A solid rocket engine press assembly and demoulding device

Abstract

The present invention belongs to the technical field of press-fitting and demolding of solid rocket engines, specifically, a press-fitting and demolding device for solid rocket engines, in which a six-degree-of-freedom robot drives a press-fitting and demolding actuator to move, a visual element and a laser displacement sensor are used to detect the posture of the engine mold, the engine mold is clamped by a clamp radial moving device, and a servo electric cylinder drives the electric cylinder rod to extend and retract to complete the press-fitting or demolding of the engine mold. The present invention can simultaneously have the functions of press-fitting and demolding of solid rocket engines, reduces manual participation, avoids uneven product quality caused by manual labor, and thus affects the performance and reliability of the engine, improves the consistency and accuracy of press-fitting and demolding of solid rocket engines, and has strong adaptability to the press-fitting and demolding of solid rocket engines of multiple models and with low posture positioning accuracy. It has the advantages of modular composition, simple structure, compact layout, high reliability, and easy maintenance.

Description

Technical Field

[0001] The invention belongs to the technical field of press-assembly and demoulding of solid rocket engines, in particular to a press-assembly and demoulding device for solid rocket engines. Background Art

[0002] For the press-fitting and demolding of solid rocket engines, the traditional manual or semi-automatic press-fitting and demolding process usually involves a lot of manual operations. The whole process is very time-consuming and has low production efficiency. In addition, during the manual operation, it is difficult to ensure the consistency and accuracy of each press-fitting and demolding. This uncertainty may lead to uneven product quality and affect the performance and reliability of the engine. In addition, the traditional semi-automatic solid rocket engine press-fitting or demolding device has a relatively simple function. During the press-fitting or demolding process, the positioning accuracy of the engine attitude is very high, and it can only press-fit or demold one or two fixed models of solid rocket engines. It has poor adaptability to the press-fitting and demolding of solid rocket engines of multiple models and low attitude positioning accuracy. Summary of the invention

[0003] In view of the above-mentioned problems existing in the press-assembly and demolding of existing solid rocket engines, the object of the present invention is to provide a solid rocket engine press-assembly and demolding device.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] The present invention comprises a six-degree-of-freedom robot and a press-fitting and demoulding execution device, wherein the chassis of the six-degree-of-freedom robot is fixed, and the press-fitting and demoulding execution device is connected to the end of the six-degree-of-freedom robot and can move with the six-degree-of-freedom robot within the spatial motion range of the six-degree-of-freedom robot;

[0006] The press-fitting and demoulding execution device includes an end bracket, a guide support, a servo electric cylinder, a detection element, a gripper radial moving device, a tension pressure sensor, and a floating joint. The end bracket is connected to the end of the six-degree-of-freedom robot. The end bracket is equipped with a servo electric cylinder. The output end of the servo electric cylinder is an electric cylinder rod. The electric cylinder rod is connected to a floating joint after passing through the end bracket. The guide support can slide up and down relative to the end bracket and the servo electric cylinder. The bottom of the guide support is connected to the floating joint. One end of the tension pressure sensor is connected to the bottom of the guide support. The end bracket is equipped with a detection element for detecting the posture of the engine mold.

[0007] The radial movement device of the clamping hand includes a radially fixed end plate, a guide plate, a clamping hand, a clamping hand support rod, a clamping hand radial movement device power assembly and a transmission device. The radially fixed end plate is connected to the other end of the tension pressure sensor. The guide plate is located below the radially fixed end plate and is rotatably connected to the radially fixed end plate. The power assembly of the clamping hand radial movement device is installed on the radially fixed end plate, and the output end of the power assembly of the clamping hand radial movement device is connected to the guide plate through a transmission device. A plurality of guide grooves are opened on the guide plate along the circumferential direction, and a clamping hand support rod is penetrated in each of the guide grooves. One end of the clamping hand support rod can be connected to the radially fixed end plate in a radially sliding manner relative to the radially fixed end plate, and the other end of the clamping hand support rod is installed with a clamping hand. The power assembly of the clamping hand radial movement device drives the guide plate to rotate through the transmission device, and the clamping hand support rod slides radially under the action of the guide groove, driving the clamping hand to clamp the engine mold.

