An engine assembly apparatus

Abstract

The application provides an engine assembling device and relates to the technical field of solid rocket engine assembly. The engine assembling device comprises a manipulator, a shifting mechanism, an engine clamping mechanism, a tail wing clamping mechanism and an end sealing installation mechanism which are sequentially arranged in a vertical direction from bottom to top. The movement directions of the engine clamping mechanism, the tail wing clamping mechanism and the end sealing installation mechanism are located on the same axis. The shifting mechanism is used for adjusting the relative position of the engine. The engine clamping mechanism is used for clamping the engine and making the engine reciprocate in the vertical direction. The working end of the manipulator is provided with a clamp mechanism. The above structure is used for installing the engine, and the installation time and labor are short. The problems of process dispersion and numerous influencing factors in the engine assembly and online test in the operation link are avoided. The precision detection is completed in the installation process, the installation precision is ensured, the installation time is shortened, and the safety hidden danger is not prone to occurring in the assembly process.

Description

Technical Field

[0001] This invention relates to the field of solid rocket engine assembly technology, and more specifically, to an engine assembly device. Background Technology

[0002] Solid rocket motors are currently the main propulsion system for rockets due to their advantages such as large propellant capacity, simple structure, high mobility, high reliability, and strong survivability. However, solid rocket motors involve the process of loading propellant. If installation errors or quality problems occur during the manufacturing process, the engine may be scrapped, leading to excessive costs. Furthermore, current segmented solid rocket motors, once assembled, cannot be disassembled and reassembled into other types of solid rocket motors. This also results in a heavier engine. Manual assembly is time-consuming and labor-intensive, and installation accuracy cannot be guaranteed. In addition, the cumbersome engine assembly and online testing processes are fragmented and influenced by numerous factors, which prolongs the installation time and increases the risk of safety hazards during assembly.

[0003] Therefore, in order to improve the quality and efficiency of engine assembly, there is an urgent need to design a set of modern automated equipment to improve the automation level of engine assembly and online testing. Summary of the Invention

[0004] The purpose of this invention is to provide an engine assembly device that addresses the shortcomings of existing technologies and solves the problems mentioned in the background section.

[0005] The technical solution of this application is implemented as follows:

[0006] This application provides an engine assembly device, including a robotic arm, a toggle mechanism, an engine clamping mechanism, a tail fin clamping mechanism and an end-sealing mounting mechanism for encapsulating the engine, arranged sequentially from bottom to top in a vertical direction;

[0007] The movement directions of the engine clamping mechanism, the tail fin clamping mechanism, and the end cap mounting mechanism are all located on the same axis.

[0008] The actuation mechanism is used to adjust the relative position of the engine;

[0009] The engine clamping mechanism is used to clamp the engine and make it reciprocate in the vertical direction;

[0010] The robotic arm is equipped with a clamping mechanism at its working end for holding engine parts and other components.

[0011] In some technical solutions of the present invention, the actuating mechanism includes a first transmission structure, a first mounting base, and a support platform. The first mounting base is mounted on the transmission end of the first transmission structure, the support platform is fixed on the top of the first mounting base, and a first through hole is provided in the middle of the support platform. The first mounting base is provided with a second through hole coaxial with the first through hole, and a first driving member that is transmissionally connected to the support platform is mounted on the bottom of the first mounting base.

[0012] A rotating sleeve is rotatably provided inside the first through hole, and an external gear plate is fitted on the rotating sleeve. A second driving component is installed on one side of the first mounting base, and a driving gear that meshes with the external teeth of the external gear plate is provided on the output end of the second driving component.

[0013] Multiple first pneumatic push rods are mounted on the surface of the external gear disk, and sensors are mounted on the moving ends of the first pneumatic push rods.

[0014] The first sensor is mounted on the bottom of the first mounting base.

[0015] In some technical solutions of the present invention, the engine clamping mechanism includes a second transmission structure and a second mounting base, wherein the second mounting base is mounted on the transmission end of the second transmission structure; the second transmission structure drives the second mounting base to reciprocate along the vertical direction;

[0016] Two fixed clamping jaws are provided on one side of the second mounting base in the vertical direction; two second pneumatic push rods corresponding to the fixed clamping jaws are provided on the other side of the second mounting base in the vertical direction, and the pushing end of each of the second pneumatic push rods is provided with a movable clamping jaw adapted to the fixed clamping jaws.

[0017] Both ends of the fixed gripper are equipped with rotatable guide posts;

[0018] The top of the second mounting base is equipped with a third pneumatic push rod, and the pushing end of the third pneumatic push rod is provided with a locking element that engages with the limiting element located on the engine.

