Small missile engine assembly system and method thereof

Abstract

The invention relates to the technical field of guided missile engine manufacturing, and discloses a small guided missile engine assembling system and method, the small guided missile engine assembling system comprises a feeding module used for bearing a missile body, a grain and a long tail pipe which are subjected to manual appearance inspection, and the feeding module comprises at least three independent material tables which correspond to the containing requirements of the missile body, the grain and the long tail pipe respectively; comprising a plurality of functional stations, and the station module at least comprises a cleaning station used for cleaning the interior of the projectile body; the gluing station is used for coating the grain with an adhesive; the weighing station is used for detecting the weight of the grain; the coding station is used for representing grain information; and the photographing alignment assembly station is used for aligning the projectile body and the grain, and all the functional stations are sequentially arranged along the assembly path. Comprising a curing conveying line and a conveying module matched with the curing conveying line.

Description

Technical Field

[0001] This invention relates to the field of missile engine manufacturing technology, and in particular to a small missile engine assembly system and method thereof. Background Technology

[0002] As a core power component of missile weapon systems, the assembly quality of small missile engines directly determines the missile's range, accuracy, and operational reliability. With missile weapons developing towards "high precision, miniaturization, and high integration," the internal structure of engines is becoming increasingly sophisticated. The assembly process requires high-precision combination of more than ten types of components, including the missile body, propellant grain, and long tail tube. Furthermore, stringent requirements are placed on the sealing of component connections, consistency of the center of gravity, and uniformity of adhesive application (e.g., the coaxiality of the missile body and propellant grain assembly must be ≤0.05mm, and the weight deviation of the propellant grain must be ≤0.5%). Currently, the assembly of small missile engines largely adopts the traditional model of "manual control + scattered equipment assistance."

[0003] The connection between each process relies on manual transfer of parts. For example, the weighing of propellant, coding, and cleaning of the projectile must be done manually one by one. The assembly cycle of a single engine is as long as 4-6 hours, which is difficult to adapt to the needs of mass production. At the same time, the randomness of manual operation leads to large differences in assembly parameters between different batches and even within the same batch of products.

[0004] Although some automated equipment is applied to a single assembly process (automatic glue applicator, precision weighing equipment), there is a lack of systematic integration of the entire assembly process. There is no unified control and data interaction interface between the various devices, forming "automation islands" that cannot achieve full automation from component loading to finished product inspection. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a small missile engine assembly system and method thereof.

[0006] The present invention provides a small missile engine assembly system and method, which adopts the following technical solution: A small missile engine assembly system and method include a feeding module comprising at least three independent material platforms corresponding to the placement positions of the missile body, propellant grain, and long tail tube, respectively; an assembly execution module adjacent to the workstation module for driving the components to be assembled to switch positions between different workstations; a workstation module with multiple functional workstations sequentially distributed along an assembly path, the multiple functional workstations including at least a cleaning workstation, an adhesive application workstation, a weighing workstation, a coding workstation, and a photographic alignment assembly workstation, each workstation being linearly arranged along a preset assembly path; and a conveying module connected to the feeding module, workstation module, and assembly execution module, the conveying module including a curing conveyor line and a mating curing line; the curing conveyor line passes through the bottom of each module and workstation, and the mating curing line is arranged parallel to the curing conveyor line.

[0007] Preferably, it further includes: a gantry operation module spanning above the assembly execution module and the mating curing line, the gantry operation module including a gripper assembly, the gripper assembly having at least two sets of independent grippers; and a detection station located at the end of the conveying module, the detection station including: a centroid positioning frame and a detection placement table, the centroid positioning frame and the detection placement table being arranged adjacent to each other.

[0008] Preferably, the assembly execution module includes: a sliding transport component and a pressing assembly component; the sliding transport component is slidably connected to the displacement slide rail, the pressing assembly component is disposed on one side of the sliding transport component, and the pressing assembly component and the sliding transport component are arranged in the same horizontal direction; the pressing assembly component has a longitudinal pressing function, which can drive the assembled component to flip at a preset angle.

[0009] Preferably, the sliding conveying assembly includes: a sliding seat sleeved on the outside of the displacement slide rail and slidably connected to the displacement slide rail; a rotating platform whose bottom is fixedly connected to the top of the sliding seat; a telescopic member with one end fixed to the rotating platform and the other end equipped with a gripping claw, the gripping claw forming a telescopic fit with the rotating platform through the telescopic member, and an anti-slip buffer layer provided on the inner side of the gripping claw.