[0008] Wherein: a guide rail A support seat is provided on one side or both sides of the servo electric cylinder, a guide rail A is installed on the guide rail A support seat, and the top of the guide support is slidably connected to the guide rail A through a slider A.

[0009] Two guide rail A support seats are symmetrically arranged on both sides of the servo electric cylinder. The guide support is in a "U" shape. The bottom of the "U" shape is fixedly connected to the floating joint. The two ends of the "U" shaped opening are slidably connected to the guide rails A on the guide rail A support seats on both sides through sliders A respectively.

[0010] A detection element bracket is installed on the end bracket. The detection element includes a visual element and a laser displacement sensor. The visual element and the laser displacement sensor are respectively fixed on the detection element bracket.

[0011] The transmission device is located between the radial fixed end plate and the guide plate, and includes a driving gear and a driven ring gear. The driven ring gear is fixed on the upper surface of the guide plate, and the driving gear is connected to the output end of the power assembly of the radial moving device of the gripper, and the driving gear is meshed with the driven ring gear.

[0012] A notch is provided on the radial fixed end plate, and the power assembly of the radial moving device of the gripper is fixed on the reducer seat, and the output end of the power assembly of the radial moving device of the gripper passes through the notch; a reducer seat adjustment support is fixedly connected to the radial fixed end plate, and an adjusting screw is threaded on the reducer seat adjustment support, and the adjusting screw is connected to the reducer seat, and the reducer seat is pulled by screwing the adjusting screw to make the reducer seat move radially along the radial fixed end plate, thereby adjusting the meshing clearance between the driving gear and the driven ring gear, and the reducer seat remains fixed to the radial fixed end plate after adjustment.

[0013] The upper circumferential direction of the radial fixed end plate is provided with guide rails B with the same number as the guide grooves, each of the guide rails B corresponds to a group of gripper support rods and grippers, and each of the guide rails B is slidably connected with a slider B; one end of each of the gripper support rods is fixedly connected to the slider B on the corresponding guide rail B through a support rod adapter block.

[0014] The guide groove is arc-shaped, and each of the guide grooves is evenly distributed along the center of the guide plate. Each of the guide grooves is tangent to the cylindrical part on the clamping hand support rod passing through.

[0015] A rotating support shaft and a cross roller bearing are provided between the radial fixed end plate and the guide disk. The outer ring of the cross roller bearing is fixedly connected to the radial fixed end plate, one end of the rotating support shaft is fixedly connected to the inner ring of the cross roller bearing, and the other end of the rotating support shaft is fixedly connected to the guide disk.

[0016] The advantages and positive effects of the present invention are:

[0017] 1. The present invention can simultaneously have the functions of press-fitting and demoulding of solid rocket engines, reduce manual involvement, avoid uneven product quality caused by manual labor, and thus affect the performance and reliability of the engine, and improve the consistency and accuracy of press-fitting and demoulding of solid rocket engines. The radial moving device of the clamping hand can meet the clamping requirements of engine molds with different diameters and heights within a set range.

[0018] 2. The present invention has a tension pressure sensor, which monitors the force in real time during the engine press-fitting or demoulding process. Once the force exceeds the tolerance, the press-fitting or demoulding is stopped immediately to avoid damaging the engine.

[0019] 3. The present invention has visual components and laser displacement sensors, which can detect and identify the axial direction of the engine mold. The six-degree-of-freedom robot adjusts the posture of the press-fitting and demoulding actuators to ensure that the press-fitting and demoulding of the solid rocket engine are both applied along the axial direction of the engine mold, and has a certain adaptability to the spatial posture of the engine mold.