[0019] The second position sensor is installed on both sides of the second mounting base.

[0020] In some technical solutions of the present invention, the tail fin clamping mechanism includes a seventh mounting base fixedly disposed between the engine clamping mechanism and the end capping mounting mechanism; a ninth pneumatic push rod is mounted on the seventh mounting base, and both pushing ends of the ninth pneumatic push rod are provided with a first mounting bracket, and each of the first mounting brackets is provided with a fixing member.

[0021] In some technical solutions of the present invention, the end-sealing mounting mechanism includes a third transmission structure and a third mounting base; the third mounting base is mounted on the transmission end of the third transmission structure;

[0022] A mounting housing is mounted on the third mounting base. A guide post is passed through the mounting housing, and a pressure cylinder and a first spring are sequentially mounted on the guide post. The pressure cylinder and the guide post are slidably sealed. A pusher for moving the pressure cylinder is mounted on the top of the mounting housing. A mounting body is mounted on the end of the guide post outside the mounting housing. One end of the first spring abuts against the mounting body. Multiple air passages are opened inside the guide post. Multiple channels communicating with the air passages are opened inside the mounting body. A slide rail communicating with the channels is opened on the outer wall of the mounting body, and a first locking block is slidably mounted inside the slide rail.

[0023] The top of the mounting housing is provided with multiple third driving components along the circumference of the mounting housing; the output end of the third driving component is placed inside the mounting housing; multiple screwdrivers corresponding to the third driving components are inserted inside the mounting housing, and a transmission rod connected to the third driving component is inserted inside the screwdriver, and a second spring is sleeved on the transmission rod.

[0024] In some technical solutions of the present invention, a support mechanism for supporting bearings is also included; the support mechanism includes a fourth transmission structure, a fourth pneumatic push rod and a fourth mounting base; the fourth mounting base is mounted on the transmission end of the fourth transmission structure; the fourth transmission structure drives the fourth mounting base to reciprocate in the vertical direction; the fourth pneumatic push rod is mounted on the fourth mounting base in the horizontal direction; a support frame is mounted on the pushing end of the fourth pneumatic push rod, and a support tray is provided on the support frame;

[0025] A fifth pneumatic push rod is provided between the support tray and the support frame, and a third sensor is provided on the pushing end of the fifth pneumatic push rod; the movement direction of the pushing end of the fifth pneumatic push rod is the same as the movement direction of the ninth pneumatic push rod.

[0026] In some technical solutions of the present invention, the frame, the actuation mechanism, the engine clamping mechanism, the tail fin clamping mechanism, the end-sealing mounting mechanism, and the support mechanism are all disposed within the frame.

[0027] In some technical solutions of the present invention, two material carts are arranged in pairs and located on both sides of the frame.

[0028] In some technical solutions of the present invention, the clamping mechanism includes a fifth mounting base and a plurality of clamping components; the plurality of clamping components are mounted on the fifth mounting base along the extending direction of the fifth mounting base; the clamping components include a sixth pneumatic push rod; both pushing ends of the sixth pneumatic push rod are provided with a second mounting bracket, and each of the second mounting brackets is provided with a claw body;

[0029] A bearing holder is installed on one side of the fifth mounting base; a seventh pneumatic push rod is provided on the bearing holder, and the pushing end of the seventh pneumatic push rod is provided with two locking blocks;

[0030] A pin is installed on the claw body inside the clamping assembly located at the first or last end of the fifth mounting base.

[0031] In some technical solutions of the present invention, the bottom of the actuating mechanism is provided with a jacking mechanism for lifting the bearing. The jacking mechanism includes a sixth mounting base, an eighth pneumatic push rod arranged vertically in the sixth mounting base, two guide members arranged in pairs, and a rotating assembly.

[0032] The rotating assembly is slidably connected to the sixth mounting base via two guide members; the rotating assembly is connected to the pushing end of the eighth pneumatic push rod;

[0033] The rotating assembly includes a fourth drive member, the housing of which is connected to the pushing end of the eighth pneumatic push rod and the sliding end of the guide member; a shock-absorbing assembly is provided on the output end of the fourth drive member.

[0034] The shock absorption assembly includes a fixed sleeve fixed to the output end of the fourth drive component. The top of the fixed sleeve has multiple mounting holes, and a push rod passes through each mounting hole. A third spring is sleeved on the push rod.

