Miniature solid rocket engine multi-process assembling device based on compressed air driving

Abstract

According to the micro solid rocket engine multi-process assembling device based on compressed air driving, when a shell and an end cover are assembled, an upper pressing air cylinder drives a positioning base to move so that the end cover installed on the positioning base can be assembled to the shell, and butt joint of the end cover and the shell can be accurately controlled; when the ring key is assembled, the pneumatic motor drives the gear to rotate so as to drive the rack push rod to push the ring key into the key groove, and the thin air cylinder drives the ejector rod to move to press the protruding end of the ring key. When the positioning pin is assembled, the circulating ball bearing cylinder drives the clamping ejector pin to eject the positioning pin into the positioning pin hole. According to the assembling device, through the integrated shell and end cover installation, ring key assembling and positioning pin assembling three procedures, continuous completion of multiple procedures is achieved, the problems of frequent equipment replacement and repeated clamping in the assembling process of a traditional single-procedure assembling device are solved, the assembling efficiency and precision are remarkably improved, and the operation complexity is reduced. Assembly operation is implemented through automatic mechanical equipment, manual operation errors are reduced, and labor intensity is lowered.

Description

Technical Field

[0001] The invention relates to the technical field of solid rocket engine assembly, and in particular to a multi-process assembly device for a micro solid rocket engine driven by compressed air. Background Art

[0002] As a miniaturized, high thrust-to-weight ratio power device, micro solid rocket engines have broad application prospects in aerospace, military and other fields. Their assembly accuracy and efficiency directly affect the performance and reliability of the engine. Figure 1 The assembly diagram of the main structure of the existing micro solid rocket engine is shown in the figure. The assembly process includes the following three key steps: (1) Docking of the shell and the end cover: The shell 910 and the end cover 920 need to be precisely aligned to ensure that their axes coincide with each other, thus laying the foundation for subsequent assembly. (2) Ring key assembly: The ring key 930 is installed into the keyway of the shell 910 and the end cover 920 to achieve circumferential positioning and torque transmission between the two. (3) Locating pin assembly: The locating pin 940 is installed into the locating pin hole of the shell 910 and the end cover 920 to achieve axial positioning and prevent relative rotation between the two.

[0003] At present, most assembly work of micro solid rocket engines still relies on manual operation. Manual operation not only requires workers to have superb skills and rich experience, but also the entire operation process is complicated, and the assembly accuracy is easily interfered by human factors, which makes it difficult to ensure high assembly accuracy. At the same time, the efficiency of manual operation is extremely low, which greatly prolongs the production cycle of the engine. In order to improve the assembly accuracy and efficiency, some semi-automatic assembly devices have been developed. However, the existing assembly devices can usually only complete a single assembly process, which leads to frequent replacement of equipment and adjustment of operation procedures during the assembly process, which not only consumes a lot of time and manpower costs, but also increases the risk of errors in the assembly process. In addition, due to the dispersion of the process, multiple clamping and adjustment are difficult to avoid. Each clamping is not only time-consuming, but may also introduce new positioning errors, making it difficult to control the final assembly accuracy. Frequent clamping operations also increase the labor intensity and operation complexity of workers, further reducing assembly efficiency.

[0004] In summary, the existing assembly methods of micro solid rocket engines, whether relying on manual operation or with the help of existing devices, are difficult to meet the requirements of efficient and precise assembly. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-process assembly device for a micro solid rocket engine driven by compressed air to solve the current technical problems of low assembly efficiency and difficulty in ensuring assembly accuracy of micro solid rocket engines.

[0006] The technical problem solved by the present invention can be achieved by adopting the following solutions:

[0007] A multi - process assembly device for a micro solid rocket engine driven by compressed air, comprising a frame. A housing base and an upper pressing cylinder are fixed on the frame. The housing base is used for placing the housing. The telescopic end of the upper pressing cylinder is fixed with a positioning seat. When the upper pressing cylinder operates, it drives the positioning seat to move towards the housing base, thereby assembling the end cover installed on the positioning seat to the housing.