[0020] 4. The present invention has the advantages of modular composition, simple structure, compact layout, high reliability and easy maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the three-dimensional structure of the press-fitting and demoulding execution device of the present invention;

[0023] Figure 3 It is a schematic diagram of the three-dimensional structure of the radial movement device of the gripper of the present invention;

[0024] Figure 4 for Figure 3 Structural schematic diagram of the middle guide plate;

[0025] Wherein: 1 is a robot fixing frame, 2 is a six-degree-of-freedom robot, 3 is a press-fitting and demoulding actuator, 4 is an engine mold, 5 is an end bracket, 6 is a guide support, 7 is a slider A, 8 is a guide rail A support seat, 9 is a guide rail A, 10 is a servo electric cylinder, 11 is a detection element bracket, 12 is a visual element, 13 is a laser displacement sensor, 14 is a radial movement device of the gripper, 15 is a tension pressure sensor, 16 is a floating joint, 17 is an electric cylinder rod, 18 is a radial fixed end plate, 19 is a cross roller bearing, 20 is a slider B, 21 is a support rod adapter block, 22 is a guide rail B, 23 is a rotating support shaft, 24 is a guide plate, 25 is a gripper, 26 is a gripper support rod, 27 is a reducer seat adjustment support, 28 is a reducer seat, 29 is a driven ring gear, 30 is a driving gear, 31 is a power assembly of the radial movement device of the gripper, 32 is a guide groove, and 33 is an adjusting screw. DETAILED DESCRIPTION

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] like Figure 1 As shown, the present invention includes a six-degree-of-freedom robot 2 and a press-fitting and demolding execution device 3, wherein the chassis of the six-degree-of-freedom robot 2 is fixedly connected to the robot fixing frame 1, the press-fitting and demolding execution device 3 is fixedly connected to the end of the six-degree-of-freedom robot 2, and the press-fitting and demolding execution device 3 can move with the six-degree-of-freedom robot 2 within the spatial motion range of the six-degree-of-freedom robot 2.

[0028] like Figure 1 , Figure 2 As shown, the pressing and demoulding execution device 3 of this embodiment includes an end bracket 5, a guide support 6, a servo electric cylinder 10, a detection element, a gripper radial moving device 14, a tension pressure sensor 15, and a floating joint 16. The end bracket 5 is connected to the end of the six-degree-of-freedom robot 2, and the servo electric cylinder 10 is installed on the end bracket 5. The output end of the servo electric cylinder 10 is an electric cylinder rod 17. A through hole is processed on the end bracket 5. The electric cylinder rod 17 passes through the through hole on the end bracket 5 and is connected to the floating joint 16. The guide support 6 can slide up and down relative to the end bracket 5 and the servo electric cylinder 10. The bottom of the guide support 6 is connected to the floating joint 16. One end of the tension pressure sensor 15 is connected to the bottom of the guide support 6. A detection element for detecting the posture of the engine mold 4 is installed on the end bracket 5.

[0029] A guide rail A support seat 8 is provided on one or both sides of the servo electric cylinder 10, and a guide rail A9 is installed on the guide rail A support seat 8. The top of the guide support 6 is slidably connected to the guide rail A9 through a slider A7. In this embodiment, there are two sets of sliders A7, guide rails A9, and guide rail A support seats 8, which are symmetrically arranged on the left and right sides of the servo electric cylinder 10; the guide rail A support seat 8 on each side is fixedly connected to the end bracket 5, the servo electric cylinder 10 is fixedly connected to the end bracket 5, and the guide rail A support seat 8 is fixedly connected to the servo electric cylinder 10. The guide support 6 of this embodiment is in a "U" shape, the bottom of the "U" shape is fixedly connected to the floating joint 16, and the two ends of the "U"-shaped opening are slidably connected to the guide rails A9 on the guide rail A support seats 8 on both sides through sliders A7.

[0030] In this embodiment, a detection element bracket 11 is installed on the end bracket 5. The detection element includes a visual element 12 and a laser displacement sensor 13. The visual element 12 and the laser displacement sensor 13 are respectively fixed on the detection element bracket 11.

