Automatic assembling and adjusting device for welding of satellite closed pipe network assembly

Abstract

The invention relates to the technical field of welding devices, and provides an automatic assembling and adjusting device for welding of a satellite closed pipe network assembly. The automatic assembling and adjusting device comprises a universal assembling and adjusting platform, a modular part assembling and adjusting positioning assembly and an automatic electrode holder positioning assembly. The modularized part assembling and adjusting positioning assembly and the welding clamp automatic positioning assembly are fixedly installed on the installation face of the universal assembling and adjusting platform, the universal assembling and adjusting platform is integrated with an electric control assembly, and the electric control assembly is connected with the modularized part assembling and adjusting positioning assembly and the welding clamp automatic positioning assembly. The modularized part automatic positioning module and the universal installation and adjustment platform are adopted, pre-welding automatic positioning of closed pipe network structural components of multiple specifications and sizes and systematic adjustment of errors in the welding process can be achieved, the equipment universality is high, and installation and adjustment data quantification is accurate; three degrees of freedom of X / Y-direction translation and Z-axis rotation are included, movement in all directions is driven by a servo mechanism, and accurate adjustment of parts in X / Y-direction translation and Z-axis rotation can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of welding devices, and in particular to an automatic welding adjustment device for a satellite closed pipe network component. Background Art

[0002] With the development of the aerospace industry, metal piping systems are widely used in propulsion and cooling systems of satellites and spacecraft. Due to the space layout and weight restrictions of satellites / spacecraft, onboard piping systems are usually designed to be compact, and their structures are mostly closed grid piping layouts, showing a strong coupling structure relationship, compact structure, and many components. Due to the deviations introduced by component assembly errors and weld deformation during the welding process of components, the overall forming accuracy of the pump and valve components is greatly affected.

[0003] In order to control the adjustment accuracy and welding deformation of the pipeline welding process and improve the overall forming accuracy of the pipeline network structure, the traditional method is to use a fixed base plate with a rigid bracket to position and fix the welding parts. This type of positioning method can play a certain positioning and restraining role on the welding components, but the positioning device needs to be specially designed according to the size and structural layout of the product parts and is not universal. In addition, the completely rigid structure is used for positioning, and the dimensional deviation of the welding process before the welding process cannot be corrected by the positioning device. Due to the accumulation of errors, the pre-welding accuracy of the subsequent welds is poor or does not meet the pre-welding accuracy requirements of the pipeline welds, which leads to poor product forming accuracy or product scrapping.

[0004] Based on the above technical difficulties, it is urgent to develop an automatic assembly and adjustment device for satellite closed pipeline welding to solve the problems of poor assembly and positioning accuracy of parts in the assembly and welding process of satellite closed pipeline structures, great difficulty in deviation control, low welding forming accuracy of pipeline structures, poor versatility of assembly and adjustment devices, high cost, and non-quantified assembly and adjustment data. Summary of the invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide an automatic assembly and adjustment device for welding of satellite closed pipe network components, so as to solve the problems of poor assembly and positioning accuracy of parts in the assembly and welding process of satellite closed pipe network structures, low versatility of assembly and adjustment devices, high equipment cost, and non-quantified assembly and adjustment data.

[0006] According to the present invention, a satellite closed pipe network assembly welding automatic adjustment device comprises a universal adjustment platform, a modular component adjustment and positioning assembly and a welding clamp automatic positioning assembly, wherein the modular component adjustment and positioning assembly and the welding clamp automatic positioning assembly are mounted and fixed on the mounting surface of the universal adjustment platform, and the universal adjustment platform is integrated with an electric control assembly, which is respectively connected to the modular component adjustment and positioning assembly and the welding clamp automatic positioning assembly;

[0007] The modular parts assembly and positioning assembly includes a base assembly, an X-axis translation assembly, a Y-axis translation assembly, a Z-axis rotation assembly and a parts fixing bracket. The base assembly is slidably connected to the X-axis translation assembly, the X-axis translation assembly is connected to the Y-axis translation assembly, the Y-axis translation assembly is connected to the Z-axis rotation assembly, and the Z-axis rotation assembly is connected to the parts fixing bracket.

[0008] Preferably, the base assembly includes an integrated bracket, a guide rail slider, a linear guide rail and a rack. A parallel and symmetrical dovetail groove is opened on the top of the integrated bracket. The dovetail groove cooperates with the X-axis translation assembly to form a sliding motion pair. The linear guide rail and the rack are parallel to the dovetail groove and are respectively installed on the lower end surface of the dovetail groove of the integrated bracket. The guide rail slider is interactively connected to the linear guide rail.