[0008] A ring keyway seat, a motor base and a thin - type cylinder are also fixed on the frame. A ring keyway for accommodating a ring key is provided on the ring keyway seat. An air motor with an output shaft coaxially fixed with a gear is fixed on the motor base. The gear meshes with a rack push rod slidably installed on the motor base. When the rack push rod slides, it can push the ring key in the ring keyway into the keyways of the housing and the end cover. The telescopic end of the thin - type cylinder is fixed with a top rod. When the top rod moves, it can press the protruding end of the ring key in the keyway.

[0009] A circulating ball bearing cylinder is also fixed on the frame. The telescopic end of the circulating ball bearing cylinder is fixed with a gripper having a thimble. A magazine for accommodating positioning pins is fixed on the positioning seat. When the thimble moves, it can push the positioning pins in the magazine into the positioning pin holes of the housing and the end cover.

[0010] Further: The frame includes a bottom plate. A general fixing seat and a thin - type cylinder seat are fixed on the bottom plate. An upper pressing cylinder fixing seat and the circulating ball bearing cylinder are fixed on the general fixing seat. The upper pressing cylinder is fixed on the upper pressing cylinder fixing seat, and the thin - type cylinder is fixed on the thin - type cylinder seat.

[0011] Further: The housing base has a cavity inside for placing the housing, and an opening for easily taking out the housing is provided on the side wall of the housing base.

[0012] Further: The end cover is detachably installed on the positioning seat through an opening pin passed through the end cover.

[0013] Further: A pushing piece for pushing the ring key is fixed on the rack push rod.

[0014] Further: The rack push rod is slidably installed in a through - hole provided on the motor base.

[0015] Further: The ring keyway seat is provided with an arc - shaped opening in contact with the housing base.

[0016] Further: The magazine is used to accommodate two rows of the positioning pins. The two rows of positioning pins are arranged staggeredly. The two rows of positioning pins can alternately fall into the working position below the magazine under the action of gravity. The thimble can push the positioning pins in the working position into the positioning pin holes of the housing and the end cover.

[0017] Further: A glass cover plate is detachably and fixedly installed on the magazine.

[0018] The present invention provides a multi-process assembly device for a micro solid rocket engine driven by compressed air, which can significantly improve the assembly efficiency and accuracy of the micro solid rocket engine. The specific technical effects are as follows:

[0019] (1) Improving assembly efficiency: The device integrates three key processes of housing and end cover installation, ring key assembly, and positioning pin assembly. There is no need to frequently replace equipment and adjust the process like the existing single-process assembly device, avoiding multiple clamping caused by scattered processes in the traditional assembly process. The three processes are completed coherently on the same device, and only one clamping of the housing, end cover, ring key, and positioning pin is required to complete all assembly processes, significantly shortening the assembly time and improving the assembly efficiency. Using automated components such as cylinders and pneumatic motors to drive the assembly actions, with rapid response and high efficiency, the assembly speed is greatly increased compared to manual operation, further improving the overall assembly efficiency.

[0020] (2) Improving assembly accuracy: The device performs assembly operations through automated mechanical equipment, which can achieve precise positioning between components of the micro solid rocket engine, effectively avoiding assembly errors caused by human factors during manual operation. By integrating three key processes, the assembly errors introduced by frequently replacing equipment in the traditional assembly process are avoided, and the positioning errors caused by multiple clamping and adjustment are reduced, making the assembly process more stable and the final assembly accuracy easier to control.

