CN115385054B - Accurate attitude-adjusting positioning system of conveying line for rocket engine tray - Google Patents
Accurate attitude-adjusting positioning system of conveying line for rocket engine tray Download PDFInfo
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- CN115385054B CN115385054B CN202211221602.0A CN202211221602A CN115385054B CN 115385054 B CN115385054 B CN 115385054B CN 202211221602 A CN202211221602 A CN 202211221602A CN 115385054 B CN115385054 B CN 115385054B
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- 230000007246 mechanism Effects 0.000 claims abstract description 104
- 230000001360 synchronised effect Effects 0.000 claims abstract description 74
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000012546 transfer Methods 0.000 claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims abstract description 6
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000007704 transition Effects 0.000 claims description 8
- 238000003756 stirring Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- 230000009471 action Effects 0.000 description 9
- 230000002146 bilateral effect Effects 0.000 description 2
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- 238000013459 approach Methods 0.000 description 1
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Classifications
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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
The invention belongs to the technical field of rocket engine assembly, and particularly relates to a precise attitude-adjusting and positioning system for a conveying line of a rocket engine tray. The device comprises an omnidirectional floating lifting mechanism, a left synchronous clamping mechanism, a right synchronous clamping mechanism, a front synchronous pushing mechanism, a rear synchronous pushing mechanism and a heavy-load roller conveying line, wherein the front synchronous pushing mechanism and the rear synchronous pushing mechanism are arranged on the heavy-load roller conveying line and are used for realizing displacement of a tray bearing a rocket engine along the conveying direction; the omnidirectional floating lifting mechanism is arranged at the bottom of the heavy-load roller conveying line and is used for lifting a tray carrying rocket engines; the left synchronous clamping mechanism and the right synchronous clamping mechanism are arranged on two sides of the heavy-duty roller conveying line and used for realizing automatic alignment and superposition of the center of a tray carrying the rocket engine and the center axis of the heavy-duty roller conveying line. The invention fully automatically realizes the secondary gesture adjustment positioning of the heavy-load transfer tray and the engine, greatly improves the working efficiency and the positioning precision, and meets the use requirements of automatic assembly equipment and an automatic detection system.
Description
Technical Field
The invention belongs to the technical field of rocket engine assembly, and particularly relates to a precise attitude-adjusting and positioning system for a conveying line of a rocket engine tray.
Background
With the comprehensive development of the fields of space technology, aerospace telemetry, manned aerospace, deep space exploration and the like, the demand of the carrier rocket is increased in an explosive manner, and the matched rocket engine is used as the core of the carrier rocket, so that the improvement of the productivity is urgent. The traditional assembly mode adopts a mode that the crown block is used for hoisting the engine to circulate among different assembly units, the transportation efficiency is low, certain potential safety hazards exist, the problem of difficult transportation caused by large whole quality and large height of the engine is solved, the engine is transported to different assembly and detection units through a heavy-load transportation line in a logistics mode, and the assembly and detection tasks of each unit are sequentially completed. Meanwhile, in order to improve the assembly efficiency of the rocket engine, a large amount of automatic assembly equipment and automatic detection systems are required to be introduced. Although the conventional conveying line positioning form can ensure the stop of the heavy-load transfer tray and the engine, the positioning precision of the conventional conveying line positioning form can not meet the positioning precision requirement of +/-2 mm of automatic assembly equipment and an automatic detection system.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a precise attitude adjusting and positioning system for a conveying line facing a rocket engine tray, so as to solve the problem that the positioning accuracy can not meet the positioning accuracy requirements of automatic assembly equipment and an automatic detection system in the traditional conveying line positioning mode.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The invention provides a precise attitude-adjusting and positioning system of a conveying line facing a rocket engine tray, which comprises the following components:
The heavy-duty roller conveying line is used for conveying a tray carrying rocket engines;
The front-back synchronous pushing mechanism is arranged on the heavy-load roller conveying line and is used for realizing displacement of a tray bearing the rocket engine along the conveying direction;
The omnidirectional floating lifting mechanism is arranged at the bottom of the heavy-duty roller conveying line and is positioned in front of the front-rear synchronous pushing mechanism, and the omnidirectional floating lifting mechanism is used for lifting a tray carrying rocket engines;
The left and right synchronous clamping mechanisms are arranged on two sides of the heavy-duty roller conveying line and correspond to the omnidirectional floating lifting mechanism, and are used for realizing automatic alignment coincidence of the center of a tray bearing the rocket engine and the central axis of the heavy-duty roller conveying line.