[0009] Preferably, the X-direction translation assembly comprises an X-direction sliding platform, an X-direction driving gear, an X-direction driving motor, a Y-direction driving motor and a Y-direction driving motor bracket, the X-direction driving motor is mounted on the motor mounting surface of the X-direction sliding platform, the Y-direction driving motor bracket is mounted on the X-direction sliding platform, the driving shaft end of the X-direction driving motor is mounted with an X-direction driving gear, the X-direction driving gear is meshed with the rack to form a gear-rack kinematic pair, and the Y-direction driving motor is mounted on the lower end surface of the Y-direction driving motor bracket;

[0010] The Y-axis driving motor bracket is in a "T"-shaped structure, and the horizontal end surface of the Y-axis driving motor bracket is connected to the linear guide slider through bolts to form a sliding motion pair.

[0011] Preferably, the upper end surface of the X-axis sliding platform is a dovetail boss, and the X-axis sliding platform is respectively equipped with a laser ranging transmitting device and a receiving device in pairs on the X-axis and Y-axis sides. The modular component assembly and positioning assembly measures the product spacing during combined assembly and use through the laser ranging transmitting device and the receiving device, and the X-axis sliding platform is equipped with an electrical connector and a displacement pointer on the Y-axis side.

[0012] Preferably, the Y-direction translation assembly includes a Y-direction sliding platform, a Y-direction sliding platform slider and a Z-axis rotation motor, the Y-direction sliding platform slider and the Z-axis rotation motor are respectively connected to the Y-direction sliding platform, and a mounting hole adapted to the Z-axis rotation motor is opened at the center of the Y-direction sliding platform;

[0013] The dovetail groove at the bottom of the Y-direction sliding platform forms a sliding motion pair with the X-direction sliding platform, the slider of the Y-direction sliding platform has a threaded hole, and the slider of the Y-direction sliding platform and the lead screw output shaft of the Y-direction driving motor form a threaded motion pair.

[0014] Preferably, an equidistant array of threaded holes is opened on the upper end surface of the Z-axis rotation component, a countersunk hole docking with the Z-axis rotary motor is opened in the middle of the Z-axis rotation component, and the Z-axis rotary motor is fixedly connected to the Z-axis rotation component by the cooperation of bolts and the countersunk hole.

[0015] Preferably, the component fixing bracket comprises an upper bracket and a lower bracket, the upper bracket and the lower bracket are adaptively connected, and the bracket hole size of the component fixing bracket is designed according to the component outer size.

[0016] Preferably, the welding clamp automatic positioning assembly includes a six-degree-of-freedom robotic arm and a welding clamp clamping device, the welding clamp clamping device is connected to one end of the six-degree-of-freedom robotic arm, and the other end of the six-degree-of-freedom robotic arm is connected to the universal adjustment platform.

[0017] Preferably, the X-axis drive motor, the Y-axis drive motor and the Z-axis rotation motor are all servo motors;

[0018] The Y-axis drive motor adopts a servo motor, and the motor output shaft of the Y-axis drive motor is a lead screw;

[0019] The output shaft of the Z-axis rotary motor is a rotary turntable, and a threaded hole is opened on the end face of the turntable.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] (1) The present invention adopts a modular component automatic positioning module + a universal assembly and adjustment platform, which can realize the automatic pre-welding positioning of closed pipe network structural components of various specifications and sizes and the systematic adjustment of welding process errors. The equipment has high versatility and the assembly and adjustment data is quantified and accurate.

[0022] (2) The present invention includes three degrees of freedom: X / Y translation and Z-axis rotation. Movement in each direction is driven by a servo mechanism, which can achieve precise adjustment of parts in X / Y translation and Z-axis rotation.

[0023] (3) The present invention adopts a modular design, and each component automatic positioning module can operate independently, connected by a series bus, and uniformly controlled by a central control system of the electronic control component. The equipment has high integration and convenient control. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0025] Figure 1 This is a structural diagram of the automatic welding adjustment device for satellite closed pipe network components provided by the present invention;

[0026] Figure 2 It is a schematic diagram of the assembly of the automatic welding adjustment device for satellite closed pipe network components provided by the present invention;

[0027] Figure 3 The modular component assembly and positioning assembly of the satellite closed pipe network assembly automatic assembly and adjustment device provided by the present invention is an axonometric measurement device. Figure 1 ;

[0028] Figure 4 The modular component assembly and positioning assembly of the satellite closed pipe network assembly automatic assembly and adjustment device provided by the present invention is an axonometric measurement device. Figure 2 ;

[0029] Figure 5 It is an exploded view of a modular component assembly and positioning assembly of a satellite closed pipe network assembly welding automatic assembly and adjustment device provided by the present invention;

[0030] Figure 6 It is an assembly diagram of an X-direction translation component of a satellite closed pipe network component welding automatic adjustment device provided by the present invention;

[0031] Figure 7 It is a cross-sectional view of a modular component assembly and positioning assembly of a satellite closed pipe network assembly welding automatic assembly and adjustment device provided by the present invention.

