An automatic milling equipment for the surplus material of the barrel wall panel of a launch vehicle

Abstract

An automatic milling equipment for the surplus material of the barrel section wall panel of a launch vehicle mainly includes a feeding device, a double-exhaust pneumatic clamping device, a fixed limit device, a milling motion axis, etc. The present invention is mainly used for the removal of surplus material and the processing of welding bevels of barrel section wall panels of multiple models of space launch vehicles. The barrel section wall panel is placed on the feeding device, the movement of the conveyor roller is controlled, and the fixed limit device is adjusted to achieve the positioning of barrel section wall panels with different surplus material sizes. The double-exhaust pneumatic clamping device is controlled to clamp the barrel section wall panel and complete the processing. The present invention can meet the automatic processing of large quantities of aluminum alloy barrel section wall panels with various height dimensions and different diameter models, and has the advantages of high milling efficiency, convenient operation, wide application range, low labor cost, etc., realizing the self-adaptive milling method for the clamping position and posture of the barrel section wall panel of the launch vehicle.

Description

Technical Field

[0001] The present invention relates to an automatic milling equipment for the surplus material of the barrel section wall panel of a launch vehicle, and relates to the field of mechanical milling processing. Background Art

[0002] A storage tank is a pressure vessel and can be used to store liquid hydrogen / liquid oxygen propellants for products such as launch vehicles. The common one is a cylindrical storage tank. Before welding the barrel section wall panel, it is necessary to remove the surplus material and process the bevel groove, and ensure its perimeter dimension.

[0003] Since the barrel section wall panel is a bent sheet with different heights, thicknesses and diameters, it is relatively difficult to ensure the milling clamping and perimeter dimension. During the milling process, it is required that the longitudinal seam welding edge to be cut is flat and smooth, can be accurately aligned, and there is no phenomenon such as edge dislocation.

[0004] At present, no prior art for the above applications has been found, and similar materials at home and abroad have not been collected either. In order to meet the above requirements, it is necessary to develop an automatic milling equipment for the surplus material of the barrel section wall panel of a launch vehicle. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art and solve the problem of automatic milling of the surplus material of the barrel section wall panel of a launch vehicle.

[0006] The object of the present invention is achieved through the following technical solutions:

[0007] An automatic milling equipment for the surplus material of the barrel section wall panel of a launch vehicle includes a feeding device, a double-exhaust pneumatic clamping device, a fixed limit device, and a milling motion axis;

[0008] The feeding device includes a load-bearing base frame, a conveying roller lifting and adjusting mechanism, an anti-slip conveying roller, a synchronous belt drive mechanism, a tensioning mechanism, a protective cover, and a feeding motor; the brackets of the tensioning mechanism and the feeding motor are installed on the same side of the load-bearing base frame to drive and tension the synchronous belt drive mechanism; the conveying roller lifting and adjusting mechanism is a screw-nut lifting mechanism and can be independently disassembled and assembled, and is connected to both sides of the load-bearing base frame through bolts. The bearing seats on both sides of the anti-slip conveying roller are threadedly connected to the screw of the conveying roller lifting and adjusting mechanism. During use, the height position of a single anti-slip conveying roller can be independently adjusted by rotating the nuts on the screws of the conveying roller lifting and adjusting mechanism on both sides of the anti-slip conveying roller. All the anti-slip conveying rollers on the load-bearing base frame are synchronously rotated by driving the synchronous belt drive mechanism through the feeding motor, and the protective cover is used for mechanical protection of the synchronous belt drive mechanism;

[0009] The double - exhaust pneumatic clamping device includes a fixed bracket, a reference plate, an airbag assembly, a double - row hinge pressing block, a tension spring, a pre - tightening spare handwheel, and a hard polyurethane pressing plate; the fixed bracket is fastened to the milling movement axis. Five flange seats for installing the pre - tightening spare handwheels are evenly bolted on the fixed bracket to achieve the pre - tightening function of the cylinder - section wall plate. The hard polyurethane pressing plate is connected to the double - row hinge pressing block by screws and adhesively bonded at the seams, and is evenly distributed cross - wise on the upper and lower sides of the airbag assembly. The inflation of the airbag assembly realizes the clamping and fitting function between the hard polyurethane pressing plate and the reference plate, and the deflation of the airbag assembly and the tensile force of the tension spring realize the reset and relaxation function of the double - row hinge pressing block;