[0035] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0036] Using this equipment to install the engine requires less time and effort, and avoids the problems of cumbersome engine assembly and online testing, which involve scattered procedures and numerous influencing factors. Precision testing can be completed during the installation process, ensuring installation accuracy, shortening the installation time, and reducing the risk of safety hazards during assembly. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a three-dimensional structural diagram of the overall structure of the present invention;

[0039] Figure 2 This is a schematic diagram of the combined structure of the jacking mechanism, the actuating mechanism, the engine clamping mechanism, the tail fin clamping mechanism, the end-sealing installation mechanism, and the support mechanism in this invention.

[0040] Figure 3 This is a three-dimensional assembly diagram of the jacking mechanism in this invention;

[0041] Figure 4 This is a three-dimensional structural diagram of the actuating mechanism in this invention;

[0042] Figure 5 This is a schematic diagram of the front structure of the actuating mechanism in this invention;

[0043] Figure 6 This is a three-dimensional structural diagram of the engine clamping mechanism in this invention;

[0044] Figure 7 This is a top view of the engine clamping mechanism in the invention.

[0045] Figure 8 This is a three-dimensional structural diagram of the tail fin clamping mechanism in this invention;

[0046] Figure 9 This is a three-dimensional structural diagram of the end-sealing installation mechanism in this invention;

[0047] Figure 10 A schematic diagram of the combined structure of the housing and screwdriver in the invention;

[0048] Figure 11 This is a partial top view of the end-sealing installation mechanism in this invention;

[0049] Figure 12 for Figure 11 Schematic diagram of the cross-sectional structure along the middle AA direction;

[0050] Figure 13 This is a three-dimensional structural diagram of the support mechanism in this invention;

[0051] Figure 14 This is a first-view three-dimensional structural diagram of the clamping mechanism in this invention;

[0052] Figure 15 This is a second-view three-dimensional structural diagram of the clamping mechanism in this invention.

[0053] Icons: 1. Frame; 2. Robotic arm; 3. Material cart; 4. Fifth mounting base; 5. Sixth pneumatic push rod; 7. Bearing holder; 8. Pin; 9. Bearing cap; 10. Bearing retaining ring; 11. Seventh pneumatic push rod; 12. Clamping block; 13. Third transmission structure; 14. Third mounting base; 15. Mounting housing; 16. Third drive component; 17. Mounting body; 18. Screwdriver; 19. Flame deflector; 20. Seventh mounting base; 21. Ninth pneumatic push rod; 22. Fixing component; 23. Engine tail fin; 24. Fourth transmission structure; 25. Fourth mounting base; 26. Fourth pneumatic push rod; 27. Carrying tray; 28. Fifth pneumatic push rod; 29. ​​Third sensor; 30. Second transmission structure; 31. Second mounting... 32. Base; 33. Engine; 34. Fixed gripper; 35. Guide post; 36. Second pneumatic push rod; 37. Moving gripper; 38. Third pneumatic push rod; 39. Second position sensor; 40. Locking element; 41. First driving element; 42. First mounting base; 43. Bearing platform; 44. External gear plate; 45. First pneumatic push rod; 46. Sensor element; 47. Second driving element; 48. First transmission structure; 49. Rotating sleeve; 50. Baffle; 51. Sixth mounting base; 52. Guide element; 53. Fourth driving element; 54. Fixed sleeve; 55. Third spring; 56. Eighth pneumatic push rod; 57. Lower pressure cylinder; 58. First locking block; 59. Transmission rod; 60. Second spring; 61. Guide post; 62. First spring. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0055] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0056] Example 1

[0057] Please refer to Figures 1-15 As shown.

[0058] This application provides an engine assembly device, mainly addressing the problems of existing technologies where solid rocket engines involve propellant loading, resulting in low manual assembly reliability; the engine 32 is heavy; manual assembly is time-consuming and labor-intensive, and installation accuracy cannot be guaranteed; furthermore, the cumbersome engine 32 assembly and online testing process involves dispersed procedures and numerous influencing factors, prolonging the installation time and easily leading to safety hazards during assembly. To solve these problems, the device is installed vertically in the factory, from bottom to top, with a jacking mechanism, a turning mechanism, and an engine... The engine clamping mechanism, tail fin clamping mechanism, and end-sealing mounting mechanism for encapsulating the engine 32 are included; a bearing support mechanism is installed on one side of the engine clamping mechanism; the bearing support mechanism can reciprocate in the vertical direction together with the engine clamping mechanism; and the robotic arm 2 and the clamping mechanism at the front end of the robotic arm 2 are located directly in front of the engine clamping mechanism; it is convenient to extract the engine 32, tail fin, bearing, washer, and flame deflector and other components to the above-mentioned mechanism by rotating the clamping mechanism on the robotic arm 2 in different planes to achieve the specific assembly of the engine 32.