The end of the heavy-duty roller conveying line is provided with an end limiting plate along the direction perpendicular to the conveying direction, the inner surface of the end limiting plate is provided with a plurality of conveying line limiting universal floating balls, and the conveying line limiting universal floating balls are used for limiting the tray pushed by the front-back synchronous pushing mechanism.
The omnidirectional floating lifting mechanism comprises a servo scissor type lifter, a lifting platform and a plurality of universal floating supporting balls, wherein the lifting platform is arranged at the top of the servo scissor type lifter, and the upper surface of the lifting platform is provided with the plurality of universal floating supporting balls.
The left synchronous clamping mechanism and the right synchronous clamping mechanism are symmetrically arranged on two sides of the heavy-duty roller conveying line;
The left synchronous clamping mechanism and the right synchronous clamping mechanism have the same structure and comprise a frame, a linear motion module, a transition mounting plate, a universal floating clamping ball, a support and a servo motor, wherein the frame is arranged on the ground; the support is connected with the output end of the linear motion module through the transition mounting plate, and two universal floating clamping balls are arranged on the surface of the support facing the heavy-load roller conveying line.
The front-back synchronous pushing mechanism comprises a rotating head assembly, a rotatable push rod, a guide sleeve, a rotating support, an electric push rod and a rotating poking assembly, wherein the electric push rod support and the rotating support are sequentially arranged on the side part of the heavy-load roller conveying 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 conveying line;
The rotary support is provided with a guide sleeve, the rotatable push rod passes through the guide sleeve and is in sliding fit with the guide sleeve, the rear end of the rotatable push rod is connected with the output end of the electric push rod through a connecting sleeve, and the rotatable push rod can rotate relative to the connecting sleeve; the front end of the rotatable push rod is connected with the rotating head assembly;
The rotary stirring assembly is arranged on the rotary support, and when the rotatable push rod moves forwards or backwards, the rotary stirring assembly drives the rotatable push rod to rotate.
A rotary guide groove is axially formed in the rotatable push rod;
the rotary stirring assembly comprises a guide shaft which is in threaded connection with the guide sleeve along the radial direction, and the end part of the guide shaft is accommodated in a rotary guide groove on the rotatable push rod.
The rotary guide groove comprises a rear straight groove section, an arc groove section and a front straight groove section which are sequentially and continuously arranged.
The rotating head assembly comprises a push block and a rotating head, wherein one end of the rotating head is vertically connected with the rotatable push rod, and the other end of the rotating head is provided with the push block.
The front-rear synchronous pushing mechanism further comprises a rotation in-place detection mechanism;
the rotation in-place detection mechanism comprises a rotation in-place detection sensor and a sensor support, wherein the sensor support is connected with the rotary support, the rotation in-place detection sensor is arranged on the sensor support, and the rotation in-place detection sensor is used for detecting whether the rotatable push rod rotates in place.
The front and rear synchronous pushing mechanisms are two groups and are symmetrically arranged on two sides of the heavy-duty roller conveying line.
The invention has the advantages and beneficial effects that:
1. Under the condition of meeting the technological requirements and mechanical properties, the invention avoids unnecessary design, and the mechanism integrates multiple functions as much as possible, thereby reducing the cost requirement of the invention as much as possible.