[0010] The fixed - limit device includes a limit slide rail seat and a positioning adjustment mechanism. The positioning adjustment mechanism includes a positioning knob, a slider, a graduated shaft, an end - limit piece, and a central column support; the limit slide rail seat is installed on the double - exhaust pneumatic clamping device through screws and positioning pins on both sides. The bottom of the positioning adjustment mechanism can slide and position arbitrarily on the limit slide rail seat through a thin - type slider; the positioning knob and the slider are both located on the central column support of the positioning adjustment mechanism. The positioning knob is used for up - and - down rotation adjustment, and the slider slides up and down through the compressive force of the positioning knob and the compression spring. The end - limit piece is connected to the slider, and the position is fed back by the graduated shafts on both sides of the positioning adjustment mechanism to achieve the quantitative milling of the surplus material of the cylinder - section wall plate;

[0011] The milling movement axis includes a mechanical spindle, a spindle feed movement axis, and a spindle positioning movement axis; the mechanical spindle is fastened to the saddle of the spindle positioning movement axis. The cutting head of the mechanical spindle can be automatically adjusted to the cutting position according to the model of the cylinder - section wall plate. The spindle positioning movement axis and the spindle feed movement axis are fastened together to achieve the milling of cylinder - section wall plates and surplus material with different heights and thicknesses.

[0012] In one embodiment of the present invention, the load - bearing base frame adopts a welded structure of symmetric steel plates on both sides, with the bottom positioning beam for limiting.

[0013] In one embodiment of the present invention, synchronous belt pulleys are installed on all five anti - slip conveyor rollers.

[0014] In one embodiment of the present invention, the limit slide rail seat is connected to the double - exhaust pneumatic clamping device through screws and positioning pins.

[0015] In one embodiment of the present invention, the mechanical spindle is fastened to the saddle of the spindle positioning movement axis through screws and positioning pins.

[0016] In one embodiment of the present invention, the spindle positioning movement axis and the spindle feed movement axis are fastened through screws and positioning pins, and both are servo axes to achieve the milling of cylinder - section wall plates and surplus material with different heights and thicknesses.

[0017] In one embodiment of the present invention, the feeding device and the double-exhaust pneumatic clamping device are initially positioned by the limiting grooves on the bed base of the spindle feed moving axis and then fixed by screwing. After trial operation and adjustment of the cylinder section wall panel, they are positioned by pins. The positioning device includes two movable positioning and adjusting mechanisms, which can adjust the positioning device to both sides of the cylinder section wall panel according to the height of different cylinder section wall panels. After determining the cutting position based on the reference plate and the scale axis, operate the two positioning knobs to fix the position of the end limiting piece, and realize positioning through the autonomous pose adjustment of the cylinder section wall panel during the automatic transmission process.

[0018] In one embodiment of the present invention, the feeding device uses five anti-slip conveying rollers, each installed on both sides of the bearing seat, with adjustable running speed. The anti-slip conveying rollers are treated with hot rubber wrapping, and the surface is a particle surface with a friction coefficient greater than 0.6, realizing a stable and non-slip conveying process of the cylinder section wall panel.

[0019] In one embodiment of the present invention, the height of the anti-slip conveying rollers is adjusted by a lifting screw rod, which can adapt to the diameter size range of the cylinder section wall panel from three to four meters, and can meet the milling function of all cylinder section wall panels within the span of the anti-slip conveying rollers.

[0020] In one embodiment of the present invention, the double-exhaust pneumatic clamping device uses a single airbag to control the double-row hinge pressing blocks to clamp the cylinder section wall panel, only requiring a low-pressure air of 0.6 MPa for one path.

[0021] The present invention has the following beneficial effects compared with the prior art:

[0022] (1) The present invention can realize the automatic milling process of the surplus material of the cylinder section wall panel of the launch vehicle, with a high degree of automation, high milling processing efficiency, and low labor cost, and can meet the milling processing of the cylinder section wall panels of the launch vehicle with large quantities, multiple heights, and multiple diameter sizes.