[0059] Furthermore, engine components include the engine, tail fin, bearings, gaskets, etc.

[0060] The specific structure of the clamping mechanism is as follows: it includes a fifth mounting base 4 and three sets of clamping components; the three sets of clamping components are installed on the fifth mounting base 4 along the extension direction of the fifth mounting base 4; the clamping components include a sixth pneumatic push rod 5 fixed to the fifth mounting base 4 by fasteners such as bolts; the sixth pneumatic push rod 5 is a bidirectional pneumatic push rod, which is the prior art, and the two pushing ends of the sixth pneumatic push rod 5 are both connected to the second mounting bracket by pins, and the second mounting bracket is fixed with claws by screws or bolts; the clamping end of the claw is V-shaped; this can avoid excessive contact between the claw and the outer wall of the engine 32, which could damage the engine 32.

[0061] Furthermore, a bearing holder 7 is installed on one side of the fifth mounting base 4; a seventh pneumatic push rod 11 is provided on the bearing holder 7. The seventh pneumatic push rod 11 is a one-way pneumatic push rod, and the pushing end of the seventh pneumatic push rod 11 is fixed with two clamping blocks 12 by bolts; the bearing holder 7 has a large inner diameter and has a notch; this facilitates the clamping of bearings and washers and other components. When using the seventh pneumatic push rod 11 to push the two clamping blocks 12 toward the components placed in the bearing holder 7, the bearing or washer can be clamped without damaging the parts.

[0062] Furthermore, a pin 8 is embedded in the claw body of the clamping assembly located at the first or last end of the fifth mounting base 4; there are 4 pins, which are respectively set on the two claw bodies, so that the clamping assembly is used to fix and transfer components such as washers and retaining rings.

[0063] In some technical solutions of the present invention, the actuating mechanism includes a first transmission structure 47, a first mounting base 41, and a support platform 42. The first transmission structure 47 is a linear guide rail, which is existing technology. The first mounting base 41 is mounted on the transmission end of the first transmission structure 47 by bolts or screws, so that the first transmission structure 47 can support the first mounting base 41 to reciprocate in the vertical direction. The support platform 42 rotates the top of the first mounting base 41 through a bushing. A first through hole is opened in the middle of the support platform 42. The first mounting base 41 has a second through hole coaxial with the first through hole. A first driving member 40, which is connected to the support platform 42, is mounted on the bottom of the first mounting base 41 by screws or bolts. The first driving member is a servo motor, and the output end of the servo motor is connected to the support platform 42 through a coupling. In this way, the first driving member 40 can drive the support platform 42 to swing slightly on the first mounting base 41, adjusting the relative position of the support platform 42 and the engine 32, so that the engine 32 can sit on the support platform 42 for the next process.

[0064] Furthermore, a rotating sleeve 48 is rotatably installed inside the first through hole. A baffle 49 is provided on the top of the rotating sleeve 48. The baffle 49 is an arc-shaped plate, and the top surface of the arc-shaped plate is provided with a groove that cooperates with the limiting part at the bottom of the engine 32. An external gear plate 43 is fitted on the rotating sleeve 48 and is fixedly connected to the rotating sleeve 48. A second driving member 46 is installed on one side of the first mounting base 41 by bolts. The output end of the second driving member 46 is provided with a driving gear that meshes with the external teeth of the external gear plate 43. At this time, the rotating sleeve 48 can perform circumferential motion relative to the first mounting base 41 to adjust the relative position of the support platform 42 and the engine 32, so that the engine 32 can sit on the support platform 42 for the next process.

[0065] Four first pneumatic push rods 44 are mounted on the surface of the outer gear disk 43 by screws, etc. The moving end of each first pneumatic push rod 44 is mounted with a sensor 45 by screws; two first pneumatic push rods 44 form a group, and the four first pneumatic push rods 44 are symmetrically distributed on the surface of the outer gear disk 43. The sensor 45 is one or more of a position sensor and an angle sensor, all of which are existing technologies.

[0066] A first sensor is mounted on the bottom of the first mounting base using screws. The first sensor is a height sensor used to detect the relative height of the first mounting base 41.

[0067] In some technical solutions of the present invention, the engine clamping mechanism includes a second transmission structure 30 and a second mounting base 31. The second mounting base 31 is mounted on the transmission end of the second transmission structure 30 by bolts or screws. The second transmission structure drives the second mounting base 31 to reciprocate in the vertical direction.