[0031] like Figures 1 to 4 As shown, the gripper radial moving device 14 of this embodiment includes a radial fixed end plate 18, a rotating support shaft 23, a guide plate 24, a gripper 25, a gripper support rod 26, a gripper radial moving device power assembly 31 and a transmission device. The radial fixed end plate 18 is connected to the other end of the tension and pressure sensor 15. The guide plate 24 is located below the radial fixed end plate 18 and is rotatably connected to the radial fixed end plate 18. The gripper radial moving device power assembly 31 is installed on the radial fixed end plate 18. The output end is connected to the guide plate 24 through a transmission device, and a plurality of guide grooves 32 are opened on the guide plate 24 along the circumferential direction. A clamping support rod 26 is penetrated in each guide groove 32. One end of the clamping support rod 26 is connected to the radial fixed end plate 18 so as to be slidable relative to the radial direction. The other end of the clamping support rod 26 is provided with a clamping hand 25. The power assembly 31 of the clamping hand radial moving device drives the guide plate 24 to rotate through the transmission device. The clamping support rod 26 slides radially under the action of the guide groove 32, driving the clamping hand 25 to clamp the engine mold 4.

[0032] The radial fixed end plate 18 and the guide plate 24 of this embodiment are both circular, and a rotating support shaft 23 and a cross roller bearing 19 are provided between the radial fixed end plate 18 and the guide plate 24. The outer ring of the cross roller bearing 19 is fixedly connected to the radial fixed end plate 18, one end of the rotating support shaft 23 is fixedly connected to the inner ring of the cross roller bearing 19, and the other end of the rotating support shaft 23 is fixedly connected to the guide plate 24.

[0033] The transmission device of this embodiment is located between the radial fixed end plate 18 and the guide plate 24. The transmission device includes a driving gear 30 and a driven ring gear 29. The driven ring gear 29 is fixed on the upper surface of the guide plate 24 and is coaxially arranged with the guide plate 24. The driving gear 30 is connected to the output end of the power assembly 31 of the radial moving device of the clamp, and the driving gear 30 is meshed with the driven ring gear 29.

[0034] The radial fixed end plate 18 of the present embodiment is provided with a notch extending to the edge, and the power assembly 31 of the radial moving device of the gripper is fixed on the reducer seat 28, and the output end of the power assembly 31 of the radial moving device of the gripper passes through the notch; a reducer seat adjustment support 27 is fixedly connected to the radial fixed end plate 18, and a plurality of adjustment screws 33 are threadedly connected to the reducer seat adjustment support 27, and each adjustment screw 33 is connected to the reducer seat 28. By screwing the adjustment screws 33 and pulling the reducer seat 28, the reducer seat 28 is moved radially along the radial fixed end plate 18, thereby adjusting the meshing clearance between the driving gear 30 and the driven ring gear 29, and the reducer seat 28 remains fixed to the radial fixed end plate 18 after being adjusted into place.

[0035] The bottom surface of the radial fixed end plate 18 of this embodiment is provided with guide rails B22 along the circumferential direction, the same number as the guide grooves 32, each guide rail B22 corresponds to a group of gripper support rods 26 and grippers 25, and each guide rail B22 is slidably connected with a slider B20; one end of each gripper support rod 26 is fixedly connected to the slider B20 on the corresponding guide rail B22 through the support rod adapter block 21. The guide grooves 32 of this embodiment are three arc grooves, and there are three groups of gripper support rods 26, grippers 25, support rod adapter blocks 21, sliders B20 and guide rails B22, and the three guide grooves 32 are evenly distributed along the center of the guide plate 24, and each guide groove 32 is tangent to the cylindrical portion of the gripper support rod 26 passing through.

[0036] The six-degree-of-freedom robot 2, servo electric cylinder 10, visual element 12, laser displacement sensor 13, tension and pressure sensor 15, floating joint 16, electric cylinder rod 17, and gripper radial movement device power assembly 31 of this embodiment are all prior art and will not be described in detail here.

[0037] The working principle of the present invention is:

[0038] The robot fixing frame 1 serves as the bearing base of the entire device and is processed by welding profiles. A six-degree-of-freedom robot 2 is installed on the robot fixing frame 1, and a press-fitting and demolding execution device 3 is installed at the end of the six-degree-of-freedom robot 2. The press-fitting and demolding execution device 3 can move arbitrarily with the six-degree-of-freedom robot 2 within the spatial motion range of the six-degree-of-freedom robot 2.