[0023] (2) The present invention provides an adjustment function for the clamping pose adaptability of the cylinder section wall panel. The adjustment for large arc-shaped plates is simple for manual operation, enhancing the convenience of clamping.

[0024] (3) Compared with the single-row clamping method at the milling position, the double-exhaust pneumatic clamping device adopted by the present invention has stronger clamping stability for the relatively large cutting force in the milling process.

[0025] (4) The positioning device provided by the present invention can flexibly adjust the cutting position, solve the problem of difficult positioning when the widths on both sides of the surplus material to be cut of the cylinder section wall panel are inconsistent, and further enhance the convenience of clamping.

[0026] (5) The milling process of the present invention is a one-time milling process, which can avoid the cutting surface quality problems caused by multiple tool feeds while meeting the processing efficiency. Description of the Drawings

[0027] Figure 1 Schematic three-dimensional structure diagram of the present invention.

[0028] Figure 2 Schematic three-dimensional structure diagram of the feeding device of the present invention.

[0029] Figure 3 Schematic side sectional structure diagram of the feeding device of the present invention.

[0030] Figure 4 Schematic three-dimensional structure diagram of the anti-slip conveying roller of the feeding device of the present invention.

[0031] Figure 5 Schematic three-dimensional structure diagram of the double-exhaust pneumatic clamping device of the present invention.

[0032] Figure 6 Schematic partial and side structure diagrams of the double-exhaust pneumatic clamping device of the present invention.

[0033] Figure 7 Schematic three-dimensional and sectional structure diagrams of the pre-tightening handwheel of the double-exhaust pneumatic clamping device of the present invention.

[0034] Figure 8 Schematic three-dimensional structure diagram of the fixed limit device of the present invention.

[0035] Figure 9 Schematic structure diagram of the positioning and adjusting mechanism of the fixed limit device of the present invention.

[0036] Figure 10 Schematic three-dimensional structure diagram of the milling movement axis of the present invention.

[0037] Reference numerals:

[0038] Feeding device 1 Airbag assembly 201 Slide block 3021

[0039] Load-bearing base frame 101 Double-row hinge pressing block 202 Compression spring 3022

[0040] Conveying roller lifting and adjusting mechanism 102 Pre-tightening spare handwheel 203 Positioning knob 3023

[0041] Bearing seat 103 Tensile spring 204 Graduated shaft 3024

[0042] Synchronous belt drive mechanism 104 Reference plate 205 End limit piece 3025

[0043] Anti-slip conveying roller 105 Hard polyurethane pressing plate 206 Central column support 3026

[0044] Tensioning mechanism 106 Fixed bracket 207 Milling movement axis 4

[0045] Feeding motor 107, Fixed limit device 3, Spindle feed moving axis 401

[0046] Protective cover 108, Limit slide rail seat 301, Spindle positioning moving axis 402

[0047] Double-exhaust pneumatic clamping device 2, Positioning and adjusting mechanism 302, Machine spindle 403 Specific implementation manner

[0048] To make the objectives, technical solutions and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in detail with reference to the accompanying drawings. In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "side", "end", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.

[0049] An automatic milling and cutting equipment for the surplus material of the barrel wall plate of a launch vehicle includes a feeding device 1, a double-exhaust pneumatic clamping device 2, a fixed limit device 3, and a milling and cutting moving axis 4;

[0050] The feeding device 1 includes a load-bearing base frame 101, a conveying roller lifting and adjusting mechanism 102, an anti-slip conveying roller 105, a synchronous belt transmission mechanism 104, a tensioning mechanism 106, a protective cover 108, and a feeding motor 107; the brackets of the tensioning mechanism 106 and the feeding motor 107 are installed on the same side of the load-bearing base frame 101 to drive and tension the synchronous belt transmission mechanism 104; the conveying roller lifting and adjusting mechanism 102 is a screw-nut lifting mechanism and can be disassembled and assembled independently, and is connected to both sides of the load-bearing base frame 101 through bolts. The bearing seats 103 on both sides of the anti-slip conveying roller 105 are threadedly connected to the screws of the conveying roller lifting and adjusting mechanism 102. During use, the height position of a single anti-slip conveying roller 105 can be independently adjusted by rotating the nuts on the screws of the conveying roller lifting and adjusting mechanism 102 on both sides of the anti-slip conveying roller 105. All the anti-slip conveying rollers 105 on the load-bearing base frame 101 are synchronously rotated by driving the synchronous belt transmission mechanism 104 with the feeding motor 107, and the protective cover 108 is used for mechanical protection of the synchronous belt transmission mechanism 104;