[0021] (3) Reducing labor intensity and operation complexity: Workers do not need to perform complicated manual assembly operations, reducing the dependence on workers' skills and experience, and reducing the labor intensity of workers. Through integrated design, the cumbersome steps of multiple clamping and adjustment are reduced, the assembly process is simplified, and the operation complexity is reduced, making the assembly process more simple and easy to implement. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0023] Figure 1 is an assembly decomposition diagram of the main structure of the existing micro solid rocket engine;

[0024] Figure 2 is a structural schematic diagram of the multi-process assembly device for the micro solid rocket engine driven by compressed air according to the present invention;

[0025] Figure 3 It is a schematic structural view of another angle of the multi - process assembly device of the micro - solid rocket engine driven by compressed air according to the present invention;

[0026] Figure 4 It is a schematic structural view of another angle of the multi - process assembly device of the micro - solid rocket engine driven by compressed air according to the present invention;

[0027] Figure 5 It is the front view of the multi - process assembly device of the micro - solid rocket engine driven by compressed air according to the present invention;

[0028] Figure 6 It is Figure 3 The partial enlarged view of part A of

[0029] Figure 7 It is Figure 4 The partial enlarged view of part B of

[0030] Figure 8 It is the schematic structural view of the magazine of the multi - process assembly device of the micro - solid rocket engine driven by compressed air according to the present invention;

[0031] Figure 9 It is the schematic structural view of the housing of the multi - process assembly device of the micro - solid rocket engine driven by compressed air placed on the housing base;

[0032] Figure 10 It is the schematic structural view of the end cap of the multi - process assembly device of the micro - solid rocket engine driven by compressed air according to the present invention;

[0033] Figure 11 It is the sectional view of the end cap of the multi - process assembly device of the micro - solid rocket engine driven by compressed air according to the present invention;

[0034] Figure 12 It is the schematic structural view of the split pin of the multi - process assembly device of the micro - solid rocket engine driven by compressed air according to the present invention;

[0035] Figure 13 It is the front view of the split pin of the multi - process assembly device of the micro - solid rocket engine driven by compressed air according to the present invention;

[0036] Figure 14 It is the schematic structural view when the split pin of the multi - process assembly device of the micro - solid rocket engine driven by compressed air is installed on the positioning seat, and the end cap has not been assembled to the positioning seat yet;

[0037] Figure 15 It is the schematic structural view after the split pin of the multi - process assembly device of the micro - solid rocket engine driven by compressed air is installed on the end cap, and the positioning seat connected to the split pin is removed in this figure;

[0038] Figure 16 It is a schematic structural diagram after the positioning seat, split pin, and end cover of the multi-process assembly device of the micro solid rocket engine driven by compressed air according to the present invention are assembled;

[0039] Figure 17 It is Figure 4 a partially enlarged view at C of;

[0040] Figure 18 It is a schematic structural diagram of the housing and end cover assembly mechanism of the multi-process assembly device of the micro solid rocket engine driven by compressed air according to the present invention;

[0041] Figure 19 It is a schematic structural diagram of the ring key assembly mechanism of the multi-process assembly device of the micro solid rocket engine driven by compressed air according to the present invention, mainly showing the structure at the rack push rod;

[0042] Figure 20 It is a schematic structural diagram of the ring key assembly mechanism of the multi-process assembly device of the micro solid rocket engine driven by compressed air according to the present invention, mainly showing the structure at the thin cylinder;

[0043] Main standard parts and reference numerals:

[0044] Frame: 1; Base plate: 11; Total fixed seat: 12; Thin cylinder seat: 13; Upper pressing cylinder fixed seat: 14;

[0045] Housing base: 2; Cavity: 21; Side wall: 22; Opening: 221;

[0046] Upper pressing cylinder: 31; Positioning seat: 32; Split pin: 33; Movable end: 331; Lower inclined surface: 3311; Upper inclined surface: 3312;

[0047] Ring key groove seat: 41; Ring key groove: 411; Motor base: 421; Through hole: 4211; Gear: 422; Pneumatic motor: 423; Rack push rod: 424; Push piece: 425; Thin cylinder: 431; Thumb rod: 432;

[0048] Circulating ball bearing cylinder: 51; Gripper: 521; Thumb pin: 522; Magazine: 53; Working position: 531; Glass cover plate: 532;

[0049] Housing: 910; End cover: 920; Through hole: 921; Upper section of through hole: 9211; Lower section of through hole: 9212; Ring key: 930; Positioning pin: 940. Detailed implementation manners

[0050] To clearly demonstrate the objectives, technical solutions, and advantages of the present invention, the following will further describe in detail the embodiments of the present invention in conjunction with the accompanying drawings.

