Automatic sealing and gluing device and using method

Abstract

The invention provides an automatic sealing and gluing device and a using method. The automatic sealing and gluing device comprises a rotating platform, a plurality of positioning discs with different sizes, a double-component glue supply mechanism, a single-component glue supply mechanism, a robot and a glue gun head, the rotating platform is used for driving the carrier rocket riveting cabin to be glued to rotate; a plurality of positioning discs with different sizes are fixedly mounted on the rotating platform and are respectively used for positioning riveting cabins with corresponding sizes; the glue gun head is arranged on the robot and is used for directly gluing the riveting cabin; the double-component glue supply mechanism is used for providing a double-component glue solution, the single-component glue supply mechanism is used for providing a single-component glue solution, and the glue solutions of the two glue supply mechanisms are conveyed to the glue gun head through pipelines. According to the device, by arranging the positioning discs of various sizes, the device has wide adaptability to riveting cabins of different diameters; and the robot lifting platform is arranged, so that the device has wide adaptability to riveting cabins with different heights.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of launch vehicle cabin manufacturing, specifically, relates to an automatic sealing and gluing device and a use method, in particular, relates to an automatic sealing and gluing device for a launch vehicle riveted cabin. BACKGROUND

[0002] Currently, launch vehicles need to meet the launch task under the condition of medium rain to cope with all-weather environmental conditions and improve adaptability, so the sealing of the launch vehicle is increasingly important. The XX-12 launch vehicle (H5 state) full-vehicle rainproof task scenario starts from the transfer from the technical area to the launch area until ignition and launch. The launch vehicle adopts a full three-flat mode without a tower, and the full vehicle is not protected by a rotating platform in the launch area, and needs to be parked in the open environment for at least 3 days or more. In order to protect the cabin environment and the safety of the equipment on the rocket, the rocket needs to be rainproofed.

[0003] Because the structure size of the joint, gap and other parts between the skin and the end frame of the cabin can provide rainwater, which is larger than the installation of the standard part, the sealing work of these parts is carried out in the cabin section production stage. Therefore, the rainproof sealing of the rocket body structure of various types of launch vehicles adopts HM108 rainproof sealant or D05 silicone rubber, and the gluing parts include the joint between the end frame and the skin, the joint between the mouth frame and the skin, and the joint between the skin, and the gluing structure is mainly the form of joint outside sealing and corner filling.

[0004] The current glue mixing adopts manual air contact mixing, and the use time is only 4 hours. Manual gluing cannot guarantee uniform and stable gluing process, resulting in poor uniformity and consistency of the gluing track and the amount of glue. At the same time, the manual gluing operation mode cannot meet the capacity demand. At present, there is no automatic sealing and gluing device that can meet the needs of different diameters and different heights of launch vehicle riveted cabins, so an automatic sealing and gluing device and a use method are needed.

[0005] After searching the existing technology at home and abroad, it is found that patent document CN219356748U discloses an automatic gluing device inside a blade, which relates to the technical field of wind power equipment, and aims to solve the problem that the existing internal blade of a wind turbine has no automatic gluing device when gluing the secondary plate, and manual gluing is troublesome and laborious, which greatly reduces the gluing efficiency of the secondary plate inside the blade. Its technical scheme includes a mounting seat, a control console and a limiting rod, the mounting seat is rotatably connected with a screw rod inside, one end of the screw rod is fixedly connected with a first guide wheel outside the mounting seat, one side of the mounting seat is fixedly connected with a motor, the output end of the motor is fixedly connected with a second guide wheel, the first guide wheel and the second guide wheel are sleeved with a transmission belt outside, the limiting rod is provided with a material loading table outside, the material loading table is fixedly connected with a mechanical arm and a material box at the upper end, which achieves the purpose of convenient work and automatic gluing.

[0006] However, the patent document CN219356748U is a blade gluing device, which cannot realize automatic sealing and gluing of riveting cabin bodies with different heights and diameters, and does not simultaneously provide a double-component glue supply mechanism and a single-component glue supply mechanism, so that automatic coating of double-component glue cannot be realized, and quick switching of the double-component glue supply mechanism and the single-component glue supply mechanism cannot be realized.