[0051] The double - row pneumatic clamping device 2 includes a fixed bracket 207, a reference plate 205, an airbag assembly 201, a double - row hinge pressing block 202, a tension spring 204, a pre - tightening spare handwheel 203, and a rigid polyurethane pressing plate 206. The fixed bracket 207 is fastened to the milling movement shaft 4. Five flange seats for installing the pre - tightening spare handwheels 203 are evenly screwed and installed on the fixed bracket 207 to realize the pre - tightening function of the cylinder - section wall panel. The rigid polyurethane pressing plate 206 is connected to the double - row hinge pressing block 202 by screws and glued at the seams, and is evenly distributed on the upper and lower sides of the airbag assembly 201 in a cross - pattern. The inflation of the airbag assembly 201 realizes the clamping and fitting function between the rigid polyurethane pressing plate 206 and the reference plate 205, and the deflation of the airbag assembly 201 and the tensile force of the tension spring 204 realize the reset and relaxation function of the double - row hinge pressing block 202.

[0052] The fixed - limit device 3 includes a limit slide - rail seat 301 and a positioning adjustment mechanism 302. The positioning adjustment mechanism 302 includes a positioning knob 3023, a slider 3021, a graduated shaft 3024, an end - limit piece 3025, and a central column support 3026. The limit slide - rail seat 301 is installed on the double - row pneumatic clamping device 2 through screws and positioning pins on both sides. The bottom of the positioning adjustment mechanism 302 can slide and position arbitrarily on the limit slide - rail seat 301 through a thin - type slider. The positioning knob 3023 and the slider 3021 are both located on the central column support 3026 of the positioning adjustment mechanism 302. The positioning knob 3023 is used for up - and - down rotation adjustment. The slider 3021 slides up and down through the compression force of the positioning knob 3023 and a compression spring 3022. The end - limit piece 3025 is connected to the slider 3021, and the position is feedback by the graduated shafts 3024 on both sides of the positioning adjustment mechanism 302 to realize the quantitative milling of the surplus material of the cylinder - section wall panel.

[0053] The milling movement shaft 4 includes a mechanical main shaft 403, a main - shaft feed movement shaft 401, and a main - shaft positioning movement shaft 402. The mechanical main shaft 403 is fastened to the saddle of the main - shaft positioning movement shaft 402. According to the model of the cylinder - section wall panel, the cutter head of the mechanical main shaft 403 can be automatically adjusted to the cutting position. The main - shaft positioning movement shaft 402 is firmly connected to the main - shaft feed movement shaft 401 to realize the milling of cylinder - section wall panels and surplus material amounts with different heights and thicknesses.

[0054] Preferably, the load - bearing base frame 101 adopts a welded structure of symmetric steel plates on both sides and is limited by the bottom positioning beam.

[0055] Preferably, synchronous belt pulleys are installed on all five anti - slip conveyor rollers 105.

[0056] Preferably, the limit slide - rail seat 301 is connected to the double - row pneumatic clamping device 2 through screws and positioning pins.

[0057] Preferably, the mechanical main shaft 403 is fastened to the saddle of the main - shaft positioning movement shaft 402 through screws and positioning pins.

[0058] Preferably, the spindle positioning moving axis 402 and the spindle feeding moving axis 401 are fastened by screws and positioning pins, and both are servo axes to achieve milling of cylinder section wall plates and surplus material with different heights and thicknesses.

[0059] Preferably, the feeding device 1 and the double-exhaust pneumatic clamping device 2 are both initially positioned by the limit grooves on the bed base of the spindle feeding moving axis 401 and then fixed by screwing. After trial operation and adjustment of the cylinder section wall plate, they are positioned by pins. The two movable positioning and adjusting mechanisms 302 included in the positioning and limiting device 3 can adjust the positioning device to both sides of the cylinder section wall plate according to the height of different cylinder section wall plates. After determining the cutting position based on the reference plate 205 and the scale axis 3024, operate the two positioning knobs 3023 to fix the position of the end limiting piece 3025, and realize positioning through the self-positioning and pose adjustment of the cylinder section wall plate during the automatic transmission process.