[0051] Figure 2-5 This is a structural diagram of a multi-process assembly device for a micro solid rocket engine driven by compressed air in this embodiment. As Figure 2-5 shown, the assembly device includes a frame 1, on which a housing base 2 and an upper pressing cylinder 31 are fixed. The housing base 2 is used to place the housing 910. The telescopic end of the upper pressing cylinder 31 is fixed with a positioning seat 32 located above the housing base 2. The end cover 920 can be installed on the positioning seat 32, and the axis of the end cover 920 installed on the positioning seat 32 is vertically aligned with the axis of the housing 910 placed on the housing base 2 along the Z-axis. When the telescopic end of the upper pressing cylinder 31 extends, it drives the positioning seat 32 to move towards the housing base 2. When the positioning seat 32 moves towards the housing base 2, the end cover 920 installed on the positioning seat 32 is assembled onto the housing 910 placed on the housing base 2.

[0052] To assemble the ring key 930, as Figure 2-4 shown, a ring key groove seat 41, a motor base 421, and a thin cylinder 431 are also fixed on the frame 1. A ring key groove 411 (shown in Figure 2 , 6 , 7) for accommodating the ring key 930 (shown in Figure 2 , 6 , 7) is provided on the ring key groove seat 41. A pneumatic motor 423 is fixed on the motor base 421. A gear 422 is coaxially fixed to the output shaft of the pneumatic motor 423. The gear 422 meshes with a rack push rod 424. The rack push rod 424 is slidably installed on the motor base 421 and is used to push the ring key 930 from the ring key groove 411 into the key grooves of the housing 910 and the end cover 920. A thin cylinder is a cylinder with a compact structure and a small height, suitable for occasions with limited installation space. In this embodiment, an existing model of thin cylinder is selected. In this embodiment, a push rod 432 (shown in Figure 2 , 4, among Figures 7, the ejector rod 432 is used to press the raised end of the circlip key 930. The ejector rod 432 is aligned with the keyways on the housing 910 and the end cover 920 to ensure that the ejector rod 432 can press the raised end of the circlip key 930 in the keyway. When assembling the circlip key 930, the pneumatic motor 423 starts to drive the gear 422 to rotate, and then drives the rack push rod 424 to slide. When the rack push rod 424 slides, it pushes the circlip key 930 in the circlip keyway 411 into the keyways of the housing 910 and the end cover 920. The telescopic end of the thin cylinder 431 extends to drive the ejector rod 432 to move towards the circlip key 930. When the ejector rod 432 moves, it presses the raised end of the circlip key 930 in the keyway to ensure a tight fit between the circlip key 930 and the keyway, eliminate the gap, and avoid the problem of loose assembly caused by loosening, thereby completing the complete assembly of the circlip key 930.

[0053] As Figure 2 shown, in order to assemble the positioning pin 940 (shown in Figure 8 ), a circulating ball bearing cylinder 51 is also fixed on the frame 1. The circulating ball bearing cylinder is a cylinder with high-precision guiding function, and it usually adopts a double-telescopic end or multi-telescopic end design. In this embodiment, an existing circulating ball bearing cylinder with a double-telescopic end is selected. A gripper 521 is fixed to the telescopic end of the circulating ball bearing cylinder 51, and a thimble 522 is fixed on the gripper 521 (shown in Figure 2 , 3 , 6). A magazine 53 for accommodating the positioning pin 940 is fixed on the positioning seat 32 (the structure of the magazine 53 is shown in Figure 7 ). The thimble 522 is used to push the positioning pin 940 from the magazine 53 into the positioning pin holes of the housing 910 and the end cover 920. The thimble 522 is aligned with the positioning pin holes of the housing 910 and the end cover 920 to facilitate accurately pushing the positioning pin 940 in the magazine 53 into the positioning pin holes to complete the pin positioning. When assembling the positioning pin 940, the telescopic end of the circulating ball bearing cylinder 51 shortens to drive the gripper 521 and the thimble 522 thereon to move towards the magazine 53. When the thimble 522 moves, it pushes the positioning pin 940 in the magazine 53 into the positioning pin holes of the housing 910 and the end cover 920.