[0007] The patent document CN108461664B discloses a full-automatic gluing and mounting system for a battery pack upper cover, which comprises a workbench for carrying various components, a static rack, a gluing robot, a gluing tower, an A-gel supply assembly, a B-gel supply assembly, a rack car tray positioning assembly, and a tightening robot for tightening the bolts of the battery pack upper cover to be glued after being pressed by the rack car tray positioning assembly. The system provided by the present application has high automation, can directly avoid the situation of bumping the upper cover, can avoid bumping the already coated glue, and can prevent the generation of unqualified products. The bolts are automatically fed and tightened to reduce errors. The glue is uniformly coated, has good consistency, and has smooth glue type. The system can effectively reduce manpower, reduce costs, and improve productivity. The reliable stability facilitates management and reduces the unqualified rate.

[0008] However, the patent document CN108461664B does not have a robot lifting platform, which is not conducive to gluing along the axial direction of the workpiece, and does not have wide adaptability to workpieces with different heights to be glued. Moreover, since the positioning disc does not have multiple sizes, it cannot realize quick installation and positioning of workpieces with multiple sizes. SUMMARY

[0009] In view of the defects in the prior art, the purpose of the present application is to provide an automatic sealing and gluing device and a use method.

[0010] According to the automatic sealing and gluing device provided by the present application, the device comprises a rotating platform, multiple positioning discs with different sizes, a double-component glue supply mechanism, a single-component glue supply mechanism, a robot, and a glue gun head. The rotating platform is used to drive the riveting cabin body of the carrier rocket to be glued to rotate. The multiple positioning discs with different sizes are fixedly installed on the rotating platform and are respectively used to position the riveting cabin body with the corresponding size. The glue gun head is arranged on the robot and is used to directly glue the riveting cabin body. The double-component glue supply mechanism is used to provide double-component glue, and the single-component glue supply mechanism is used to provide single-component glue. The glue of the two glue supply mechanisms is delivered to the glue gun head through a pipeline.

[0011] Preferably, the robot comprises a six-axis robot and a robot end quick-change disc. The robot end quick change disc is assembled on the end of the six-axis robot, and is used for switching the double-component glue supply mechanism and the single-component glue supply mechanism; The glue gun head is assembled on the robot end quick change disc.

[0012] Preferably, the robot further comprises a laser finder. The laser finder is assembled on the robot end quick change disc. The laser finder can scan the glue application position to confirm the position offset, and cooperate with the robot to automatically generate a motion path of the glue application track.

[0013] Preferably, the double-component glue supply mechanism is used for providing HM108 double-component glue, and the single-component glue supply mechanism is used for providing D05 glue.

[0014] Preferably, the robot further comprises a robot lifting platform. The six-axis robot is arranged on the robot lifting platform. The robot lifting platform is used for lifting and lowering the six-axis robot along the height direction, so as to realize axial glue application of the riveting cabin body.

[0015] Preferably, the double-component glue supply mechanism adopts a double-liquid screw dynamic mixing valve to realize AB component glue amount control, and the mixing valve controls the glue output amount by adjusting the rotating speed of a servo motor. The bottom of the double-component glue supply mechanism and the single-component glue supply mechanism is provided with a heightening platform. The double-component glue supply mechanism and the single-component glue supply mechanism are configured with automatic glue supply pumps. The double-component glue supply mechanism and the single-component glue supply mechanism use isolation liquid inside, to prevent air from entering the glue.

[0016] Preferably, the robot further comprises a zero point correction mechanism. The zero point correction mechanism is arranged on the robot lifting platform, and is used for detecting the perpendicularity and height of the replaced needle after each time the glue gun head replaces the mixing pipe and the needle.

[0017] Preferably, an absolute value encoder is installed at the center of the rotating platform, and the robot arm determines the glue application starting position according to the position value of the encoder. The axis of the positioning disc coincides with the rotation axis of the rotating platform.

[0018] According to the application, an automatic sealing and glue application device is provided. S1: moving the riveting cabin body to the positioning disc of the corresponding size, and connecting by using the positioning pin, so that the riveting cabin body is concentric with the positioning disc. S2: determining the glue application starting position of the robot arm according to the absolute value encoder at the center of the rotating platform. S3: Collecting the position information of the glue gap on the riveting cabin body by using the laser locator, calculating the deviation, and feeding back the deviation data to the control system of the robot; S4: The six-axis robot drives the glue gun head to correct the original teaching trajectory position, realizing automatic position tracking in the glue coating process; S5: When coating the circumferential glue coating track, the rotating platform is driven to rotate the riveting cabin body, and the double-component glue supply mechanism is used to control the glue to be coated to the corresponding joint of the riveting cabin body through the glue gun head; S6: When coating the axial glue coating track, the robot lifting platform drives the six-axis robot to move axially along the riveting cabin body, and the double-component glue supply mechanism is used to control the glue to be coated to the corresponding joint of the riveting cabin body through the glue gun head; S7: After the glue coating is completed, the riveting cabin body is moved to the turnover area.