[0060] Preferably, the feeding device 1 uses five anti-slip conveying rollers 105, each of which is installed on the two side bearing seats 103, and the running speed is adjustable. The anti-slip conveying rollers 105 are treated with hot vulcanized rubber, and the surface is a granular surface with a friction coefficient greater than 0.6, so as to realize a stable and non-slip conveying process of the cylinder section wall plate.

[0061] Preferably, the height of the anti-slip conveying rollers 105 is adjusted by a lifting screw rod, which can adapt to the diameter size range of the cylinder section wall plate from three to four meters, and can meet the milling function of all cylinder section wall plates within the span of the anti-slip conveying rollers 105.

[0062] Preferably, the double-exhaust pneumatic clamping device 2 uses a single airbag to control the double-row hinge pressing blocks 202 to clamp the cylinder section wall plate, and only requires a low pressure air of 0.6 MPa for one path.

[0063] Embodiment:

[0064] An automatic milling equipment for the surplus material of the cylinder section wall plate of a launch vehicle according to the present invention, as Figure 1 shown, includes a feeding device 1, a double-exhaust pneumatic clamping device 2, a positioning and limiting device 3, and a milling motion axis 4; wherein, the feeding device 1 and the double-exhaust pneumatic clamping device 2 are respectively installed in front of and above the milling motion axis 4, and the positioning and limiting device 3 is arranged on the double-exhaust pneumatic clamping device 2.

[0065] As Figures 2-4As shown in the figure, the feeding device 1 includes a load-bearing base frame 101, a conveying roller lifting and adjusting mechanism 102, a bearing block 103, a synchronous belt drive mechanism 104, an anti-slip conveying roller 105, a tensioning mechanism 106, a feeding motor 107, and a protective cover 108. The span of the load-bearing base frame 101 is greater than the maximum height of the wall panel, and it adopts a symmetric steel plate welding structure on both sides, with a bottom positioning beam for limiting. One side of it is bolted to the brackets of the tensioning mechanism 106 and the feeding motor 107 to achieve the driving and tensioning of the synchronous belt drive mechanism 104. The conveying roller lifting and adjusting mechanism 102 is a screw-nut lifting mechanism and can be disassembled independently. It is installed on both sides of the load-bearing base frame 101 through bolts and long waist-shaped holes. The bearing blocks 103 on both sides of the anti-slip conveying roller 105 are threadedly connected to the screws of the conveying roller lifting and adjusting mechanism 102. By rotating the nuts on the screws of the conveying roller lifting and adjusting mechanism 102 on both sides of the anti-slip conveying roller 105, the height position of a single anti-slip conveying roller 105 can be independently adjusted. There are a total of five anti-slip conveying rollers 105 to simulate the outer contours of cylinder section wall panels with various diameters. Synchronous belt pulleys are installed on all the anti-slip conveying rollers 105. The feeding motor 107 drives the synchronous belt drive mechanism 104 to achieve the synchronous rotation of the five anti-slip conveying rollers 105, and the mechanical protection is carried out by the protective cover 108;

[0066] As Figures 5-7 shown in the figure, the double-exhaust pneumatic clamping device 2 includes an airbag assembly 201, a double-row hinge pressing block 202, a pre-tightening spare handwheel 203, a tension spring 204, a reference plate 205, a hard polyurethane pressing plate 206, and a fixed bracket 207. The fixed bracket 207 is fastened to the milling and cutting motion shaft 4 through screws and positioning pins. Flange seats for five groups of pre-tightening spare handwheels 203 are evenly bolted on it to achieve the additional function of manual pre-tightening of the cylinder section wall panel. The airbag assembly 201 is tightly sealed by machine winding of steel wires on both sides of a water belt made of double-sided nitrile rubber material and the joints, and is connected to the fixed bracket 207 by screws. The hard polyurethane pressing plate 206 is connected to the double-row hinge pressing block 202 by screws and glued at the seams. The number of them is eight groups on the upper side and seven groups on the lower side, and they are evenly distributed crosswise on both sides of the airbag assembly 201. The inflation of the airbag assembly 201 realizes the clamping and fitting function between the hard polyurethane pressing plate 206 and the reference plate 205, and the deflation of the airbag assembly 201 and the tensile force of the tension spring 204 realize the reset and relaxation function of the double-row hinge pressing block 202;