[0010] Preferably, the photo-alignment assembly station is provided with an image acquisition unit and an angle adjustment unit; the image acquisition unit is located on one side of the photo-alignment assembly station, the angle adjustment unit is located in the middle of the photo-alignment assembly station, and the lens of the image acquisition unit is oriented towards the angle adjustment unit.

[0011] Preferably, the conveying module includes a curing conveyor line, a cooperating curing line, a lifting and derailing frame, and a cooperating conveying platform, wherein the lifting and derailing frame and the cooperating conveying platform are located above the curing conveyor line and work together with the curing conveyor line to achieve component lifting and transfer.

[0012] Preferably, each of the independent material platforms includes a stacking support platform, slide rails, and a material feeding and stacking frame; the bottom of the stacking support platform is provided with multiple positioning bolts, which are threadedly connected to the bottom of the stacking support platform; there are four slide rails, which are symmetrically distributed along the vertical center line of the stacking support platform, with each pair of slide rails forming a group; there are at least two material feeding and stacking frames, which are slidably connected to two groups of slide rails respectively, and the two material feeding and stacking frames are staggered along the height direction of the slide rails.

[0013] Preferably, the gantry operation module further includes: a gantry frame spanning above the assembly execution module, the curing line, and the medicine box loading platform; an assembly displacement frame sleeved on the outside of the crossbeam of the gantry frame and slidingly engaged with the crossbeam; the gantry frame is composed of steel structures and fixed by welding or bolts; and the top of the gripper assembly is fixedly connected to the bottom of the assembly displacement frame.

[0014] Secondly, an assembly method for a small missile engine assembly system is proposed, including the following steps: S1. After visually inspecting the projectile, propellant charge, and long tail tube, place each component on the corresponding material platform of the loading module to complete the loading of the components to be assembled. S2. The gripper of the sliding transport component of the assembly execution module grips the drug column, moves it to the weighing station, completes the weight detection, moves it to the coding station, and then moves it to the gluing station; at the same time, the gripper of the sliding transport component grips the projectile and moves it to the cleaning station. S3. The gripper of the sliding transport assembly moves the glued propellant to the flipping station for temporary storage and moves the cleaned projectile to the pressing and assembly assembly. Then, the gripper of the sliding transport assembly moves the flipped propellant to the photo alignment station to complete the initial assembly with the projectile. S4. The pre-assembled components are transferred to the curing conveyor line of the conveying module by the sliding transport assembly. After curing, they are transferred to the assembly position for temporary storage by the curing conveyor line. S5. Manual operations to complete the assembly of gaskets, application of adhesive, and installation of igniters at the assembly position; S6, the gantry operation module will move the components on the curing line to the worker's operating position; S7. The assembled projectile, along with the tooling plate, is transferred by the conveyor module to the next process or stacking station.

[0015] Preferably, in step S3, when the projectile and the propellant are aligned, the image acquisition unit of the alignment station acquires the projectile marking image, and the angle adjustment unit drives the projectile to rotate, ensuring that the assembly coaxiality error does not exceed a preset threshold.

[0016] In summary, the present invention has the following beneficial technical effects: The modules work together to achieve full-process automation: the dual-height stacking rack of the feeding module supports parallel feeding of multiple components; the curing conveyor line of the conveying module connects with the cooperating curing line to connect each process; and the dual grippers of the gantry operation module synchronously complete the assembly of long tailpipes and medicine boxes, shortening the assembly cycle of a single engine and improving efficiency.

[0017] The weighing station, coding station, and inspection station are linked together, and key information such as the weight of the drug cartridge, unique identifier, centroid data, and appearance inspection results are stored in real time. When a product has a quality problem, it can be quickly traced back to the specific process.

[0018] Automated equipment replaces manual labor in high-risk operations such as transporting and applying adhesives, avoiding safety accidents caused by collisions and static electricity. It also reduces human contact with adhesives and metal shavings, ensuring the health of operators. Humans only need to perform simple operations such as assembling gaskets and installing igniters at the assembly station. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a small missile engine assembly system.

[0020] Figure 2 This is a schematic diagram of the structure of the invention curing conveyor line.

[0021] Figure 3 This is a partial structural diagram of an invention for a small missile engine assembly system.