[0068] Two fixed grippers 33 are fixedly mounted on one side of the second mounting base 31 along the vertical direction by screws or bolts; two second pneumatic push rods 35 corresponding to the fixed grippers 33 are fixedly mounted on the other side of the second mounting base 31 along the vertical direction by screws or bolts. The pushing end of each of the second pneumatic push rods 35 is fixedly mounted with a movable gripper 36 adapted to the fixed grippers 33 by a pin. The cross-section of the clamping ends of the fixed grippers 33 and the movable grippers 36 is "U" shaped; and the angle between the two vertical sections and the horizontal section is an obtuse angle, which can improve the clamping capacity of the mechanism.

[0069] Both ends of the fixed jaw 33 are rotatably provided with guide posts 34; the guide posts 34 are rotatably set in the fixed jaw 33 through pins, which can guide the engine 32 to make circular motion within the clamping area of ​​the fixed jaw 33, so as to avoid the friction between the fixed jaw 33 and the engine 32 from increasing and causing damage to the engine 32.

[0070] A third pneumatic push rod 37 is mounted on the top of the second mounting base 31. The pushing end of the third pneumatic push rod 37 is provided with a locking member 39 that engages with a limiting member located on the engine 32. The third pneumatic push rod 37 is fixed to the bottom of the second mounting base 31 by bolts and placed inside the second mounting base 31 to save space. The locking member 39 on the third pneumatic push rod 37 can cooperate with the limiting member located on the engine 32. When the third pneumatic push rod 37 pushes the locking member 39 toward the engine 32, part of the limiting member engages with the locking member 39. Thus, when the second pneumatic push rod 35 forces the moving jaw 36 away from the engine 32, the clamping of the engine 32 is released. The above-mentioned components can be used to fix the engine 32 in the engine clamping mechanism to prevent the engine 32 from rotating in the engine clamping mechanism and affecting the subsequent installation process.

[0071] Second position sensors 38 are installed on both sides of the second mounting base 31. The second position sensors 38 can detect the relative position of the engine 32 in the engine clamping mechanism, so that the swing mechanism can adjust the position of the engine 32 and fix the engine 32 in the correct posture in the engine clamping mechanism to facilitate the next process.

[0072] In some technical solutions of the present invention, the tail fin clamping mechanism includes a seventh mounting base 20 fixedly disposed between the engine clamping mechanism and the end-capping mounting mechanism by screws. The seventh mounting base 20 is a "U"-shaped frame. A ninth pneumatic push rod 21 is mounted on the seventh mounting base 20 by screws. The fourth pneumatic push rod 26 is a bidirectional pneumatic push rod, and both pushing ends of the fourth pneumatic push rod 26 are provided with first mounting brackets by screws. Each first mounting bracket is provided with a fixing member 22. This arrangement allows the tail fin clamping mechanism to clamp the tail fin when the robotic arm 2 extracts the engine tail fin 23 to the tail fin clamping mechanism, and the engine 32 to be moved upward by the engine clamping mechanism, thereby realizing the assembly of the engine 32 and the engine tail fin 23.

[0073] In some technical solutions of the present invention, the end-sealing mounting mechanism includes a third transmission structure 13 and a third mounting base 14; the third mounting base 14 is mounted to the transmission end of the third transmission structure by bolts or screws.

[0074] A mounting housing 15 is bolted to the third mounting base 14. A guide post 60 passes through the mounting housing 15, and a lower pressure cylinder 56 and a first spring 61 are sequentially mounted on the guide post 60. The lower pressure cylinder 56 and the guide post 60 are slidably sealed. A pusher for moving the lower pressure cylinder 56 under the guidance of the guide post 60 is mounted on the top of the mounting housing 15 by screws. A mounting body 17 is provided on the end of the guide post 60 outside the mounting housing 15, and a portion of the guide post 60 is embedded in a mounting hole opened on the top of the mounting body 17. The mounting body 17 is threadedly connected to the guide post 60. One end of the first spring 61 is connected to the mounting body 17. 7. The other end of the first spring 61 abuts against the lower pressure cylinder 56; multiple air passages are opened inside the guide post 60; multiple channels communicating with the air passages are opened inside the mounting body 17; a slide rail communicating with the channel is opened on the outer wall of the mounting body 17, and a first locking block 57 is slidably installed in the slide rail; through the above structure, a pneumatic thrust can be applied to the first locking block 57 placed in the slide rail; that is, by placing the first locking block 57 inside the end cover and abutting against its inner wall, the end cover of the encapsulated engine 32 tail end is clamped, and the end cover is guided to move towards the engine tail fin 23 through the third transmission structure 13, so as to seal the gap at the tail end of the engine 32.