[0067] As Figures 8-9As shown in the figure, the positioning and limiting device 3 includes a limiting slide rail seat 301 and a positioning and adjusting mechanism 302. The limiting slide rail seat 301 is connected to the double-exhaust pneumatic clamping device 2 by screws and positioning pins. The positioning and adjusting mechanism 302 includes a positioning knob 3023, a slider 3021, a compression spring 3022, a scale shaft 3024, and an end limiting member 3025. The bottom of the positioning and adjusting mechanism 302 can slide and position arbitrarily on the limiting slide rail seat 301 through a thin slider. The positioning knob 3023, the slider 3021, and the compression spring 3022 are sequentially located on the central column support 3026 of the positioning and adjusting mechanism 302 from top to bottom. The positioning knob 3023 is adjusted to rotate up and down through threads, and the slider 3021 is adjusted to slide up and down through the compression force of the positioning knob 3023 and the compression spring 3022. The end limiting member 3025 is connected to the slider 3021 by screws, and the position is feedback by the scale shafts 3024 on both sides of the positioning and adjusting mechanism 302 to achieve quantitative milling of the surplus material of the barrel section wall plate;

[0068] As Figure 10 shown in the figure, the milling movement axis 4 includes a main shaft feed movement axis 401, a main shaft positioning movement axis 402, and a mechanical main shaft 403. The mechanical main shaft 403 is fastened to the saddle of the main shaft positioning movement axis 402 by screws and positioning pins. According to the model of the barrel section wall plate, the cutting head of the mechanical main shaft 403 can be automatically adjusted to the cutting position. The main shaft positioning movement axis 402 and the main shaft feed movement axis 401 are also fastened by screws and positioning pins, and both are servo axes of a lead screw guide rail drive structure to achieve one-time milling of barrel section wall plates with different heights, thicknesses, and surplus material amounts;

[0069] Furthermore, the feeding device 1 and the double-exhaust pneumatic clamping device 2 are both initially positioned by the limiting grooves on the bed base of the main shaft feed movement axis 401 and then fixed by screwing. After trial operation and adjustment of the barrel section wall plate, they are positioned by pins. The two movable positioning and adjusting mechanisms 302 included in the positioning and limiting device 3 can adjust the positioning device to both sides of the barrel section wall plate according to the height of different barrel section wall plates. After determining the cutting position based on the reference plate 205 and the scale shaft 3024, operate the two positioning knobs 3023 to fix the position of the end limiting member 3025, and realize positioning through the self-positioning and pose adjustment of the barrel section wall plate during the automatic transmission process. Specifically, since the left and right points at the upper end of the barrel section wall plate are limited, when the barrel section wall plate is driven by the anti-slip transmission roller 105 and moves upward, it will ultimately be locked in its final pose state by these two limiting points. At this time, the anti-slip transmission roller 105 still continuously provides upward power for the barrel section wall plate to ensure that it is in a suspended static state, waiting for the double-exhaust pneumatic clamping device 2 to be clamped and then starting the milling movement axis 4 for milling. The above components work together to achieve the adaptive milling method for the clamping pose of the barrel section wall plate of the launch vehicle.

[0070] Furthermore, the feeding device 1 uses five anti-slip conveyor rollers 105, each of which is installed on both side bearing seats 103. The running speed is adjustable. The conveyor rollers are treated with hot vulcanized rubber, having high wear resistance. The surface is a granular surface with a friction coefficient greater than 0.6, so as to realize a stable conveying process of the barrel section wall plate without slipping.

[0071] Furthermore, the feeding device 1 is applicable to large-diameter barrel section wall plates of multiple carrying models. By adjusting the height of the five anti-slip conveyor rollers 105 through the lifting screw, it can adapt to the diameter size range of the barrel section wall plate of about three to four meters, and can meet the milling function of all barrel section wall plates within the span of the anti-slip conveyor rollers 105.