[0022] Figure 4 This is a structural diagram of the invention assembly execution module.

[0023] Figure 5 This is a structural diagram of the invention gantry operation module.

[0024] Explanation of reference numerals in the attached diagram: 1. Curing conveyor line; 2. Feeding module; 3. Assembly execution module; 4. Workstation module; 5. Gantry operation module; 6. Medicine box feeding platform; 7. Co-curing line; 8. Inspection station; 11. Conveyor track; 12. Co-conveying platform; 13. Lifting and derailing frame; 21. Stacking support platform; 22. Slide rail; 23. Feeding and stacking frame; 31. Pressing assembly component; 32. Sliding transport component; 33. Displacement slide rail; 321. Sliding seat; 322. Rotating platform; 323. Telescopic component; 324. Gripping claw; 41. Cleaning station; 42. Photo alignment assembly station; 43. Glue application station; 44. Weighing station; 45. Coding mechanism; 51. Gantry frame body; 52. Assembly displacement frame; 53. Gripping claw assembly; 71. Manual assembly station; 72. Waiting to be assembled station; 81. Drive frame; 82. Center of gravity positioning frame; 83. Inspection placement platform. Detailed Implementation

[0025] The following is in conjunction with the appendix Figure 1-5 The present invention will be described in further detail below.

[0026] Example 1 This invention discloses a small missile engine assembly system. (Refer to...) Figure 1 It includes a feeding module 2, an assembly execution module 3, a workstation module 4, a conveying module, a gantry operation module 5, and an inspection station 8. These modules work together to automate the assembly of components such as the projectile body, propellant charge, and long tail tube. The specific structure is as follows: like Figure 3 As shown, the loading module 2 is used to carry the projectile, propellant grain, and long tail tube after manual visual inspection, ensuring the accurate initial placement of the components to be assembled and providing a foundation for subsequent automated operations. This module includes at least three independent loading platforms, each corresponding to the placement requirements of the projectile, propellant grain, and long tail tube.

[0027] The structural details of a single independent material platform are as follows: The stacking support platform 21 serves as the basic support structure of the material platform, with multiple positioning bolts at the bottom. Adjusting these bolts allows for horizontal alignment of the stacking support platform 21, preventing component placement misalignment due to platform tilt. Four slide rails 22 are symmetrically arranged along the vertical center line of the stacking support platform 21, with two slide rails forming a group. These two groups of slide rails are arranged in parallel, providing guidance for the movement of the loading and stacking rack 23. At least two loading and stacking racks 23 are provided, each connected to one of the two groups of slide rails 22, allowing for horizontal sliding along the slide rails 22. The two loading and stacking racks 23 form two different working heights, allowing for the placement of different batches or types of components during operation without positional conflicts during relative movement, thus improving loading efficiency.

[0028] The assembly execution module 3, as the core execution unit of the system, is used to drive the position switching of the parts to be assembled between different workstations, and realize the gripping, transportation, flipping and pressing assembly of the parts. The assembly execution module 3 includes a sliding transportation component 32 and a pressing assembly component 31. The pressing assembly component 31 has a longitudinal pressing function, which can apply a preset pressure to the joint between the projectile and the propellant. The pressure value is set according to the material of the component and the assembly requirements to ensure that the projectile and the propellant are tightly fitted. At the same time, the component can also drive the assembled projectile and propellant to rotate around the transverse center by a preset angle, and cooperate with the sliding transport component 32 to transport them to the subsequent work station to meet the posture requirements of the subsequent gluing and alignment processes.

[0029] like Figure 4 As shown, the sliding conveying assembly 32 includes: a sliding seat 321, a rotating platform 322, a telescopic component 323, and a gripping claw 324. The sliding seat 321 is slidably connected to the displacement slide rail 22 and slides smoothly along the extension direction of the displacement slide rail 22 (i.e., the workstation layout direction). The sliding speed can be adjusted by the control system to adapt to the cycle time requirements of different processes. The rotating platform 322 is installed on the sliding seat 321 and drives the gripping claw 324 to rotate around a vertical line perpendicular to the conveying direction (rotation angle range 0°-360°), realizing the posture adjustment during the component handling process and ensuring that the component enters the next workstation at the correct angle. One end of the telescopic component 323 is connected to the rotating platform 322, and the other end is fixed to the gripper 324. It is driven by hydraulic or electric means to drive the gripper 324 to extend and retract along the work position, so that the gripper 324 can approach the predetermined gripping position to complete the gripping and release of the part. The inner side of the gripper 324 can also be provided with an anti-slip buffer layer (rubber material) to avoid scratches or squeezing deformation on the surface of the part during the gripping process.