[0054] When performing the assembly operation using the multi-process assembly device for a micro solid rocket engine driven by compressed air according to this embodiment, first, the clamping work of the micro solid rocket engine is carried out. Place the housing 910 of the micro solid rocket engine on the housing base 2, install the end cap 920 onto the positioning seat 32, place the ring key 930 into the ring key groove 411 of the ring key groove seat 41, and place the positioning pin 940 into the magazine 53. Then, the upper pressing cylinder 31 operates to drive the positioning seat 32 to move towards the housing base 2, thereby docking and assembling the end cap 920 onto the housing 910. After the assembly of the housing 910 and the end cap 920 is completed, the pneumatic motor 423 is started to drive the gear 422 to rotate, thereby driving the rack push rod 424 to slide. When the rack push rod 424 slides, the ring key 930 in the ring key groove 411 is pushed into the key grooves of the housing 910 and the end cap 920. After the ring key 930 enters the key grooves of the housing 910 and the end cap 920, the thin cylinder 431 operates to drive the ejector rod 432 to move towards the ring key 930. When the ejector rod 432 moves, the protruding end of the ring key 930 in the key groove is pressed tightly. After the assembly of the ring key 930 is completed, the circulating ball bearing cylinder 51 operates to drive the gripper 521 and the ejector pin 522 thereon to move towards the magazine 53. When the ejector pin 522 moves, the positioning pin 940 in the magazine 53 is pushed into the positioning pin holes of the housing 910 and the end cap 920, completing the assembly of the positioning pin 940.

[0055] Regarding the specific structure of the frame 1, as Figure 3 shown, the frame 1 includes a bottom plate 11, on which a general fixing seat 12 and a thin cylinder seat 13 are fixed. A upper pressing cylinder fixing seat 14 and the circulating ball bearing cylinder 51 are fixed on the general fixing seat 12. The circulating ball bearing cylinder 51 is located below the upper pressing cylinder fixing seat 14. The upper pressing cylinder 31 is fixed on the upper pressing cylinder fixing seat 14, and the thin cylinder 431 is fixed on the thin cylinder seat 13. The structural design of the frame 1 can ensure the stable operation of each mechanism installed on the frame 1.

[0056] To facilitate the placement and removal of the housing 910, as Figure 9 shown, a cavity 21 for placing the housing 910 is formed inside the housing base 2. An opening 221 for facilitating the removal of the housing 910 is formed on the side wall 22 of the housing base 21, and the opening 221 is communicated with the cavity 21.

[0057] In this embodiment, a split pin 33 (the structure of the split pin 33 is shown in Figure 10 , 11 ) is inserted through the end cap 920 (the structure of the end cap 920 is shown in Figure 12 , 13(In the Chinese text) The end cover 920 is detachably mounted on the positioning seat 32. The split pin 33 is a conventional fastener, and its head is usually a movable end 331 having a plurality of elastic pieces (as Figure 12 shown, in this embodiment, a split pin with four elastic pieces at the movable end is adopted), and several elastic pieces can be opened and closed, which is convenient for the insertion and fixation of parts and is commonly used in occasions where quick installation and disassembly are required. As Figure 10 shown, in this embodiment, a plurality of through holes 921 for the split pin 33 to pass through are provided on the end cover 920. As Figure 11 shown, each through hole 920 has an upper through hole section 9211 and a lower through hole section 9212. The upper through hole section 9211 is in the shape of a tapered hole that gradually narrows from top to bottom, and the lower through hole section 9212 is in the shape of a tapered hole that gradually narrows from bottom to top. The diameter at the connection of the upper through hole section 9211 and the lower through hole section 9212 is smaller than the diameter of the movable end 331 of the split pin 33 in the open state, and the movable end 331 of the split pin 33 can pass through the connection of the upper through hole section 9211 and the lower through hole section 9212 in the closed state. Further, as Figure 13 shown, in this embodiment, a lower inclined surface 3311 corresponding to the tapered surface of the upper through hole section 9211 is provided on the lower side of the movable end 331 of the split pin 33, and an upper inclined surface 3312 corresponding to the lower through hole section 9212 is provided on the upper side of the movable end 331 of the split pin 33.