[0072] Furthermore, the double-exhaust pneumatic clamping device 2 uses a single airbag to control the double-row hinge pressing blocks 202 to clamp the barrel section wall plate. Only one-way low-pressure air (0.6 MPa) is required. While effectively utilizing the clamping space and ensuring the clamping force, five groups of pre-tightening spare handwheels 203 are added to realize the additional function of manual pre-tightening.

[0073] Furthermore, the two positioning and adjusting mechanisms 302 adopted by the fixed limit device 3 are independently adjusted. By rotating the two positioning knobs 3023 to the target height respectively, it can meet the pose adjustment of the barrel section wall plate with inconsistent widths on both sides of the surplus material.

[0074] The working process of this embodiment is as follows:

[0075] During work, place the barrel section wall plate on the five anti-slip conveyor rollers 105, simply straighten it, and start the feeding motor 107. At this time, the barrel section wall plate will be conveyed in the rotation direction of the anti-slip conveyor rollers 105, and will automatically return to the correct position and fit the arc of the five anti-slip conveyor rollers 105 during movement. When one end of the surplus material of the barrel section wall plate reaches the clamping position, refer to the upper reference surface of the reference base plate 205 and the scale prompt of the scale shaft 3024, and adjust the positioning knobs 3023 on the two positioning and adjusting mechanisms 302 to limit both sides of the barrel section wall plate according to the scribing and cutting amount of the surplus material of the barrel section wall plate until the cutting position is adjusted to the cutter head position. Control the solenoid valve to inflate the airbag and the feeding device 1 automatically stops to complete the clamping of the barrel section wall plate. Automatically adjust the mechanical main shaft 403 to the tool entry position corresponding to the barrel section wall plate model, start the main shaft feed moving shaft 401 to cut the surplus material of the barrel section wall plate, then return to zero, change the tool, repeat starting the position adjustment of the mechanical main shaft 403 and the main shaft feed moving shaft 401 to process the welding groove. After completion, the solenoid valve controls the airbag to deflate, and the mechanical main shaft 403 automatically returns to zero.

[0076] The automatic milling equipment for the surplus material of the barrel wall panel of the launch vehicle provided in this embodiment has a high degree of intelligence, is simple to operate, time-saving, labor-saving and safe, and ensures the subsequent smooth welding of the product. The system can adaptively mill the clamping position and posture of the surplus material of the barrel wall panel with different heights, thicknesses and diameters through control. It has the advantages of high intelligence, low labor intensity, high production efficiency and wide application range.

[0077] The content not detailedly described in the specification of the present invention belongs to the well-known technology in the art.

[0078] Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention all belong to the protection scope of the technical solution of the present invention.

Claims

1. An automatic milling equipment for the surplus material of the barrel wall panel of a launch vehicle, characterized in that, It includes a feeding device, a double-exhaust pneumatic clamping device, a fixed limit device, and a milling movement axis; The feeding device includes a load-bearing base frame, a conveying roller lifting adjustment mechanism, anti-slip conveying rollers, a synchronous belt drive mechanism, a tensioning mechanism, a protective cover, and a feeding motor; the brackets of the tensioning mechanism and the feeding motor are installed on the same side of the load-bearing base frame to drive and tension the synchronous belt drive mechanism; the conveying roller lifting adjustment mechanism is a screw-nut lifting mechanism and can be disassembled independently, and is connected to both sides of the load-bearing base frame through bolts. The bearing seats on both sides of the anti-slip conveying roller are threadedly connected to the screws of the conveying roller lifting adjustment mechanism. During use, the height position of a single anti-slip conveying roller can be independently adjusted by rotating the nuts on the screws of the conveying roller lifting adjustment mechanism on both sides of the anti-slip conveying roller. All the anti-slip conveying rollers on the load-bearing base frame rotate synchronously by driving the synchronous belt drive mechanism with the feeding motor. The protective cover is used for mechanical protection of the synchronous belt drive mechanism; The double-exhaust pneumatic clamping device includes a fixed bracket, a reference plate, an airbag assembly, a double-row hinge pressing block, a tension spring, a pre-tightening spare handwheel, and a hard polyurethane pressing plate; the fixed bracket is fastened to the milling movement axis. Five flange seats for installing pre-tightening spare handwheels are evenly bolted on the fixed bracket to achieve the pre-tightening function of the cylinder section wall plate. The hard polyurethane pressing plate is connected to the double-row hinge pressing block through screws and glued at the seams, and is evenly distributed crosswise on the upper and lower sides of the airbag assembly. The inflation of the airbag assembly realizes the clamping and fitting function of the hard polyurethane pressing plate and the reference plate, and the deflation of the airbag assembly and the tensile force of the tension spring realize the reset and relaxation function of the double-row hinge pressing block; The fixed limit device includes a limit slide rail seat and a positioning adjustment mechanism. The positioning adjustment mechanism includes a positioning knob, a slider, a graduated shaft, an end limit piece, and a central column support; the limit slide rail seat is installed on the double-exhaust pneumatic clamping device through screws and positioning pins on both sides. The bottom of the positioning adjustment mechanism can slide and position arbitrarily on the limit slide rail seat through a thin slider; both the positioning knob and the slider are located on the central column support of the positioning adjustment mechanism. The positioning knob is used for up-and-down rotation adjustment, and the slider slides up and down through the compression force of the positioning knob and the compression spring. The end limit piece is connected to the slider, and the position is feedback by the graduated shafts on both sides of the positioning adjustment mechanism to realize the quantitative milling of the surplus material of the cylinder section wall plate; The milling movement axis includes a mechanical main shaft, a main shaft feed movement axis, and a main shaft positioning movement axis; the mechanical main shaft is fastened to the saddle of the main shaft positioning movement axis, and the cutter head of the mechanical main shaft can be automatically adjusted to the cutting position according to the model of the cylinder section wall plate. The main shaft positioning movement axis is firmly connected to the main shaft feed movement axis to realize the milling of cylinder section wall plates and surplus material with different heights and thicknesses.