[0019] Preferably, in S5, the servo motor in the double-component glue supply mechanism is used to control the HM108 glue to flow out of the glue gun head uniformly and be coated to the joint between the skin and the end frame of the riveting cabin body; In S6, the servo motor in the double-component glue supply mechanism is used to control the HM108 glue to flow out of the glue gun head uniformly and be coated to the joint between the skin and the skin of the riveting cabin body.

[0020] Compared with the prior art, the present application has the following beneficial effects: 1. In the present application, the device has wide adaptability to different diameter riveting cabin bodies by setting the φ3350-φ4370mm positioning disc; 2. In the present application, the device has wide adaptability to the height 1330-4070mm riveting cabin bodies by the robot lifting platform and the six-axis robot; 3. The present application improves the sealing and glue coating efficiency, glue coating track precision, and realizes the glue coating process parameter data acquisition, so that the product quality is traceable, the structure is simple and reliable, and the use method is stable; 4. The automatic sealing and glue coating device provided by the present application has simple structure, can safely and reliably complete the automatic sealing and glue coating of the launch vehicle riveting cabin body, improves the automatic sealing and glue coating efficiency, glue coating track precision of the launch vehicle riveting cabin body, and realizes the glue coating process parameter data acquisition, so that the product quality is traceable, and the assembly method is stable. BRIEF DESCRIPTION OF DRAWINGS

[0021] Other features, objects and advantages of the present application will become more apparent through reading the following detailed description of non-limiting embodiments with reference to the following drawings: Fig. 1 It is a front view of the device of the present application; Fig. 2 It is a side view of the device of the present application; Fig. 3Figure 1 is a schematic view of the device according to the present application.

[0022] Figure 1 is a schematic view of the device according to the present application. DETAILED DESCRIPTION

[0023] The present application will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present application. These are within the scope of the present application.

[0024] The present application will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present application. These are within the scope of the present application. Figs. 1 to 3 The present application will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present application. These are within the scope of the present application.

[0025] As Fig. 1 The present application proposes an automatic sealing and gluing device and a method for using the same, which comprises a rotating platform 1, a φ4370 positioning disc 2, a φ3800 positioning disc 3, a φ3350 positioning disc 4, a double-component glue supply mechanism 5, a zero-point correction mechanism 6, a single-component glue supply mechanism 7, an electrical cabinet 8, a control cabinet 9, a robot lifting platform 10, a six-axis robot 11, a robot end quick-change disc 12, a glue gun head 13, and a laser locator 14.

[0026] The rotating platform 1 is used to drive the riveting cabin body to rotate circumferentially, so as to realize circumferential gluing of the riveting cabin body; the φ4370 positioning disc 2 is assembled on the rotating platform 1 and is used to position the φ4370 riveting cabin body; the φ3800 positioning disc 3 is assembled on the rotating platform 1 and is used to position the φ3800 riveting cabin body; and the φ3350 positioning disc 4 is assembled on the rotating platform 1 and is used to position the φ3350 riveting cabin body.

[0027] The double-component glue supply mechanism 5 is used to provide HM108 double-component glue; the zero-point correction mechanism 6 is used to detect the verticality and height of the needle head after replacing the mixing tube and the needle head each time, and the robot automatically offsets according to the measurement data; and the single-component glue supply mechanism 7 is used to provide D05 glue.

[0028] The electrical cabinet 8 is used to provide electrical line control of the automatic sealing and gluing device; and the control cabinet 9 is used to operate the automatic sealing and gluing device by using a numerical control system.

[0029] The robot lifting platform 10 is used to lift and lower the six-axis robot 11 in the height direction, so as to realize the axial glue coating of the riveting cabin body; the six-axis robot 11 is used to provide bearing and control of the glue gun head 13 and the laser locator 14; the robot end quick change disc 12 is assembled at the end of the six-axis robot 11, and is used for switching of the two-component glue and the single-component glue. The glue of the two-component glue supply mechanism 5 and the single-component glue supply mechanism 7 is delivered to the glue gun head 13 through a pipeline.

[0030] The six-axis robot 11 has a load weight of 50 kg, an arm span radius of 2509 mm, a robot repeatability of ±0.08 mm, and a robot end quick change disc 12 repeatability of ±0.015 mm.