[0039] The pressing and demoulding actuator 3 includes a visual element 12 and a laser displacement sensor 13. The six-degree-of-freedom robot 2 drives the pressing and demoulding actuator 3 to move. The visual element 12 and the laser displacement sensor 13 detect the posture of the engine mold 4, identify the axis direction and the top surface center position of the engine mold 4, and then the six-degree-of-freedom robot 2 drives the pressing and demoulding actuator 3 to move above the engine mold 4. The six-degree-of-freedom robot 2 adjusts the posture of the pressing and demoulding actuator 3 so that the axis of the electric cylinder rod 17 coincides with the axis of the engine mold 4. The servo electric cylinder 10 drives the electric cylinder rod 17 to extend and retract, and drives the gripper radial moving device 14 to move through the floating joint 16, the guide support 6, and the pull pressure sensor 15; the guide support 6 is fixedly connected to the slider A7, and plays a guiding role through the cooperation between the slider A7 and the guide rail A9. When the gripper radial moving device 14 moves to its proper position, the gripper radial moving device power assembly 31 drives the driving gear 30 to rotate, and the driven ring gear 29 is fixedly connected to the guide plate 24 and is coaxial with the guide plate 24. The meshing movement of the driving gear 30 and the driven ring gear 29 causes the guide plate 24 to rotate relative to the radial fixed end plate 18. The guide groove 32 on the guide plate 24 is tangent to the cylindrical part of the gripper support rod 26. The rotation of the guide plate 24 drives the gripper support rod 26 to move, and the gripper The hand support rod 26 is fixedly connected to the slider B20 through the support rod adapter block 21. The slider B20 cooperates with the guide rail B22. The slider B20 can only move along the guide rail B22. Therefore, the slider B20, the support rod adapter block 21, the clamp support rod 26 and the clamp 25 will move along the radial direction of the radial fixed end plate 18 as the guide plate 24 rotates. There are three clamps 25. The three clamps 25 can clamp the cylindrical surface of the engine mold 4 by moving radially along the radial fixed end plate 18 at the same time. When the clamp radial moving device 14 completes the clamping action on the engine mold 4, the servo electric cylinder 10 drives the electric cylinder rod 17 to retract and retract to perform the press-fitting or demolding action of the solid rocket engine. During the press-fitting or demolding process of the solid rocket engine, the pull pressure sensor 15 monitors the force in real time. Once the tolerance is exceeded, the press-fitting or demolding is stopped immediately to avoid damaging the engine.

[0040] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A solid rocket engine press assembly and demoulding device, characterized in that: The invention comprises a six-degree-of-freedom robot (2) and a pressing and demoulding execution device (3), wherein the chassis of the six-degree-of-freedom robot (2) is fixed, and the pressing and demoulding execution device (3) is connected to the end of the six-degree-of-freedom robot (2) and can move with the six-degree-of-freedom robot (2) within the spatial motion range of the six-degree-of-freedom robot (2); The pressing and demoulding execution device (3) comprises an end bracket (5), a guide support (6), a servo electric cylinder (10), a detection element, a gripper radial moving device (14), a tension pressure sensor (15), and a floating joint (16); the end bracket (5) is connected to the end of the six-degree-of-freedom robot (2); the end bracket (5) is equipped with a servo electric cylinder (10); the output end of the servo electric cylinder (10) is an electric cylinder rod (17); the electric cylinder rod (17) passes through the end bracket (5) and is connected to the floating joint (16); the guide support (6) can slide up and down relative to the end bracket (5) and the servo electric cylinder (10); the bottom of the guide support (6) is connected to the floating joint (16); one end of the tension pressure sensor (15) is connected to the bottom of the guide support (6); and the end bracket (5) is equipped with a detection element for detecting the posture of the engine mold (4); The gripper radial movement device (14) comprises a radial fixed end plate (18), a guide plate (24), a gripper (25), a gripper support rod (26), a gripper radial movement device power assembly (31) and a transmission device, wherein the radial fixed end plate (18) is connected to the other end of the tension and pressure sensor (15), the guide plate (24) is located below the radial fixed end plate (18) and is rotatably connected to the radial fixed end plate (18), the gripper radial movement device power assembly (31) is mounted on the radial fixed end plate (18), and the output end of the gripper radial movement device power assembly (31) is connected to the radial fixed end plate (18) via the transmission device. The guide plate (24) is connected to the guide plate (24), and a plurality of guide grooves (32) are formed on the guide plate (24) in the circumferential direction. A gripper support rod (26) is inserted into each of the guide grooves (32). One end of the gripper support rod (26) is connected to a radial fixed end plate (18) so as to be slidable relative to the radial direction. A gripper (25) is installed on the other end of the gripper support rod (26). The gripper radial moving device power assembly (31) drives the guide plate (24) to rotate through a transmission device. The gripper support rod (26) slides radially under the action of the guide grooves (32), thereby driving the gripper (25) to grip the engine mold (4).