2. The automatic milling and cutting equipment according to claim 1, wherein The load-bearing base frame adopts a symmetric steel plate welding structure on both sides, with a bottom positioning beam for limiting.

3. The automatic milling and cutting equipment according to claim 1, characterized in that, Synchronous belt pulleys are installed on all five anti-slip conveying rollers.

4. The automatic milling and cutting equipment according to claim 1, characterized in that The limit slide rail seat is connected to the double-exhaust pneumatic clamping device through screws and positioning pins.

5. The automatic milling and cutting equipment according to claim 1, wherein The mechanical main shaft is fastened to the saddle of the main shaft positioning movement axis through screws and positioning pins.

6. The automatic milling and cutting equipment according to claim 1, wherein, The main shaft positioning movement axis and the main shaft feed movement axis are firmly fastened through screws and positioning pins, and both are servo axes to realize the milling of cylinder section wall plates and surplus material with different heights and thicknesses.

7. The automatic milling and cutting equipment according to claim 1, characterized in that, The feeding device and the double-exhaust pneumatic clamping device are both initially positioned by the limit grooves on the bed base of the spindle feed moving axis and then fixed by screwing. After the trial operation adjustment of the barrel section wall panel, they are positioned by pins. The positioning device includes two movable positioning and adjusting mechanisms, which can adjust the positioning device to both sides of the barrel section wall panel according to the height of different barrel section wall panels. After determining the cutting position based on the reference plate and the scale shaft, operate the two positioning knobs to fix the position of the end limit piece, and realize the positioning through the self-positioning and pose adjustment of the barrel section wall panel during the automatic transmission process.

8. The automatic milling and cutting equipment according to claim 1, characterized in that, The feeding device uses five anti-slip conveyor rollers, each installed on the side bearing seats, with an adjustable running speed. The anti-slip conveyor rollers are treated with hot rubber coating, and the surface is a granular surface with a friction coefficient greater than 0.6, realizing a stable and non-slip transmission process of the barrel section wall panel.

9. The automatic milling and cutting equipment according to claim 1, characterized in that, Adjust the height of the anti-slip conveyor rollers through the lifting screw rod, which can adapt to the diameter size range of the barrel section wall panel from three to four meters, and can meet the milling function of all barrel section wall panels within the span of the anti-slip conveyor rollers.

10. The automatic milling and cutting equipment according to claim 1, characterized in that The double-exhaust pneumatic clamping device uses a single airbag to control the double-row hinge pressing blocks to clamp the barrel section wall panel, only requiring a low pressure air of 0.6 MPa in one path.

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