[0058] When installing the end cover 920 onto the positioning seat 32, as Figure 14 shown, first screw the split pin 33 with an external thread onto the positioning seat 32, and then align the split pin 33 with the through hole 921 of the end cover 920 and make the movable end 331 of the split pin 33 enter the upper through hole section 9211 of the through hole 921. As the movable end 331 gradually penetrates, the lower inclined surface 3311 on its lower side contacts the tapered surface of the upper through hole section 9211, and under the action of the tapered surface of the upper through hole section 9211, the movable end 331 gradually closes. After the movable end 331 passes through the connection of the upper through hole section 9211 and the lower through hole section 9212, the movable end 331 opens, the movable end 331 enters the lower through hole section 9212 and the upper inclined surface 3312 of the movable end contacts the tapered surface of the lower through hole section 9212. At this time, the split pin 33 is clamped at the connection of the upper through hole section 9211 and the lower through hole section 9212 (the structure after the split pin 33 is assembled to the end cover 920 is as Figure 15 shown), and at this time, the split pin 33 can fix the end cover 920 on the positioning seat 32. The structure after the positioning seat 32, the split pin 33, and the end cover 920 are assembled is shown in Figure 16After the end cap 920 is assembled to the housing 910, the telescopic end of the upper pressing cylinder 31 contracts to drive the positioning seat 32 to move upward. The upward movement of the positioning seat 32 drives the split pin 33 to move upward. During the upward movement of the split pin 33, it is subjected to the acting force of the conical surface of the lower section 9212 of the through hole. Under this acting force, the movable end 331 gradually closes and passes through the connection between the upper section 9211 and the lower section 9212 of the through hole until it completely passes out of the through hole 921, enabling the end cap 920 that has been assembled to the housing 910 to be smoothly separated from the positioning seat 32.

[0059] As Figure 17 shown, a pushing piece 425 for pushing the ring key 930 is fixed to one end of the rack push rod 424 facing the ring key groove seat 41. The arrangement of the pushing piece 425 facilitates the rack push rod 424 to push the ring key 930 when sliding. Further, the pushing piece 425 and the ring key 930 are horizontally aligned in the X-axis direction to ensure the transmission accuracy.

[0060] Regarding the installation method of the rack push rod 424 on the motor base 421, as Figure 4 shown, a through hole 4211 is provided on the motor base 421, and the rack push rod 424 is slidably installed in the through hole 4211 to ensure the smooth transmission of the rack push rod 424.

[0061] Further, in order to enable the ring key 930 to be smoothly pushed from the ring key groove 411 into the key groove of the housing 910 and the end cap 920, and at the same time make the arrangement of the ring key groove seat 41 and the housing base 2 more compact, an arc-shaped opening in contact with the housing base 2 is provided on the ring key groove seat 41.

[0062] In this embodiment, a gripper 521 with a thimble 522 is fixed to each telescopic end of the circulating ball bearing cylinder 51 at both ends. A magazine 53 is installed on each side of the positioning seat 32, and the two magazines 53 respectively correspond to a thimble 522. Thus, two positioning pins 940 can be assembled simultaneously, making the force on the housing 910 relatively balanced and reducing the impact force on the engine.