[0030] Workstation module 4 includes: a cleaning station 41, a photo-alignment assembly station 42, an adhesive application station 43, and a weighing station 44. The cleaning station 41 is equipped with a high-pressure air jet device or a brush cleaning device. It is used to clean impurities inside the projectile, preventing residual metal fragments, dust, and other impurities from affecting the seal between the propellant and the projectile. The adhesive application station 43 is equipped with a glue gun, a glue volume controller, and a glue application trajectory planning device. It is used to apply adhesive (epoxy resin) to the bonding surfaces of the propellant. The glue volume control system can preset the glue application amount based on the propellant's dimensions (diameter, length), while the glue application trajectory planning device controls the glue gun to move along a preset path, ensuring uniform glue application without any missed areas. The weighing station 44 is equipped with a high-precision weighing sensor to detect the weight of the propellant, filtering out propellant propellants whose weight exceeds the allowable error range, thus preventing uneven engine thrust due to inconsistent propellant weights. The coding station is equipped with a laser coding machine or an inkjet coding machine to print unique identification information (batch number, production date, weight data) on the surface of the drug cartridge, enabling full life cycle traceability of the drug cartridge; the coding information can be uploaded to the control system in real time and stored in association with the weighing data.

[0031] The image-alignment assembly station 42 is a crucial station for the precise assembly of the projectile and propellant. It is equipped with an image acquisition unit and an angle adjustment unit. The image acquisition unit includes a high-definition industrial camera and a light source. The light source provides illumination, and the industrial camera is used to capture positioning marks (grid lines, QR codes) on the surface of the projectile. The angle adjustment unit includes a drive motor and a transmission mechanism. Based on the mark position information acquired by the image acquisition unit, it calculates the deviation between the current angle of the projectile and the preset assembly angle, and then drives the projectile to rotate longitudinally until the deviation is eliminated. During the rotation, it also drives the adhesive to be evenly applied to the bonding surface between the projectile and the propellant, further improving the bonding reliability.

[0032] The conveying module is used to transfer parts and tooling plates during the assembly process. It connects the feeding module 2, assembly execution module 3, workstation module 4, gantry operation module 5, and inspection station 8 to ensure the continuity of the assembly process. The conveying module includes a curing conveyor line 1, a mating curing line 7, a lifting and derailing frame 13, and a mating conveyor table 12. The curing conveyor line 1 adopts a chain conveyor structure. The conveying speed is adjusted by the controller according to the assembly rhythm. It transports parts and tooling plates between modules and workstations during the assembly process. At the same time, it works with a heating device to cure the adhesive.

[0033] In the above embodiments, further, as Figure 3 As shown, the arrangement sequence is from cleaning station 41 to photo alignment and assembly station 42 to glue application station 43 to weighing station 44 to coding station 45. This sequence is adapted to the process flow requirements from projectile cleaning to propellant glue application to weight detection, reducing the component handling distance.

[0034] The curing line 7 is set up in parallel with the curing conveyor line 1 and adopts a chain conveyor structure. It is mainly used for the temporary storage of components (projectiles and propellant assemblies to be assembled) and to provide a manual assisted assembly station, thereby relieving the transfer pressure of the curing conveyor line 1 and realizing the buffer between processes.

[0035] like Figure 2 As shown, the lifting and derailing frame 13 is installed at a specific position on the curing conveyor line 1 (at the workstation entrance or temporary storage position). It can be driven by a hydraulic cylinder or a pneumatic cylinder to lift the cooperating conveyor table 12 upward, thereby lifting the cooperating conveyor table 12 and the components it carries off from the curing conveyor line 1. This avoids friction between the components and the conveyor chain during the conveying process. At the same time, it facilitates the assembly execution module 3 or the gantry operation module 5 to perform gripping operations on the components. After the operation is completed, the lifting and derailing frame 13 drives the cooperating conveyor table 12 to descend, allowing the components to return to the curing conveyor line 1 for continued transfer.