[0031] The glue gun head 13 is assembled on the robot end quick change disc 12, and is used to realize accurate proportioning and uniform glue output of the HM108 glue; the laser locator 14 is assembled on the robot end quick change disc 12, has high-precision and high-efficiency identification of product features, and feeds back deviation data information to the robot control system, so that the robot drives the glue gun head 13 to correct the offline trajectory program, and realizes automatic position tracking in the glue coating process. The laser locator 14 has a quick guiding function, and can cooperate with the robot to automatically generate a motion path for the glue coating trajectory.

[0032] An absolute value encoder is installed at the center of the rotating platform 1, and the system determines the glue coating starting position according to the encoder position value.

[0033] The laser locator 14 scans the glue coating position to confirm the position offset, so that the six-axis robot 11 drives the glue gun head 13 to correct the original teaching trajectory position, and realizes automatic position tracking in the glue coating process.

[0034] The two-component glue supply mechanism 5 and the single-component glue supply mechanism 7 are configured with automatic glue supply pumps, are suitable for 5-gallon glue barrels, and the inside of the two glue supply mechanisms can use a liquid isolation to avoid air entering the glue. In addition, a pad platform about 1 m high can be arranged at the bottom of the two glue supply mechanisms, which shortens the length of the glue supply pipeline, and ensures the glue output quality and efficiency.

[0035] Optionally, the two-component glue supply mechanism 5 adopts a double-liquid screw rod dynamic mixing valve to realize AB component glue amount control, and the screw valve glue amount controls the glue output amount according to the rotation speed of the servo motor. The glue output amount of the two-component glue supply mechanism 5 and the single-component glue supply mechanism 7 can be 0.005 ml / s-5 ml / s.

[0036] Specifically, the φ4370 positioning disc 2, the φ3800 positioning disc 3 and the φ3350 positioning disc 4 are used for positioning according to different riveting cabin positioning pin holes, so that the riveting cabin is concentric with the positioning disc, and the relative position of the riveting cabin on the positioning disc is consistent each time. The positioning pin holes with φ10.2 and φ14.5 can be arranged on the positioning disc, so as to ensure the positioning of the riveting cabin with a diameter of φ3350-φ4370 mm.

[0037] The application further provides a use method of the automatic sealing and gluing device, which comprises the following steps: S1: hoisting the φ3800 riveting cabin on the rotating platform 1 and the φ3800 positioning disc 3, and connecting by using the positioning pin, so that the φ3800 riveting cabin is concentric with the φ3800 positioning disc 3, and the relative position of the same riveting cabin on the rotating disc is consistent each time; S2: the system determines the gluing starting position according to the absolute value encoder on the center of the rotating platform 1.

[0038] S3: the laser positioner 14 collects the position information of the gluing gap on the φ3800 riveting cabin, and obtains the deviation of the horizontal direction (X / Y) and the vertical direction (Z) of the position after being processed by the control host, and feeds back the deviation data information to the control system of the robot; S4: the six-axis robot 11 drives the glue gun head 13 to correct the original teaching track position, and realizes automatic position tracking in the gluing process; S5: when the circumferential gluing track of the φ3800 riveting cabin is coated, the rotating platform 1 drives the φ3800 riveting cabin to rotate, the servo motor in the double-component glue supply mechanism 5 controls the HM108 glue to flow out of the glue gun head 13 and be coated to the joint between the skin and the end frame of the riveting cabin; S6: when the axial gluing track of the φ3800 riveting cabin is coated, the robot lifting platform 10 drives the six-axis robot 11 to move along the axial direction of the riveting cabin, the servo motor in the double-component glue supply mechanism 5 controls the HM108 glue to flow out of the glue gun head 13 and be coated to the joint between the skin and the skin of the riveting cabin; S7: hoisting the φ3800 riveting cabin to the turnover area; The automatic sealing and gluing device is provided with the φ3350 positioning disc 4, the φ3800 positioning disc 3 and the φ4370 positioning disc 2, so that the device has wide adaptability to different diameter riveting cabins; the robot lifting platform 10 and the six-axis robot 11 are used, so that the device has wide adaptability to different height riveting cabins.

[0039] Tests prove that the application of the device and the assembly method can improve the automatic sealing and gluing efficiency of the launch vehicle riveting cabin by 40%.

[0040] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like refer to the orientation or positional relationship shown in the drawings, and are only intended to facilitate the description of the present application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0041] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which do not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict, provided that the combinations do not conflict.