[0063] In order to enable the magazine 53 to accommodate more positioning pins 940, as Figure 8As shown, the magazine 53 is used to accommodate two columns of the positioning pins 940. The two columns of positioning pins 940 are arranged in a staggered and interlocked manner. A working position 531 is provided below the magazine 53. The two columns of positioning pins 940 can alternately fall into the working position 531 below the magazine 53 under the action of gravity. When assembling the housing 910 and the end cap 920, the magazine 53 fixed on the positioning seat 32 descends with the positioning seat 32, so that the working position 531 of the magazine 53 can be aligned with the positioning pin holes of the housing 910 and the end cap 920, facilitating the ejector pin 522 to push the positioning pin 940 at the working position 531 of the magazine 53 into the positioning pin holes of the housing 910 and the end cap 920. After the positioning pin 940 is pushed into the positioning pin hole, the ejector pin 522 retracts to the initial position, and the next positioning pin 940 falls into the working position 531 under the action of gravity for the next assembly use.

[0064] In order to facilitate observing the remaining amount of the positioning pins 940 in the magazine 53 and to prevent the positioning pins 940 from accidentally falling out of the magazine 53, a glass cover plate 532 is detachably and fixedly installed on the magazine 53 (shown in Figure 8 、 Figure 16 ). In order to ensure that the setting of the glass cover plate 532 does not affect the contact between the ejector pin 522 and the positioning pin 940, an opening corresponding to the working position 531 of the magazine 53 is provided on the glass cover plate 532, and the ejector pin 522 can extend into the opening to contact the positioning pin 940 located at the working position 531.

[0065] When implementing the assembly operation using the multi-process assembly device of the micro solid rocket engine driven by compressed air according to this embodiment, the following steps are carried out:

[0066] S101. Clamping operation: Place the housing 910 of the micro solid rocket engine on the housing base 2, fix the end cap 920 on the positioning seat 32, place the ring key 930 into the ring key groove 411 of the ring key groove seat 41, and place the positioning pins 940 into the magazine 53.

[0067] S102. Preparation work before operation: Before the device runs, ensure that the upper pressing cylinder 31 is in the upper retracted state, so that there is a certain distance between the rack push rod 424 and the ring key 930, and ensure that the circulating ball bearing cylinder 51 is in the relaxed state, that is, the gripper 521 thereon is in the open state.

[0068] S103. Assembly of the housing and the end cap: The telescopic end of the upper pressing cylinder 31 runs vertically downward along the negative Y-axis direction, driving the positioning seat 32 to move towards the housing base 2, thereby pressing and installing the end cap 920 on the housing 910 (the assembly mechanism of the housing 910 and the end cap 920 is also shown in Figure 18 ).

[0069] S104. Ring key assembly: After the end cover 920 is assembled onto the housing 910, the pneumatic motor 423 is started to drive the gear 422 to rotate, which in turn drives the rack push rod 424 to slide in the negative X-axis direction. When the rack push rod 424 slides, the ring key 930 in the ring key groove 411 is evenly pushed horizontally into the key grooves of the housing 910 and the end cover 920. Then, the thin cylinder 431 operates to drive the ejector rod 432 to move towards the ring key 930. When the ejector rod 432 moves, it presses the protruding end of the ring key 930 located in the key grooves of the housing 910 and the end cover 920. (The ring key assembly mechanism is also shown in Figure 19 , 20 .

[0070] S105. Locating pin assembly: After the end cover 920 is assembled onto the housing 910, the magazine 53 descends with the positioning seat 32 to a position where its working position 531 is aligned with the locating pin holes of the housing 910 and the end cover 920. And the locating pin 940 in the magazine 53 falls under the action of gravity to the working position 531 of the magazine 53. At this time, the circulating ball bearing cylinder 51 operates to drive the gripper 521 and the ejector pin 522 thereon to move towards the magazine 53. When the ejector pin 522 moves, it pushes the locating pin 940 located at the working position 531 of the magazine 53 into the locating pin holes of the housing 910 and the end cover 920, completing the assembly of the locating pin 940.

[0071] S106. Reset work: Finally, the telescopic end of the upper pressing cylinder 31, the rack push rod 424, the telescopic end of the thin cylinder 431, and the gripper 521 are restored to their initial positions. During the process of the telescopic end of the upper pressing cylinder 31 rising to restore to its initial position, the positioning seat 32 moves upward, driving the split pin 33 thereon to move upward. During the process of the split pin 33 moving upward, it separates from the end cover 920 installed on the housing 910. Finally, the assembled finished product is taken out from the housing base 2 by a tool, completing a set of installation and fitting.