[0036] like Figure 5 As shown, the gantry operation module 5 is used to grip, apply glue to, and assemble components such as long tail tubes and medicine boxes. Its working area covers the assembly execution module 3, works in conjunction with the curing line 7 and the medicine box loading platform 6, and achieves a wide range of multi-station operation coverage. This module includes a gripper assembly 53 with multi-degree-of-freedom motion, a gantry frame 51, and an assembly displacement frame 52.

[0037] The gripper assembly 53 includes at least two independent grippers, each equipped with a pressure sensor to monitor the gripping force in real time, preventing deformation of components due to excessive gripping force or detachment due to insufficient gripping force. The two grippers can grip the long tail tube and the medicine box respectively, enabling simultaneous operation of different components. The gantry frame 51 is constructed of steel and fixed by welding or bolts. The length and height of its crossbeams are designed according to the workstation layout to ensure that the gripper assembly 53 can cover all target operation areas.

[0038] The assembly displacement frame 52 is slidably connected to the crossbeam of the gantry frame 51, and can be displaced along the long axis of the gantry frame, driving the gripper assembly 53 to move synchronously; at the same time, the gripper assembly 53 itself can also achieve up and down lifting and horizontal rotation, forming multi-degree-of-freedom motion to meet the assembly requirements of different positions and postures.

[0039] Inspection station 8 is used to perform quality inspection on the assembled products and screen out unqualified products. Inspection station 8 includes: drive frame 81, center of gravity positioning frame 82 and inspection placement table 83. The center of gravity positioning structure includes a precision rotary table, a weight sensor and a data processing unit. The assembled engine is placed on the inspection placement table 83, and the engine is moved by the inspection placement table 83. The weight sensor collects the weight distribution data of the engine at different angles in real time to determine whether the center of gravity is within the preset range.

[0040] Inspection station 8 is equipped with an industrial camera and a dimensional measurement sensor. The industrial camera is used to photograph the engine exterior and detect whether there are scratches, deformations, glue defects, or other problems on the surface. The dimensional measurement sensor is used to measure the dimensions of key parts of the engine (such as the diameter of the projectile and the length of the tailpipe).

[0041] Example 2 Based on Example 1, an assembly method for a small missile engine assembly system is proposed, including the following steps: S1. Pre-processing of loading: The projectile, propellant charge, and long tail tube are visually inspected by the operator (the inspection includes whether there are scratches, deformations, cracks on the surface, and whether the dimensions meet the preliminary visual requirements). After confirming that there are no visual defects, the projectile, propellant charge, and long tail tube are placed on the loading racks 23 of the three independent material platforms of the loading module 2 respectively to complete the loading of the parts to be assembled. During the loading process, the position of the loading racks 23 is adjusted to ensure that the parts are within the gripping range of the gripper 324.

[0042] S2. The sliding transport component 32 of the assembly execution module 3 grasps the propellant column via the gripper 324 and slides it along the displacement slide rail 22 to the weighing station 44 of the workstation module 4. The weighing sensor detects the weight of the propellant column, and the detection data is uploaded to the control system in real time. If the weight meets the requirements, the sliding transport component 32 moves the propellant column to the coding station. The coding machine prints a unique identification information on the surface of the propellant column, and the coding information is also uploaded to the control system and stored in association with the weighing data. Subsequently, the sliding transport component 32 grasps the propellant column and moves it to the gluing station 43. The glue gun at the gluing station 43 applies adhesive to the bonding surface of the propellant column according to preset parameters. While the propellant column is being pre-treated, another set of grippers 324 of the sliding transport component 32 grasps the projectile and moves it to the cleaning station 41. The high-pressure air jet device at the cleaning station 41 cleans the impurities inside the projectile. After cleaning, the projectile waits to enter the next process.