Claims

1. An automatic sealing and gluing device, characterized in that: include: A rotating platform (1), a plurality of positioning plates of different sizes, a two-component glue supply mechanism (5), a single-component glue supply mechanism (7), a robot, and a glue gun head (13); The rotating platform (1) is used to drive the riveted cabin of the launch vehicle to be glued to rotate; A plurality of positioning discs of different sizes are fixedly mounted on the rotating platform (1) and are respectively used to position riveted cabins of corresponding sizes; The glue gun head (13) is provided on the robot and is used to apply glue directly to the riveted cabin; The two-component glue supply mechanism (5) is used to provide two-component glue, and the single-component glue supply mechanism (7) is used to provide single-component glue, and the glue of the two glue supply mechanisms is transported to the glue gun head (13) through a pipeline; The robot comprises a six-axis robot (11) and a quick-change plate (12) at the end of the robot; The robot end quick change plate (12) is assembled at the end of the six-axis robot (11) and is used to switch and connect the two-component glue supply mechanism (5) and the single-component glue supply mechanism (7); The glue gun head (13) is assembled on the quick-change plate (12) at the end of the robot; The robot further comprises: a laser position finder (14); The laser position finder (14) is assembled on the quick-change plate (12) at the end of the robot; The laser position finder (14) can scan the gluing position to confirm the position offset, and cooperate with the robot to automatically generate a motion path for the gluing trajectory; The automatic sealing and gluing device further comprises: a robot lifting platform (10); The six-axis robot (11) is arranged on the robot lifting platform (10); The robot lifting platform (10) is used to lift and lower the six-axis robot (11) in the height direction, thereby achieving axial gluing of the riveted cabin body.

2. The automatic sealing and gluing device according to claim 1, characterized in that: The two-component glue supply mechanism (5) is used to provide HM108 two-component glue, and the single-component glue supply mechanism (7) is used to provide D05 glue.

3. The automatic sealing and gluing device according to claim 1, characterized in that: The two-component glue supply mechanism (5) uses a two-liquid screw dynamic mixing valve to control the glue quantity of the AB components. The mixing valve controls the glue output by adjusting the speed of the servo motor. A raised platform is provided at the bottom of the two-component glue supply mechanism (5) and the single-component glue supply mechanism (7); The two-component glue supply mechanism (5) and the single-component glue supply mechanism (7) are equipped with automatic glue supply pumps; An isolation liquid is used in the two-component glue supply mechanism (5) and the single-component glue supply mechanism (7) to prevent air from entering the glue liquid.

4. The automatic sealing and gluing device according to claim 1, characterized in that: Also includes: Zero point correction mechanism (6); The zero point correction mechanism (6) is arranged on the robot lifting platform (10) and is used to detect the verticality and height of the replaced and installed needle each time the glue gun head (13) replaces the mixing tube and the needle.

5. The automatic sealing and gluing device according to claim 1, characterized in that: An absolute encoder is installed at the center of the rotating platform (1), and the robotic arm determines the starting position of gluing according to the encoder position value; The axis of the positioning disk coincides with the rotation axis of the rotating platform (1).

6. A method for using the automatic sealing and gluing device according to any one of claims 1 to 5, characterized in that: include: S1: Move the riveted cabin to the positioning plate of corresponding size and connect it with the positioning pin so that the riveted cabin is concentric with the positioning plate; S2: Determine the starting position of the gluing arm according to the absolute encoder on the center of the rotating platform (1); S3: using a laser position finder (14) to collect position information of the glue gap on the riveted cabin, calculating the deviation, and feeding the deviation data back to the control system of the robot; S4: Control the six-axis robot (11) to drive the glue gun head (13) to correct the original teaching trajectory position, so as to realize automatic position tracking during the gluing process; S5: When applying the circumferential glue coating track, the rotating platform (1) is driven to rotate the riveted cabin body, and the two-component glue supply mechanism (5) is used to control the glue liquid to be coated on the corresponding joints of the riveted cabin body through the glue gun head (13); S6: When applying the axial glue coating track, the robot lifting platform (10) drives the six-axis robot (11) to move axially along the riveted cabin body, and the two-component glue supply mechanism (5) controls the glue liquid to be applied to the corresponding joint of the riveted cabin body through the glue gun head (13); S7: After gluing is completed, move the riveted cabin to the turnover area.

7. The method of use according to claim 6, characterized in that: In S5, the servo motor in the two-component glue supply mechanism (5) is used to control the HM108 glue to evenly flow out of the glue gun head (13) and be applied to the joint between the riveted cabin skin and the end frame; In S6, the servo motor in the two-component glue supply mechanism (5) is used to control the HM108 glue to evenly flow out of the glue gun head (13) and be applied to the skin-to-skin joints of the riveted cabin body.

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