2. The invention fully optimizes the structural design, and has no redundant structure on the premise of realizing the required functions, so the invention has simple structure.
3. The invention has novel and ingenious structure, and can accurately, efficiently and automatically position the heavy-load transfer tray and the engine without manual auxiliary operation.
4. According to the invention, the heavy-load transfer tray and the engine are separated from the conveying line by a certain distance in the height direction through the omni-directional floating lifting mechanism, and meanwhile, the clamping force required by the left-right synchronous clamping mechanism is reduced by adopting a plurality of groups of universal ball supporting structures, so that the gesture adjustment and positioning are stable.
5. According to the invention, by means of the joint action of the two groups of servo-controlled synchronous clamping mechanisms which are distributed in a bilateral symmetry manner, the automatic alignment and superposition of the center of the engine and the central axis of the conveying line are realized, and the gesture adjustment and positioning precision is high.
6. According to the invention, through the combined action of the two groups of front and rear synchronous pushing mechanisms which are distributed in a bilateral symmetry manner, the displacement of the engine along the conveying direction is realized, so that the tray is attached to the limiting universal floating ball at the tail end of the conveying line, and the final gesture-adjusting positioning precision is realized.
7. According to the invention, under the combined guiding action of the universal floating clamping ball of the left and right synchronous clamping mechanisms and the limiting universal floating ball structure of the conveying line, the contact friction force in the descending process is reduced by adopting spherical contact, so that the precision of the completed positioning is kept when the omni-directional floating lifting mechanism stably drops the tray and the engine back onto the conveying line.
Drawings
FIG. 1 is a front view of a rocket engine pallet oriented conveyor line precise attitude adjustment positioning system of the present invention;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
Fig. 4 is a front view of an omni-directional floating lift mechanism in accordance with the present invention;
FIG. 5 is a top view of FIG. 4;
FIG. 6 is a schematic diagram of a left and right synchronous clamping mechanism according to the present invention;
FIG. 7 is a top view of FIG. 6;
FIG. 8 is a schematic diagram of a front-to-back synchronous pushing mechanism according to the present invention;
FIG. 9 is a schematic view of a rotatable push rod according to the present invention;
FIG. 10 is a top view of FIG. 9;
In the figure: 1 is an omnidirectional floating lifting mechanism, 2 is a left-right synchronous clamping mechanism, 3 is a front-back synchronous pushing mechanism, 4 is a servo scissor type lifter, 5 is a lifting platform, 6 is a universal floating supporting ball, 7 is a frame, 8 is a linear motion module, 9 is a transition mounting plate, 10 is a universal floating clamping ball, 11 is a support, 12 is a servo motor, 13 is a pushing block, 14 is a rotating head, 15 is a rotatable push rod, 151 is a rotary guide groove, 16 is a guide sleeve, 17 is a rotary 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 conveying line, 23 is a tray, 24 is a rocket engine, 25 is a conveying line limiting universal floating ball, 26 is a terminal limiting plate, 27 is a rotary in-place detection sensor, and 28 is a sensor support.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-3, the precise attitude-adjusting positioning system for the rocket engine tray provided by the invention comprises an omnidirectional floating lifting mechanism 1, a left-right synchronous clamping mechanism 2, a front-back synchronous pushing mechanism 3 and a heavy-load roller conveying line 22, wherein the heavy-load roller conveying line 22 is used for conveying a tray 23 carrying a rocket engine 24; the front-back synchronous pushing mechanism 3 is arranged on the heavy-duty roller conveying line 22, and the front-back synchronous pushing mechanism 3 is used for realizing displacement of a tray 23 carrying a rocket engine 24 along the conveying direction; the omnidirectional floating lifting mechanism 1 is arranged at the bottom of the heavy-duty roller conveying line 22 and is positioned in front of the front-rear synchronous pushing mechanism 3, and the omnidirectional floating lifting mechanism 1 is used for lifting a tray 23 carrying a rocket engine 24 so as to separate the tray 23 from the heavy-duty roller conveying line 22; the left and right synchronous clamping mechanisms 2 are arranged on two sides of the heavy-duty roller conveying line 22 and correspond to the omni-directional floating lifting mechanism 1, and the left and right synchronous clamping mechanisms 2 are used for realizing automatic alignment and superposition of the center of a tray 23 bearing the rocket engine 24 and the central axis of the heavy-duty roller conveying line 22.
