托盘23，此时托盘23的底面与万象浮动支撑球6接触，左右两侧与万象浮动夹紧球10接触，后端与推块13接触，前端与输送线限位万象浮动球25接触；After the tray 23 carrying the rocket engine 24 is clamped and positioned by the left and right synchronous clamping mechanisms 2, the electric push rod 21 extends to drive the connecting sleeve 19 and the rotatable pull rod 15 to move. Under the joint action of the guide sleeve 16 and the guide shaft 18, the push block 13 and the rotating head 14 are rotated 90 degrees while extending forward. This ensures that the rotating head 14 is outside the conveyor line to avoid interference during the tray 23 entering the conveyor line, and can also achieve that the push block 13 and the rotating head 14 can contact the rear side of the tray 23 after rotating 90 degrees, and finally push the tray 23. At this time, the bottom surface of the tray 23 contacts the Vientiane floating support ball 6, the left and right sides contact the Vientiane floating clamping ball 10, the rear end contacts the push block 13, and the front end contacts the Vientiane floating ball 25 for limiting the conveyor line;
载有火箭发动机24的托盘23完成调姿定位后，全向浮动举升机构1上的伺服剪式升降机4下降，并带动升降平台5与托盘23同步下降，将托盘23 重新平稳放回重载滚筒输送线22上，并完成本系统的全部动作过程。After the pallet 23 carrying the rocket engine 24 completes the posture adjustment and positioning, the servo scissor lift 4 on the omnidirectional floating lifting mechanism 1 descends, and drives the lifting platform 5 and the pallet 23 to descend synchronously, and the pallet 23 is smoothly placed back on the heavy-load roller conveyor line 22, completing the entire action process of this system.
在自动化装配过程中，本系统始终保持以上状态，一方面保证调姿定位精度，另一方面避免自动装配过程中托盘发生相对窜动以保证稳定性，直至自动装配完成后反向执行以上动作过程将托盘释放并由输送线运输至下一装配单元。During the automated assembly process, the system always maintains the above state, on the one hand to ensure the accuracy of posture adjustment and positioning, and on the other hand to avoid relative movement of the pallet during the automated assembly process to ensure stability. After the automated assembly is completed, the above action process is performed in reverse to release the pallet and transport it to the next assembly unit by the conveyor line.
本发明提供的一种面向火箭发动机托盘的输送线精确调姿定位系统，用于实现竖直状态下大质量火箭发动机重载转运托盘在输送线运送至指定位置后的精确调姿及定位，提高不同发动机通过输送线输送到位后的重复定位精度，并保证自动装配过程中稳定性，为发动机自动化装配提供必要的精度条件。该系统通过位于输送线下方的全向浮动举升机构上的多组万象浮动支撑球与托盘底面接触支撑，并举升一定高度，实现托盘底面与输送线在高度方向脱开一定距离；通过左右两侧对称分布的两组左右同步夹紧机构联合动作实现发动机中心与输送线中心轴线自动找正重合，再由左右两侧对称分布的两组前后同步推紧机构实现发动机沿输送方向上的位移，使托盘与输送线末端的限位万象浮动球贴合，最终通过全向浮动举升机构下降一定行程，并在左右两侧万向浮动支撑球导向作用下将托盘及发动机平稳落回输送线之上，同时保证已有的定位精度，并且在发动机自动化装配过程中始终保持左右夹紧及前后推紧的状态。The invention provides a conveyor line precise attitude adjustment and positioning system for rocket engine pallets, which is used to realize precise attitude adjustment and positioning of heavy-loaded transfer pallets of large-mass rocket engines in a vertical state after being transported to a designated position on a conveyor line, improve the repeated positioning accuracy of different engines after being transported to a designated position through a conveyor line, and ensure stability during the automatic assembly process, so as to provide necessary precision conditions for the automatic assembly of engines. The system uses multiple groups of universal floating support balls on an omnidirectional floating lifting mechanism located below the conveyor line to contact and support the bottom surface of the pallet, and lift it to a certain height, so that the bottom surface of the pallet and the conveyor line are separated by a certain distance in the height direction; the engine center and the conveyor line center axis are automatically aligned and overlapped by the joint action of two groups of left and right synchronous clamping mechanisms symmetrically distributed on the left and right sides, and then the engine is displaced along the conveying direction by two groups of front and back synchronous pushing mechanisms symmetrically distributed on the left and right sides, so that the pallet and the limit universal floating ball at the end of the conveyor line are fitted, and finally the omnidirectional floating lifting mechanism is lowered to a certain stroke, and the pallet and the engine are stably dropped back to the conveyor line under the guidance of the universal floating support balls on the left and right sides, while ensuring the existing positioning accuracy, and the left and right clamping and front and back pushing states are always maintained during the automatic assembly of the engine.
本发明对大质量火箭发动机重载转运托盘自动浮动举升、自动调姿定位及自动精度保持，实现对输送线上竖直状态下火箭发动机重载转运托盘二次精确调姿定位，适用对定位精度有严格要求的输送线用大质量产品重载转运托盘的精确调姿定位工作，自动化程度高，调姿定位精准、调姿定位可靠性高，提高发动机通过输送线输送到位后的重复定位精度并保证自动化装配过程中稳定性。The present invention can automatically float and lift, automatically adjust and position, and automatically maintain the accuracy of the heavy-load transfer pallet for large-mass rocket engines, thereby realizing secondary accurate attitude adjustment and positioning of the heavy-load transfer pallet for rocket engines in a vertical state on the conveyor line. It is suitable for the accurate attitude adjustment and positioning of heavy-load transfer pallets for large-mass products for conveyor lines with strict requirements on positioning accuracy. It has a high degree of automation, precise attitude adjustment and positioning, and high reliability of attitude adjustment and positioning, which improves the repeated positioning accuracy of the engine after it is delivered to its place through the conveyor line and ensures stability during the automated assembly process.
以上所述仅为本发明的实施方式，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内所作的任何修改、等同替换、改进、扩展等，均包含在本发明的保护范围内。The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
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