[0032] The figure shows: a universal adjustment platform 1, a modular component adjustment and positioning assembly 2, a base assembly 21, an integrated bracket 211, a guide rail slider 212, a linear guide 213, a rack 214, an X-direction translation assembly 22, an X-direction drive motor 223, an X-direction drive gear 222, an X-direction sliding platform 221, a Y-direction drive motor 224, a Y-direction drive motor bracket 225, an electrical connector 226, a displacement pointer 227, a laser ranging transmitter 228, and a first bolt 229, second bolt 2210, receiving device 2211, Y-axis translation assembly 23, Y-axis sliding platform 231, Y-axis sliding platform slider 232, Z-axis rotation motor 233, Z-axis rotation assembly 24, third bolt 241, component fixing bracket 25, upper bracket 251, lower bracket 252, fourth bolt 253, welding clamp automatic positioning assembly 3, six-degree-of-freedom robotic arm 31, welding clamp clamping device 32, electronic control assembly 4, satellite closed pipe network components 5. DETAILED DESCRIPTION

[0033] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0034] Example

[0035] According to the present invention, a satellite closed pipe network component welding automatic adjustment device is provided. Figure 1-7As shown, it includes: a universal adjustment platform 1, a modular component adjustment and positioning component 2 and a welding clamp automatic positioning component 3. The mounting surface of the universal adjustment platform 1 is provided with equidistant array threaded holes for mounting and fixing the modular component adjustment and positioning component 2 and the welding clamp automatic positioning component 3; the universal adjustment platform 1 is used for clamping and positioning of satellite closed pipe network components 5 and accurate quantitative adjustment of assembly deviation. The universal adjustment platform 1 is integrated with an electric control component 4, which mainly includes the hardware circuit and control program of the modular component adjustment and positioning component 2 and the welding clamp automatic positioning component 3. The welding clamp automatic positioning component 3 includes a six-degree-of-freedom mechanical arm 31 and a welding clamp clamping device 32. The welding clamp clamping device 32 is connected to one end of the six-degree-of-freedom mechanical arm 31, and the other end of the six-degree-of-freedom mechanical arm 31 is mounted on the mounting surface of the universal adjustment platform 1. The welding clamp can be accurately and stably positioned at the weld to be welded by using two methods: compliant control and automatic control.

[0036] The universal assembly and adjustment platform 1 is used to build an integrated platform for component clamping, positioning, and welding. The modular component assembly and adjustment positioning component 2 is used to accurately and quantitatively adjust the clamping positioning and assembly deviation of satellite closed pipe network components. The component assembly and adjustment positioning component 2 adopts a modular design and can be freely assembled according to the specifications and relative positions of closed pipe network structural parts, so as to realize the clamping and positioning of closed pipe network structural parts with multiple specifications and sizes, greatly improving the versatility of the equipment. The welding clamp automatic positioning component 3 is used for pipeline ring weld welding, and mainly includes: pipeline welding clamp and 6-DOF welding clamp positioning device.

[0037] The modular component assembly and positioning assembly 2 includes a base assembly 21, an X-axis translation assembly 22, a Y-axis translation assembly 23, a Z-axis rotation assembly 24, and a component fixing bracket 25. The base assembly 21 includes an integrated bracket 211, a guide rail slider 212, a linear guide rail 213, and a rack 214; wherein, the top of the integrated bracket 211 is provided with parallel and symmetrical dovetail grooves, which are used to cooperate with the X-axis translation assembly 22 to form a sliding motion pair; the left and right end surfaces of the integrated bracket 22 are provided with docking holes and docking joints at relative positions, which are used for the combined docking of the modular component assembly and positioning assembly 2. The linear guide rail 213 and the rack 214 are parallel to the dovetail groove and are respectively installed on the lower end surface of the dovetail groove of the integrated bracket 211.

[0038] The X-direction translation assembly 22 includes an X-direction drive motor 223, an X-direction drive gear 222, an X-direction sliding platform 221, a Y-direction drive motor 224, and a Y-direction drive motor bracket 225; the X-direction drive motor 223 uses a servo motor; the X-direction drive motor 223 is installed on the motor installation surface of the X-direction sliding platform 221, and the end of the drive shaft of the X-direction drive motor 223 is installed with an X-direction drive gear 222, and the X-direction drive gear 222 is meshed with the rack 214 included in the base assembly 21 to form a gear rack kinematic pair. Among them, the Y-direction drive motor 224 uses a 90° servo motor, and the motor output shaft is a lead screw; the Y-direction drive motor 224 is installed on the lower end surface of the Y-direction drive motor bracket 225 by bolts.