As shown in fig. 3, in the embodiment of the present invention, the end of the heavy-duty roller conveying line 22 is provided with an end limiting plate 26 along the direction perpendicular to the conveying direction, and the inner surface of the end limiting plate 26 is provided with a plurality of conveying line limiting universal floating balls 25, and the conveying line limiting universal floating balls 25 are used for limiting the pallet 23 pushed by the front-rear synchronous pushing mechanism 3. Preferably, the plurality of conveyor line restraining universal floating balls 25 are sequentially arranged at intervals in a direction perpendicular to the conveying direction.
As shown in fig. 4-5, in the embodiment of the present invention, the omni-directional floating lifting mechanism 1 includes a servo scissor lift 4, a lifting platform 5 and a plurality of universal floating supporting balls 6, wherein the servo scissor lift 4 is connected to the ground through expansion bolts, the lifting platform 5 is mounted on the top of the servo scissor lift 4 through bolts, and the plurality of universal floating supporting balls 6 are arranged on the upper surface of the lifting platform 5. In this embodiment, twelve sets of universal floating support balls 6 are mounted on the lifting platform 5 by bolts.
In the embodiment of the invention, the left synchronous clamping mechanism and the right synchronous clamping mechanism 2 comprise a left synchronous clamping mechanism and a right synchronous clamping mechanism which are symmetrically arranged at two sides of the heavy-duty roller conveying line 22, and the left synchronous clamping mechanism and the right synchronous clamping mechanism have the same structure, and realize clamping and centering of the tray under the cooperative action of the left synchronous clamping mechanism and the right synchronous clamping mechanism.
As shown in fig. 6-7, in the embodiment of the present invention, the left synchronous clamping mechanism and the right synchronous clamping mechanism each 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 mounted on the ground at two sides of the conveying line through expansion bolts, the linear motion module 8 is mounted on the frame 7 through bolts, the servo motor 12 is connected with a power input end of the linear motion module 8, and the servo motor 12 is used for driving the linear motion module 8 to output power in a direction perpendicular to the heavy-duty roller conveying line 22; the support 11 is connected with the output end of the linear motion module 8 through the transition mounting plate 9, and two universal floating clamping balls 10 are arranged on the surface of the support 11 facing the heavy-duty roller conveying line 22.
As shown in fig. 8, in the embodiment of the present invention, the front-rear synchronous pushing mechanism 3 includes a rotary head assembly, a rotatable push rod 15, a guide sleeve 16, a rotary support 17, an electric push rod support 20, an electric push rod 21 and a rotary toggle assembly, wherein the electric push rod support 20 and the rotary support 17 are sequentially arranged at the side of the heavy-duty roller conveying line 22 along the conveying direction, and the electric push rod 21 is connected to the electric push rod support 20 through a bolt and outputs power along the direction of the heavy-duty roller conveying line 22; the rotary support 17 is connected with a guide sleeve 16 through a bolt, the rotatable push rod 15 passes through the guide sleeve 16 and is in sliding fit with the guide sleeve 16, the rear end of the rotatable push rod 15 is connected with the output end of the electric push rod 21 through 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 with the rotating head assembly; the rotary poking assembly is arranged on the rotary support 17, and when the rotatable push rod 15 moves forwards or backwards, the rotary poking assembly drives the rotatable push rod 15 to rotate.