2. The solid rocket engine press-fitting and demoulding device according to claim 1, characterized in that: A guide rail A support seat (8) is provided on one or both sides of the servo electric cylinder (10), a guide rail A (9) is mounted on the guide rail A support seat (8), and the top of the guide support (6) is slidably connected to the guide rail A (9) via a slider A (7).

3. The solid rocket engine press-fitting and demoulding device according to claim 2, characterized in that: Two guide rail A support seats (8) are symmetrically provided on both sides of the servo electric cylinder (10); the guide support (6) is in a "U" shape; the bottom of the "U" shape is fixedly connected to a floating joint (16); and both ends of the "U"-shaped opening are slidably connected to the guide rails A (9) on the guide rail A support seats (8) on both sides via sliders A (7).

4. The solid rocket engine press-fitting and demoulding device according to claim 1, characterized in that: A detection element bracket (11) is mounted on the end bracket (5); the detection element comprises a visual element (12) and a laser displacement sensor (13); the visual element (12) and the laser displacement sensor (13) are respectively fixed on the detection element bracket (11).

5. The solid rocket engine press-fitting and demoulding device according to claim 1, characterized in that: The transmission device is located between the radial fixed end plate (18) and the guide plate (24), and comprises a driving gear (30) and a driven ring gear (29). The driven ring gear (29) is fixed on the upper surface of the guide plate (24), and the driving gear (30) is connected to the output end of the power assembly (31) of the radial moving device of the gripper, and the driving gear (30) is meshed with the driven ring gear (29).

6. The solid rocket engine press-fitting and demoulding device according to claim 5, characterized in that: The radial fixed end plate (18) is provided with a notch, the gripper radial moving device power assembly (31) is fixed on the reducer seat (28), and the output end of the gripper radial moving device power assembly (31) passes through the notch; the radial fixed end plate (18) is fixedly connected to a reducer seat adjustment support (27), and the reducer seat adjustment support (27) is threadedly connected with an adjustment screw (33), and the adjustment screw (33) is connected to the reducer seat (28). By screwing the adjustment screw (33) to pull the reducer seat (28), the reducer seat (28) is moved radially along the radial fixed end plate (18), thereby adjusting the meshing clearance between the driving gear (30) and the driven ring gear (29), and the reducer seat (28) remains fixed to the radial fixed end plate (18) after adjustment.

7. The solid rocket engine press-fitting and demoulding device according to claim 1, characterized in that: The radial fixed end plate (18) is provided with guide rails B (22) in the circumferential direction, the number of which is the same as the guide grooves (32); each of the guide rails B (22) corresponds to a group of gripper support rods (26) and grippers (25); each of the guide rails B (22) is slidably connected to a slider B (20); one end of each of the gripper support rods (26) is fixedly connected to the slider B (20) on the corresponding guide rail B (22) via a support rod adapter block (21).

8. The solid rocket engine press-fitting and demoulding device according to claim 1, characterized in that: The guide grooves (32) are arc-shaped, and the guide grooves (32) are evenly distributed along the center of the guide plate (24). Each guide groove (32) is tangent to a cylindrical portion on the gripper support rod (26) passing through it.

9. The solid rocket engine press-fitting and demoulding device according to claim 1, characterized in that: A rotating support shaft (23) and a cross roller bearing (19) are provided between the radial fixed end plate (18) and the guide plate (24); an outer ring of the cross roller bearing (19) is fixedly connected to the radial fixed end plate (18); one end of the rotating support shaft (23) is fixedly connected to the inner ring of the cross roller bearing (19); and the other end of the rotating support shaft (23) is fixedly connected to the guide plate (24).

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