[0039] The Y-axis drive motor bracket 225 is a "T"-shaped structure. The Y-axis drive motor bracket 225 is installed on the X-axis sliding platform 221 through a first bolt 229. The Y-axis drive motor 221 is installed on the motor mounting surface of the Y-axis drive motor bracket 225 through a second bolt 2210. The horizontal end surface of the Y-axis drive motor bracket 225 is connected to the linear guide slider 212 included in the base assembly 21 through bolts to form a sliding motion pair. The upper end surface of the X-axis sliding platform 221 is a dovetail boss. The X-axis sliding platform 221 is respectively equipped with a laser distance measurement transmitter 228 and a receiving device 2211 in pairs on the X-axis and Y-axis sides, which are used to measure the product spacing when the modular component assembly and positioning assembly 2 is assembled and used. The X-axis sliding platform 221 is equipped with an electrical connector 226 and a displacement pointer 227 on the Y-axis side.

[0040] The Y-direction translation assembly 23 includes a Y-direction sliding platform 231, a Y-direction sliding platform slider 232, and a Z-axis rotation motor 233. The Y-direction sliding platform 232 has a dovetail groove at the bottom to form a sliding motion pair with the X-direction sliding platform 221. The center of the Y-direction sliding platform 232 has a mounting hole for the Z-axis rotation motor 233. The Z-axis rotation motor 233 is fastened to the Y-direction sliding platform 231 by bolts. The Y-direction sliding platform slider 232 is installed at the bottom of the Y-direction sliding platform 232 by bolts. The Y-direction sliding platform slider 232 has a threaded hole to form a threaded motion pair with the lead screw output shaft included in the Y-direction driving motor 224. The Z-axis rotation motor 233 uses a servo motor, and the motor output shaft is a rotary turntable with a threaded hole on the end surface of the turntable.

[0041] The upper end surface of the Z-axis rotating assembly 24 is provided with an equidistant array of threaded holes, and the middle portion is provided with a countersunk hole for docking with the Z-axis rotating motor 233. The Z-axis rotating motor 233 is fixedly connected to the Z-axis rotating assembly 24 by a third bolt 241. The component fixing bracket 25 includes an upper bracket 251 and a lower bracket 252. The bracket hole size is designed according to the component outer size. The component fixing bracket 25 is fixed to the upper end surface of the Z-axis rotating assembly 24 by a fourth bolt 253.

[0042] More specifically, the modular component assembly and positioning assembly 2 has three degrees of freedom including X / Y translation and Z-axis rotation. Furthermore, the X / Y translation and Z-axis rotation are controlled by a precision transmission mechanism and a servo system, which can realize precise and quantitative adjustment of components in all directions; in particular, the modular component assembly and positioning assembly 2 adopts a modular design and can be freely docked in the horizontal and vertical directions of the universal assembly platform 1 to adapt to the fixation of satellite closed pipe network components 5 of different specifications; the modular component assembly and positioning assembly 2 adopts a hardware circuit system connected by a serial bus.

[0043] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0044] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A satellite closed pipe network component welding automatic adjustment device, characterized in that: The utility model comprises a universal adjustment platform (1), a modular component adjustment and positioning assembly (2) and a welding clamp automatic positioning assembly (3), wherein the modular component adjustment and positioning assembly (2) and the welding clamp automatic positioning assembly (3) are mounted and fixed on a mounting surface (11) of the universal adjustment platform (1), and the universal adjustment platform (1) is integrated with an electric control assembly (4), and the electric control assembly (4) is respectively connected to the modular component adjustment and positioning assembly (2) and the welding clamp automatic positioning assembly (3); The modular component assembly and positioning assembly (2) comprises a base assembly (21), an X-direction translation assembly (22), a Y-direction translation assembly (23), a Z-axis rotation assembly (24) and a component fixing bracket (25); the base assembly (21) is slidably connected to the X-direction translation assembly (22); the X-direction translation assembly (22) is connected to the Y-direction translation assembly (23); the Y-direction translation assembly (23) is connected to the Z-axis rotation assembly (24); and the Z-axis rotation assembly (24) is connected to the component fixing bracket (25).