In the embodiment of the invention, the rotating head assembly comprises a push block 13 and a rotating head 14, wherein one end of the rotating head 14 is vertically connected with a rotatable push rod 15, and the other end of the rotating head 14 is provided with the push block 13. Specifically, one end of the rotary head 14 penetrates into the rotatable push rod 15 through a square opening, and is axially fixed by a nut, a washer, or the like, and the push block 13 is connected to the rotary head 14 by a bolt.
As shown in fig. 9-10, in the embodiment of the present invention, a rotation guide groove 151 having a non-linear structure is axially provided on the rotatable push rod 15; the rotary toggle assembly comprises a guide shaft 18, the guide shaft 18 is connected with the guide sleeve 16 along the radial direction, and the end part of the guide shaft 18 is accommodated in a rotary guide groove 151 on the rotatable push rod 15.
Specifically, the rotary guide groove 151 includes a rear straight groove section, an arc-shaped groove section, and a front straight groove section, which are sequentially disposed.
Further, the front-rear synchronous pushing mechanism 3 further includes a rotation in-place detecting mechanism for detecting whether the rotatable push rod 15 rotates in place; as shown in fig. 8, the rotation-in-place detecting mechanism includes a rotation-in-place detecting sensor 27 and a sensor bracket 28, wherein the sensor bracket 28 is connected to the rotation support 17, the rotation-in-place detecting sensor 27 is provided on the sensor bracket 28, and the rotation-in-place detecting sensor 27 is used for detecting whether the rotatable push rod 15 is rotated in place.
Preferably, the front-back synchronous pushing mechanisms 3 are arranged in two groups and symmetrically arranged on two sides of the heavy-duty roller conveying line 22. After the pallet 23 carrying the rocket motor 24 is clamped and positioned in the left-right direction by the left-right synchronous clamping mechanism 2, the pallet 23 is finally positioned completely in the horizontal direction by the synchronous action of the two sets of front-back synchronous pushing mechanisms 3 arranged on the two sides of the conveying line. The front-back synchronous pushing mechanism 3 not only needs to ensure that the tray 23 does not interfere with the conveying line in the process of entering the conveying line, but also needs to ensure that the pushing block 13 and the rotating head 14 can smoothly contact with the tray 23, so that the mechanism needs to have a 90-degree rotating function. In this embodiment, a purely mechanical rotating structure is adopted, and the electric push rod 21 stretches out to drive the connecting sleeve 19 and the rotatable pull rod 15 to stretch out towards the direction of the tray, and meanwhile, a rotary guide groove 151 is added on the rotatable pull rod 15. On the one hand, the rotatable pull rod 15 can move linearly back and forth under the action of the guide sleeve 16; on the other hand, the end of the guide shaft 18 is accommodated in a rotation guide groove 151 on the rotatable push rod 15. The rotary guide groove 151 is divided into three continuous sections of a rear straight groove section, an arc groove section and a front straight groove section, and the rotary pull rod 15 does not rotate in the extending process when the guide shaft 18 is arranged in the front straight groove section and the rear straight groove section; when the guide shaft 18 is in the arc-shaped groove section, the rotatable pull rod 15 stretches out and synchronously rotates under the action of the guide shaft 18, after the arc-shaped groove section is finished, the push block 13 and the rotating head 14 at the front end are not contacted with the tray 23, and after the electric push rod 21 continues to stretch out for a certain stroke, the push block 13 and the rotating head 14 are finally contacted with the tray and pushed tightly. At this time, the bottom surface of the tray is contacted with the universal floating supporting ball 6, the left side and the right side are contacted with the universal floating clamping ball 10, the rear end is contacted with the push block 13, and the front end is contacted with the transmission line limiting universal floating ball 25.