[0075] Furthermore, multiple third drive components 16 are provided on the top of the mounting housing 15 along its circumference. All drive components are high-speed, high-torque motors. The bodies of the third drive components 16 are fixed to the top of the mounting housing 15 with screws, and the output end of the third drive component 16 is placed inside the mounting housing 15. Multiple screwdrivers 18, corresponding one-to-one with the third drive components 16, are inserted into the mounting housing 15. Each screwdriver 18 is rotatably mounted within the mounting housing 15. A transmission rod 58, which is connected to the third drive component 16, passes through the screwdriver 18. A square hole is provided on the non-working surface of the screwdriver 18 for pin connection with the transmission rod 58. The screwdriver 18 and the transmission rod 58 move relative to each other. A second spring 59 is fitted on the transmission rod 58 to dampen vibrations, preventing the screwdriver 18 from vibrating when the power output from the third drive component 16 is transmitted from the transmission rod 58 to the screwdriver 18. This would prevent the screwdriver 18 from properly driving screws and other components into the end cover, thus affecting the assembly efficiency of the engine 32.

[0076] In some technical solutions of the present invention, a support mechanism for supporting bearings, washers, and end caps is also included. The support mechanism includes a fourth transmission structure 24, a fourth pneumatic push rod 26, and a fourth mounting base 25. The fourth mounting base 25 is installed on the transmission end of the fourth transmission structure by bolts or screws. The fourth transmission structure 24 drives the fourth mounting base 25 to reciprocate in the vertical direction. The fourth pneumatic push rod 26 is installed on the fourth mounting base in the horizontal direction. A support frame is fixedly installed on the pushing end of the fourth pneumatic push rod 26 by screws, and a support tray 27 is fixedly installed on the support frame by screws. With this arrangement, the bearings, washers, and end caps located in the support tray 27 can be transferred to a suitable position by the fourth transmission structure 24 and the fourth pneumatic push rod 26 so that the end cap installation mechanism can install the corresponding components to the appropriate position of the engine 32, ensuring installation accuracy and saving labor costs.

[0077] A fifth pneumatic push rod 28 is mounted between the carrier pallet and the carrier frame via a mounting bracket. A third sensor 29 is mounted on the pushing end of the fifth pneumatic push rod 28. The direction of movement of the pushing end of the fifth pneumatic push rod 28 is consistent with the direction of movement of the fourth pneumatic push rod 26. This ensures that the fourth transmission structure 24 and the fourth pneumatic push rod 26 transfer the bearings, washers, and end caps located within the carrier pallet 27 to the appropriate positions, improving positioning accuracy.

[0078] In some technical solutions of the present invention, a frame 1 is also included, and the jacking mechanism, the actuating mechanism, the engine clamping mechanism, the tail fin clamping mechanism, the end-sealing mounting mechanism, and the load-bearing mechanism are all disposed within the frame 1. The frame 1 is constructed by bolting aluminum profiles together; the jacking mechanism, the actuating mechanism, the engine clamping mechanism, the tail fin clamping mechanism, and the end-sealing mounting mechanism are sequentially installed within the frame 1 from bottom to top.

[0079] In some technical solutions of the present invention, two material carts 3 are arranged in pairs and located on both sides of the frame 1. One of the material carts 3 is used to place unassembled engine 32 parts, and the other is used to place assembled engine 32 parts; and the bottom of the material cart 3 is equipped with wheels, which can move freely on the ground.

[0080] In some technical solutions of the present invention, the bottom of the actuating mechanism is provided with a jacking mechanism for lifting the bearing. The jacking mechanism includes a sixth mounting base 50, an eighth pneumatic push rod 55 arranged vertically in the sixth mounting base 50, two guide members 51 arranged in pairs, and a rotating assembly.

[0081] The rotating assembly is slidably connected to the sixth mounting base 50 via two guide members 51; the rotating assembly is connected to the pushing end of the eighth pneumatic push rod 55; the eighth pneumatic push rod 55 pushes the sixth mounting base 50 to reciprocate in the vertical direction under the guidance of the guide members 51.

[0082] The rotating assembly includes a fourth drive member 52, the housing of which is connected to the pushing end of the eighth pneumatic push rod 55 and the sliding end of the guide member 51; a shock-absorbing assembly is provided on the output end of the fourth drive member 52.

[0083] The shock absorption assembly includes a fixing sleeve 53 fixed to the output end of the fourth drive component 52. The top of the fixing sleeve 53 has multiple mounting holes, each containing a push rod, and a third spring 54 is fitted onto the push rod. These components are used to screw the bearing into the front end of the engine 32, completing the installation of the engine 32.