[0072] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A multi-step assembly device for a micro solid rocket engine driven by compressed air, comprising a frame (1), characterized in that: A housing base (2) and an upper pressing cylinder (31) are fixed on the frame (1); the housing base (2) is used to place the housing (910); a positioning seat (32) is fixed to the telescopic end of the upper pressing cylinder (31); when the upper pressing cylinder (31) is actuated, the positioning seat (32) is driven to move toward the housing base (2) and the end cover (920) mounted on the positioning seat (32) is assembled to the housing (910); A ring key groove seat (41), a motor base (421) and a thin air cylinder (431) are also fixed on the frame (1). A ring key groove (411) for accommodating a ring key (930) is provided on the ring key groove seat (41). A pneumatic motor (423) whose output shaft is coaxially fixed with a gear (422) is fixed on the motor base (421). The gear (422) is meshed with a rack push rod (424) slidably mounted on the motor base (421). When the rack push rod (424) slides, the ring key (930) in the ring key groove (411) can be pushed into the key groove of the housing (910) and the end cover (920). A push rod (432) is fixed at the telescopic end of the thin air cylinder (431). When the push rod (432) moves, the protruding end of the ring key (930) in the key groove can be pressed. A circulating ball bearing cylinder (51) is also fixed on the frame (1), a gripper (521) having a push pin (522) is fixed on the telescopic end of the circulating ball bearing cylinder (51), a spring clip (53) for accommodating a positioning pin (940) is fixed on the positioning seat (32), and the push pin (522) can push the positioning pin (940) in the spring clip (53) into the positioning pin hole of the housing (910) and the end cover (920) when the push pin (522) moves.

2. The multi-step assembly device for a micro solid rocket engine driven by compressed air according to claim 1 is characterized in that: The frame (1) comprises a base plate (11), a general fixing seat (12) and a thin cylinder seat (13) are fixed on the base plate (11), an upper clamping cylinder fixing seat (14) and the circulating ball bearing cylinder (51) are fixed on the general fixing seat (12), the upper clamping cylinder (31) is fixed on the upper clamping cylinder fixing seat (14), and the thin cylinder (431) is fixed on the thin cylinder seat (13).

3. The multi-step assembly device for a micro solid rocket engine driven by compressed air according to claim 1 is characterized in that: The shell base (2) has a cavity (21) inside for placing the shell (910), and the side wall (22) of the shell base (2) is provided with an opening (221) for facilitating the removal of the shell (910).

4. The multi-step assembly device for a micro solid rocket engine driven by compressed air according to claim 1 is characterized in that: The end cover (920) is detachably mounted on the positioning seat (32) by means of a split pin (33) penetrating the end cover (920).

5. The multi-step assembly device for a micro solid rocket engine driven by compressed air according to claim 1 is characterized in that: A push piece (425) for pushing the ring key (930) is fixed on the rack push rod (424).

6. The multi-step assembly device for a micro solid rocket engine according to claim 1, characterized in that: The rack push rod (424) is slidably mounted in a through hole (4211) provided on the motor base (421).

7. The multi-step assembly device for a micro solid rocket engine driven by compressed air according to claim 1 is characterized in that: The ring key groove seat (41) is provided with an arc opening which contacts the housing base (2).

8. The multi-step assembly device for a micro solid rocket engine driven by compressed air according to claim 1 is characterized in that: The magazine (53) is used to accommodate two rows of positioning pins (940), and the two rows of positioning pins (940) are arranged in a staggered manner. The two rows of positioning pins (940) can alternately fall into the working position (531) below the magazine (53) under the action of gravity, and the ejector pin (522) can push the positioning pins (940) located at the working position (531) into the positioning pin holes of the shell (910) and the end cover (920).

9. The multi-step assembly device for a micro solid rocket engine driven by compressed air according to claim 1 is characterized in that: A glass cover plate (532) is detachably fixedly mounted on the clip (53).

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