The invention provides a precise attitude-adjusting and positioning system of a conveying line for a rocket engine tray, which comprises the following steps:
the pallet 23 carrying the rocket motor 24 is transferred to a fine positioning station by a heavy-duty roller conveyor line 22;
After the pallet 23 enters a fine positioning station and stops, a servo scissor type lifter 4 on the omnidirectional floating lifting mechanism 1 ascends and drives a lifting platform 5 and a plurality of groups of universal floating supporting balls 6 to contact with the bottom plane of the pallet 23, so that the bottom surface of the pallet is lifted and separated from the roller surface of the conveying line by a certain distance;
After a pallet 23 carrying a rocket engine 24 is lifted in place, a servo motor 12 in a left synchronous clamping mechanism 2 drives a linear motion module 8 to realize linear motion, a transition mounting plate 9 and two groups of universal floating clamping balls 10 arranged on a support 11 are driven to approach and contact with the side surface of the pallet 23, and the left synchronous clamping mechanism and the right synchronous clamping mechanism synchronously clamp the pallet 23 until the center of the pallet coincides with the center line of a conveying line;
After the tray 23 carrying the rocket engine 24 is clamped and positioned by the left synchronous clamping mechanism 2 and the right synchronous clamping mechanism 2, the electric push rod 21 stretches out to drive the connecting sleeve 19 and the rotatable pull rod 15 to act, under the combined action of the guide sleeve 16 and the guide shaft 18, the push block 13 and the rotating head 14 simultaneously stretch forwards and rotate for 90 degrees, so that the tray 23 is ensured to be positioned outside a conveying line in the process of entering the conveying line, the rotating head 14 is prevented from interfering, the push block 13 and the rotating head 14 can be contacted with the rear side surface of the tray 23 after rotating for 90 degrees, and finally the tray 23 is pushed tightly, at the moment, the bottom surface of the tray 23 is contacted with the universal floating support ball 6, the left side and the right side are contacted with the universal floating clamping ball 10, the rear end is contacted with the push block 13, and the front end is contacted with the limiting universal floating ball 25 of the conveying line;
After the tray 23 carrying the rocket engine 24 completes the gesture adjustment and positioning, the servo scissor type lifter 4 on the omnidirectional floating lifting mechanism 1 descends, drives the lifting platform 5 and the tray 23 to synchronously descend, and stably returns the tray 23 to the heavy-duty roller conveying line 22 again, thereby completing the whole action process of the system.
In the automatic assembly process, the system always keeps the above state, on one hand, the gesture adjustment positioning precision is guaranteed, on the other hand, the relative movement of the tray in the automatic assembly process is avoided to ensure the stability, and the tray is released and transported to the next assembly unit by the conveying line by reversely executing the above action process until the automatic assembly is completed.
The precise attitude adjustment and positioning system for the conveying line of the rocket engine tray is used for realizing precise attitude adjustment and positioning of the heavy-load transfer tray of the large-mass rocket engine in a vertical state after the conveying line is conveyed to a designated position, improving repeated positioning precision of different engines after the different engines are conveyed to the designated position through the conveying line, ensuring stability in an automatic assembly process and providing necessary precision conditions for automatic assembly of the engines. The system is supported by contacting a plurality of groups of universal floating supporting balls on an omnidirectional floating lifting mechanism below the conveying line with the bottom surface of the tray, and lifts the tray to a certain height, so that the bottom surface of the tray is separated from the conveying line by a certain distance in the height direction; the automatic alignment coincidence of the center of the engine and the central axis of the conveying line is realized through the joint action of two groups of left and right synchronous clamping mechanisms which are symmetrically distributed on the left and right sides, the displacement of the engine along the conveying direction is realized through two groups of front and rear synchronous pushing mechanisms which are symmetrically distributed on the left and right sides, the tray is attached to the limiting universal floating ball at the tail end of the conveying line, the tray and the engine are finally lowered by a certain stroke through the omni-directional floating lifting mechanism, and stably fall back onto the conveying line under the guiding action of the left and right universal floating supporting balls, the existing positioning precision is ensured, and the left and right clamping and front and rear pushing states are always kept in the automatic assembly process of the engine.