[0084] Assembly process, according to Figures 1-5As shown; the clamping mechanism mounted on the robotic arm 2 clamps the engine 32 to be assembled and transfers it to a plane parallel to the engine clamping mechanism, at which point the engine 32 is in a vertical position; the engine clamping mechanism, through the second transmission structure, drives the second mounting base 31 and the components located on the second mounting base 31 to reciprocate vertically until the engine 32 is aligned with the mechanical arm 2. Then, the second pneumatic push rod 35 on the second mounting base 31 guides the moving jaw 36 to move away from the fixed jaw 33. At this time, the robotic arm 2 sends the engine 32 into the fixed jaw 33 and the moving jaw 36. The clamping area between 6; then the second pneumatic push rod 35 guides the moving jaw 36 to move closer to the fixed jaw 33; thus clamping the engine 32; at this time, the robotic arm 2 continues to transfer the bottom deep groove ball bearing and the front deep groove ball bearing to the carrier plate in the carrier mechanism; the end-sealing installation mechanism starts, and the end-sealing installation mechanism installs the bottom deep groove ball bearing and the front deep groove ball bearing in sequence. After the installation is in place, the end-sealing installation mechanism and the carrier mechanism return to the initial position, the engine clamping mechanism clamps the engine 32, and moves towards the actuation mechanism under the guidance of the second transmission structure 30, and forces the components in the actuation mechanism to When engine 32 performs a circular motion, the limiting member located at the lower end of engine 32 will be placed in the slot; this serves to limit engine 32 and prevent it from rotating. The locking member 39, located within the engine 32 clamping mechanism, further secures the position of engine 32. Even if the engine clamping mechanism moves away from the actuating mechanism under the guidance of the second transmission structure 30, the fixed relationship of engine 32 will not change, preventing engine 32 from rotating within the clamping mechanism during subsequent installation processes and affecting the installation flow. Meanwhile, the robotic arm 2 clamps the tail via the gripper mechanism. The tail fin is installed by adjusting its position and then being fed into the clamping area formed by two fixing members 22 via the robotic arm 2. The tail fin is then clamped by the tail fin clamping mechanism. Under the guidance of the second transmission structure 30, the engine 32 is inserted into the tail fin, thus completing the installation of the tail fin. Then, the bearing retaining ring 10, bearing cover 9, flame deflector 19, and fastening screws are installed one by one through the cooperation of the end-sealing installation mechanism and the support mechanism. The installation process of the bearing retaining ring 10, bearing cover 9, flame deflector 19, and fastening screws is the same as the installation steps of the bottom deep groove ball bearing and the front deep groove ball bearing, and will not be described in detail here.

[0085] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An engine assembly device, comprising a robotic arm, characterized in that, It also includes a toggle mechanism, an engine clamping mechanism, a tail fin clamping mechanism, and an end-sealing mounting mechanism for encapsulating the engine, arranged vertically from bottom to top. The movement directions of the engine clamping mechanism, the tail fin clamping mechanism, and the end capping installation mechanism are all located on the same axis. The actuation mechanism is used to adjust the relative position of the engine; The engine clamping mechanism is used to clamp the engine and make it reciprocate in the vertical direction; The working end of the robotic arm is equipped with a clamping mechanism for holding engine parts. The actuating mechanism includes a first transmission structure, a first mounting base, and a support platform. The first mounting base is mounted on the transmission end of the first transmission structure, and the support platform is fixed to the top of the first mounting base. A first through hole is provided in the middle of the support platform. The first mounting base has a second through hole coaxial with the first through hole, and a first driving component that is transmissionally connected to the support platform is mounted on the bottom of the first mounting base. A rotating sleeve is rotatably provided inside the first through hole, and an external gear disk is fitted on the rotating sleeve. A second driving member is installed on one side of the first mounting base, and a driving gear that meshes with the external teeth of the external gear disk is provided on the output end of the second driving member. Multiple first pneumatic push rods are mounted on the surface of the external gear disk, and each of the first pneumatic push rods has a sensor installed at its moving end. The first sensor is mounted on the bottom of the first mounting base.

2. The engine assembly equipment according to claim 1, characterized in that, The engine clamping mechanism includes a second transmission structure and a second mounting base, wherein the second mounting base is mounted on the transmission end of the second transmission structure; the second transmission structure drives the second mounting base to reciprocate along the vertical direction; Two fixed grippers are provided on one side of the second mounting base in the vertical direction; two second pneumatic push rods corresponding to the fixed grippers are provided on the other side of the second mounting base in the vertical direction, and the pushing end of each of the second pneumatic push rods is provided with a movable gripper that is adapted to the fixed grippers. Both ends of the fixed gripper are rotatably equipped with guide posts; A third pneumatic push rod is mounted on the top of the second mounting base, and the pushing end of the third pneumatic push rod is provided with a locking element that engages with a limiting element located on the engine; The second mounting base has a second position sensor installed on both sides.