2. The automatic welding adjustment device for satellite closed pipe network components according to claim 1 is characterized in that: The base assembly (21) comprises an integrated bracket (211), a guide rail slider (212), a linear guide rail (213) and a rack (214); a parallel and symmetrical dovetail groove is opened on the top of the integrated bracket (211); the dovetail groove cooperates with the X-direction translation assembly (22) to form a sliding motion pair; the linear guide rail (213) and the rack (214) are parallel to the dovetail groove and are respectively installed on the lower end surface of the dovetail groove of the integrated bracket (211); the guide rail slider (212) is interactively connected to the linear guide rail (213).

3. The automatic welding adjustment device for satellite closed pipe network components according to claim 2 is characterized in that: The X-direction translation assembly (22) comprises an X-direction sliding platform (221), an X-direction driving gear (222), an X-direction driving motor (223), a Y-direction driving motor (224) and a Y-direction driving motor bracket (225); the X-direction driving motor (223) is mounted on the motor mounting surface of the X-direction sliding platform (221); the Y-direction driving motor bracket (225) is mounted on the X-direction sliding platform (221); the X-direction driving gear (222) is mounted on the end of the driving shaft of the X-direction driving motor (223); the X-direction driving gear (222) is meshed with the rack (214) to form a gear-rack kinematic pair; and the Y-direction driving motor (224) is mounted on the lower end surface of the Y-direction driving motor bracket (225); The Y-direction drive motor bracket (225) is in a "T"-shaped structure, and the horizontal end surface of the Y-direction drive motor bracket (225) is connected to the linear guide slider (212) via bolts to form a sliding motion pair.

4. The automatic welding adjustment device for satellite closed pipe network components according to claim 3 is characterized in that: The upper end surface of the X-direction sliding platform (221) is a dovetail boss. The X-direction sliding platform (221) is provided with a laser distance measuring transmitting device (228) and a receiving device (2211) in pairs on the X-direction and Y-direction sides, respectively. The modular component assembly and positioning assembly (2) measures the product spacing during assembly and use through the laser distance measuring transmitting device (228) and the receiving device (2211). The X-direction sliding platform (221) is provided with an electrical connector (226) and a displacement pointer (227) on the Y-direction side.

5. The automatic welding adjustment device for satellite closed pipe network components according to claim 4 is characterized in that: The Y-direction translation assembly (23) comprises a Y-direction sliding platform (231), a Y-direction sliding platform slider (232) and a Z-axis rotation motor (233); the Y-direction sliding platform slider (232) and the Z-axis rotation motor (233) are respectively connected to the Y-direction sliding platform (231), and a mounting hole adapted to the Z-axis rotation motor (233) is opened at the center of the Y-direction sliding platform (232); The dovetail groove at the bottom of the Y-direction sliding platform (232) and the X-direction sliding platform (221) form a sliding motion pair, the Y-direction sliding platform slider (232) has a threaded hole, and the Y-direction sliding platform slider (232) and the lead screw output shaft of the Y-direction driving motor (224) form a threaded motion pair.

6. The automatic welding adjustment device for satellite closed pipe network components according to claim 5 is characterized in that: The upper end surface of the Z-axis rotating assembly (24) is provided with an equidistant array of threaded holes, the middle portion of the Z-axis rotating assembly (24) is provided with a countersunk hole for docking with the Z-axis rotating motor (233), and the Z-axis rotating motor (233) is fixedly connected to the Z-axis rotating assembly (24) by means of a bolt and the countersunk hole.

7. The automatic welding adjustment device for satellite closed pipe network components according to claim 1 is characterized in that: The component fixing bracket (25) comprises an upper bracket (251) and a lower bracket (252), the upper bracket (251) and the lower bracket (252) are adaptively connected, and the bracket hole size of the component fixing bracket (25) is designed according to the component outer size.

8. The automatic welding adjustment device for satellite closed pipe network components according to claim 1 is characterized in that: The welding clamp automatic positioning assembly (3) comprises a six-degree-of-freedom mechanical arm (31) and a welding clamp clamping device (32); the welding clamp clamping device (32) is connected to one end of the six-degree-of-freedom mechanical arm (31); and the other end of the six-degree-of-freedom mechanical arm (31) is connected to the universal adjustment platform (1).

9. The automatic welding adjustment device for satellite closed pipe network components according to claim 1 is characterized in that: The X-axis driving motor (223), the Y-axis driving motor (224) and the Z-axis rotating motor (233) are all servo motors; The Y-direction drive motor (224) is a 90° servo motor, and the motor output shaft of the Y-direction drive motor (224) is a lead screw; The motor output shaft of the Z-axis rotating motor (233) is a rotary turntable, and a threaded hole is opened on the end surface of the turntable.

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