The invention automatically floats and lifts the heavy-duty transfer tray of the large-mass rocket engine, automatically adjusts and positions the heavy-duty transfer tray of the rocket engine and automatically maintains the precision, realizes the secondary accurate attitude adjustment and positioning of the heavy-duty transfer tray of the rocket engine in a vertical state on a conveying line, is suitable for the accurate attitude adjustment and positioning work of the heavy-duty transfer tray of the large-mass product for the conveying line, which has strict requirements on the positioning precision, has high degree of automation, accurate attitude adjustment and positioning and high reliability of attitude adjustment and positioning, improves the repeated positioning precision of the engine after the engine is conveyed in place through the conveying line, and ensures the stability in the automatic assembly process.
The foregoing is merely an embodiment of the present invention and is not intended to limit the 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.
Claims (9)
1. Accurate attitude positioning system that adjusts of transfer chain towards rocket engine tray, its characterized in that includes:
A heavy-duty roller conveyor line (22) for conveying a tray (23) carrying rocket motors (24);
The front-back synchronous pushing mechanism (3) is arranged on the heavy-duty roller conveying line (22), and the front-back synchronous pushing mechanism (3) is used for realizing displacement of a tray (23) carrying a rocket engine (24) along the conveying direction;
The omnidirectional floating lifting mechanism (1) is arranged at the bottom of the heavy-duty roller conveying line (22) and is positioned in front of the front-rear synchronous pushing mechanism (3), and the omnidirectional floating lifting mechanism (1) is used for lifting a tray (23) carrying a rocket engine (24);
The left synchronous clamping mechanism and the right synchronous clamping mechanism (2) are arranged on two sides of the heavy-duty roller conveying line (22) and correspond to the omnidirectional floating lifting mechanism (1), and the left synchronous clamping mechanism and the right synchronous clamping mechanism (2) are used for realizing automatic alignment and superposition of the center of a tray (23) carrying a rocket engine (24) and the central axis of the heavy-duty roller conveying line (22);
The front-rear synchronous pushing mechanism (3) comprises a rotating head assembly, a rotatable push rod (15), a guide sleeve (16), a rotary support (17), an electric push rod support (20), an electric push rod (21) and a rotary stirring assembly, wherein the electric push rod support (20) and the rotary support (17) are sequentially arranged on the side part of the heavy-load roller conveying line (22) along the conveying direction, and the electric push rod (21) is arranged on the electric push rod support (20) and outputs power along the direction of the heavy-load roller conveying line (22);
A guide sleeve (16) is arranged on the rotary support (17), the rotatable push rod (15) passes through the guide sleeve (16) and is in sliding fit with the guide sleeve (16), the rear end of the rotatable push rod (15) is connected with the output end of the electric push rod (21) through 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 with the rotating head assembly;
The rotary stirring assembly is arranged on the rotary support (17), and when the rotatable push rod (15) moves forwards or backwards, the rotary stirring assembly drives the rotatable push rod (15) to rotate.
2. The precise attitude-adjusting and positioning system for the conveying line facing the rocket engine tray according to claim 1, wherein the tail end of the heavy-duty roller conveying line (22) is provided with a tail end limiting plate (26) along the direction perpendicular to the conveying direction, the inner surface of the tail end limiting plate (26) is provided with a plurality of conveying line limiting universal floating balls (25), and the conveying line limiting universal floating balls (25) are used for limiting the tray (23) pushed by the front-rear synchronous pushing mechanism (3).
3. The precise attitude-adjusting and positioning system for a rocket motor pallet-oriented conveying line according to claim 1, wherein the omnidirectional floating lifting mechanism (1) comprises a servo scissor type lifter (4), a lifting platform (5) and a plurality of universal floating supporting balls (6), wherein the lifting platform (5) is arranged at the top of the servo scissor type lifter (4), and a plurality of universal floating supporting balls (6) are arranged on the upper surface of the lifting platform (5).