3. The engine assembly equipment according to claim 1, characterized in that, The tail fin clamping mechanism includes a seventh mounting base fixedly disposed between the engine clamping mechanism and the end capping mounting mechanism; a ninth pneumatic push rod is mounted on the seventh mounting base, and both pushing ends of the ninth pneumatic push rod are provided with a first mounting bracket, and each of the first mounting brackets is provided with a fixing component.

4. The engine assembly equipment according to claim 1, characterized in that, The end-sealing mounting mechanism includes a third conductive structure and a third mounting base; the third mounting base is mounted on the transmission end of the third conductive structure. A mounting housing is mounted on the third mounting base. A guide post is passed through the mounting housing. A pressure cylinder and a first spring are sequentially sleeved on the guide post. The pressure cylinder and the guide post are slidably sealed. A pusher for moving the pressure cylinder is mounted on the top of the mounting housing. A mounting body is provided on the end of the guide post outside the mounting housing. One end of the first spring abuts against the mounting body. Multiple air passages are opened inside the guide post. Multiple channels communicating with the air passages are opened inside the mounting body. A slide rail communicating with the channels is opened on the outer wall of the mounting body. A first locking block is slidably mounted inside the slide rail. The top of the mounting housing is provided with a plurality of third driving components along the circumference of the mounting housing; the output end of the third driving component is placed inside the mounting housing; a plurality of screwdrivers corresponding to the third driving components are inserted inside the mounting housing, and a transmission rod connected to the third driving component is inserted inside the screwdriver, and a second spring is sleeved on the transmission rod.

5. An engine assembly device according to any one of claims 1-4, characterized in that, It also includes a support mechanism for supporting the bearing; the support mechanism includes a fourth transmission structure, a fourth pneumatic push rod, and a fourth mounting base; the fourth mounting base is mounted on the transmission end of the fourth transmission structure; the fourth transmission structure drives the fourth mounting base to reciprocate in the vertical direction; the fourth pneumatic push rod is mounted on the fourth mounting base in the horizontal direction; a support frame is mounted on the pushing end of the fourth pneumatic push rod, and a support tray is provided on the support frame; A fifth pneumatic push rod is provided between the support tray and the support frame, and a third sensor is provided on the pushing end of the fifth pneumatic push rod; the movement direction of the pushing end of the fifth pneumatic push rod is the same as the movement direction of the fourth pneumatic push rod.

6. The engine assembly equipment according to claim 5, characterized in that, It also includes a frame, in which the actuation mechanism, engine clamping mechanism, tail fin clamping mechanism, end cap mounting mechanism, and load-bearing mechanism are all housed.

7. An engine assembly device according to claim 6, characterized in that, It also includes two material carts arranged in pairs, with the two material carts located on both sides of the frame.

8. An engine assembly device according to claim 1, characterized in that, The clamping mechanism includes a fifth mounting base and multiple clamping components; the multiple clamping components are mounted on the fifth mounting base along the extension direction of the fifth mounting base; each clamping component includes a sixth pneumatic push rod; both pushing ends of the sixth pneumatic push rod are provided with a second mounting bracket, and each second mounting bracket is provided with a claw body; A bearing holder is installed on one side of the fifth mounting base; a seventh pneumatic push rod is provided on the bearing holder, and the pushing end of the seventh pneumatic push rod is provided with two locking blocks; A pin is installed on the claw body inside the clamping assembly located at the first or last end of the fifth mounting base.

9. An engine assembly device according to claim 1, characterized in that, The bottom of the actuating mechanism is provided with a jacking mechanism for lifting the bearing. The jacking mechanism includes a sixth mounting base, an eighth pneumatic push rod arranged vertically in the sixth mounting base, two pairs of guide members, and a rotating assembly. The rotating assembly is slidably connected to the sixth mounting base via two guide members; the rotating assembly is connected to the pushing end of the eighth pneumatic push rod; The rotating assembly includes a fourth driving member, the housing of which is connected to the pushing end of the eighth pneumatic push rod and the sliding end of the guide member; a shock-absorbing assembly is provided on the output end of the fourth driving member. The shock absorption assembly includes a fixing sleeve fixed to the output end of the fourth drive component. The top of the fixing sleeve has multiple mounting holes, and a top rod passes through each mounting hole. A third spring is sleeved on the top rod.

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