4. The precise attitude and positioning system for a rocket engine pallet-oriented conveying line according to claim 1, wherein the left and right synchronous clamping mechanisms (2) comprise left and right synchronous clamping mechanisms symmetrically arranged at both sides of the heavy-duty roller conveying line (22);
The left synchronous clamping mechanism and the right synchronous clamping mechanism are identical in structure and comprise 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 arranged on the ground, the linear motion module (8) is arranged on the frame (7), the servo motor (12) is connected with a power input end of the linear motion module (8), and the servo motor (12) is used for driving the linear motion module (8) to output power along a direction perpendicular to the heavy-duty roller conveying line (22); the support (11) is connected with the output end of the linear motion module (8) through the transition mounting plate (9), and two universal floating clamping balls (10) are arranged on the surface of the support (11) facing the heavy-duty roller conveying line (22).
5. The precise attitude-adjusting and positioning system for the rocket-engine pallet-oriented conveying line according to claim 1, wherein a rotary guide groove (151) is axially arranged on the rotatable push rod (15);
The rotary stirring assembly comprises a guide shaft (18), the guide shaft (18) is in threaded connection with the guide sleeve (16) along the radial direction, and the end part of the guide shaft (18) is accommodated in a rotary guide groove (151) on the rotatable push rod (15).
6. The precise attitude-adjusting and positioning system for a rocket-motor pallet-oriented conveying line according to claim 5, wherein the rotary guide groove (151) comprises a rear straight groove section, an arc-shaped groove section and a front straight groove section which are sequentially and continuously arranged.
7. The precise attitude-adjusting and positioning system for a rocket motor pallet-oriented conveying line according to claim 1, wherein the rotating head assembly comprises a push block (13) and a rotating head (14), wherein one end of the rotating head (14) is vertically connected with the rotatable push rod (15), and the push block (13) is arranged at the other end of the rotating head (14).
8. The precise attitude and positioning system for a rocket-motor pallet-oriented conveyor line according to claim 1, wherein the front-rear synchronous pushing mechanism (3) further comprises a rotation in-place detection mechanism;
the rotation in-place detection mechanism comprises a rotation in-place detection sensor (27) and a sensor support (28), wherein the sensor support (28) is connected with the rotary support (17), the rotation in-place detection sensor (27) is arranged on the sensor support (28), and the rotation in-place detection sensor (27) is used for detecting whether the rotatable push rod (15) rotates in place.
9. The precise attitude-adjusting and positioning system for the conveying line facing the rocket engine pallet according to claim 1, wherein the front and rear synchronous pushing mechanisms (3) are two groups and are symmetrically arranged on two sides of the heavy-duty roller conveying line (22).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102815524A (en) * | 2012-06-18 | 2012-12-12 | 红云红河烟草(集团)有限责任公司 | Accurate positioning device for heavy equipment moving workbench |
| CN106241261A (en) * | 2016-08-31 | 2016-12-21 | 天津七所高科技有限公司 | Scalable fine positioning conveying equipment with synchronization lifting |
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| CN109501745A (en) * | 2017-10-30 | 2019-03-22 | 蔚来汽车有限公司 | Change electric carrier |
| CN109807578B (en) * | 2017-11-20 | 2020-10-09 | 中国科学院沈阳自动化研究所 | Automatic positioning mechanism for movable heavy-load tray |
| CN113307010B (en) * | 2021-06-01 | 2022-04-19 | 航天智造（上海）科技有限责任公司 | Intelligent heavy-load three-support omni-directional movement posture adjusting platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102815524A (en) * | 2012-06-18 | 2012-12-12 | 红云红河烟草(集团)有限责任公司 | Accurate positioning device for heavy equipment moving workbench |
| CN106241261A (en) * | 2016-08-31 | 2016-12-21 | 天津七所高科技有限公司 | Scalable fine positioning conveying equipment with synchronization lifting |
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