[0043] S3. The sliding conveying assembly 32 transfers the coated propellant grains to the flipping station for temporary storage, while simultaneously grabbing and cleaning the projectile and transferring it to the pressing and assembly assembly 31. The pressing and assembly assembly 31 applies a preset axial pressure to the projectile to ensure its stability. The pressing pressure is set to 5-10 MPa, the curing temperature to 80±5℃, and the curing time to 30±2 min. These parameters are determined based on the strength of the projectile material (aluminum alloy) and the curing characteristics of the epoxy resin adhesive: a pressing pressure of 5-10 MPa can prevent projectile deformation and ensure tight adhesion of the propellant grains; a temperature of 80±5℃ is suitable for the curing requirements of the epoxy resin adhesive; and a time of 30±2 min ensures complete curing of the adhesive. For projectiles with a diameter of 50mm-80mm, the pressing pressure can be adjusted to 3... -12MPa, curing time adjusted to 25-35min; then drive the projectile to rotate around the vertical centerline by a preset angle (180°) so that the projectile's mating surface faces upward; then, the sliding transport assembly 32 moves the rotated propellant to the photo-alignment assembly station 42 so that the propellant mating surface and the projectile mating surface are initially attached; the image acquisition unit of the photo-alignment assembly station 42 acquires at least two sets of projectile marking images, and determines the deviation between the current angle of the projectile and the preset assembly angle by image comparison. The angle adjustment unit drives the projectile to rotate to eliminate the deviation and ensure that the assembly coaxiality error does not exceed the preset threshold (0.05mm); during the rotation of the projectile, the adhesive is evenly applied to the mating surface to complete the initial assembly of the projectile and the propellant.

[0044] In the above steps, the image acquisition unit uses a 2-megapixel industrial camera (30fps) to acquire two sets of positioning scribing images at both ends of the projectile; after removing noise through Gaussian filtering (3×3 convolution kernel), the Hough transform is used to extract the straight line equation of the scribing and calculate the angle deviation between the two sets of scribing; the angle adjustment unit uses a harmonic reducer drive (reduction ratio 1:100), and drives the motor to rotate according to the deviation value through PID control, adjusting the step size by 0.1° / time until the angle deviation is ≤0.01°, ensuring that the coaxiality error is ≤0.05mm.

[0045] S4. The sliding transport component 32 picks up the initially assembled projectile-propellant assembly and transfers it to the tooling plate of the curing conveyor line 1 of the transport module. The curing conveyor line 1 drives the tooling plate and the assembly into the curing area and cures the adhesive according to the preset curing temperature and time. After curing, the curing conveyor line 1 transfers the parts and the tooling plate to the assembly position 72 of the curing line 7 for temporary storage, waiting for manual assembly.

[0046] The curing conveyor line 1 and the assembly execution module are coordinated through a photoelectric switch. When the sliding transport assembly 32 places the component on the tooling plate of the curing conveyor line 1, the photoelectric switch sends a signal to the conveyor module controller to drive the curing conveyor line 1 to start. When the component reaches the assembly position, the conveyor module sends a signal to the manual operation terminal to prompt the operator to assist in the assembly. After the assembly is completed, the operator feeds back a signal through the terminal, and the conveyor module moves the component to the working area of ​​the gantry operation module.

[0047] S5: Manual assembly workers perform manual operations on the projectile-propellant assembly at assembly position 72; including: assembling gaskets at specific positions on the projectile (ensuring a tight fit between the gaskets and the projectile), applying adhesive to the joint between the gaskets and the projectile (enhancing sealing), and installing the igniter (ensuring reliable electrical and mechanical connections between the igniter and the projectile); after the manual operations are completed, the workers send a signal through the control system to notify the conveying module to move the component to the next process.

[0048] S6: The gantry collaborative assembly conveyor module moves the component to the working area of ​​the gantry operation module 5. The assembly displacement frame 52 of the gantry operation module 5 moves along the long diameter direction of the gantry frame 51, driving the first set of grippers to grab the long tail tube and move it to the gluing station 43. The gluing station 43 applies thread-locking adhesive and sealant according to the assembly requirements of the long tail tube (thread-locking adhesive is used to prevent loosening of the threaded connection between the long tail tube and the projectile, and sealant is used to enhance the sealing of the threaded connection). At the same time, the second set of grippers grabs the medicine box (grabbed from the medicine box loading platform 6) and moves it to the gluing station 43 to apply AB glue (AB glue is used to bond and fix the medicine box to the medicine column). After the gluing is completed, the assembly displacement frame 52 drives the two sets of grippers to move the long tail tube and the medicine box to the assembly station respectively. The first set of grippers connects the long tail tube to the projectile thread and tightens it (tightening torque can be preset), and the second set of grippers attaches the medicine box to the surface of the medicine column, completing the gantry collaborative assembly.

[0049] S7: The assembled projectile, along with the tooling plate, is then transported by the conveying module to inspection station 8. Inspection station 8 first uses the center of gravity positioning structure to check the engine's center of gravity position, and then checks its appearance, dimensions, and sealing. If the inspection is qualified, the conveying module moves the engine to the next process (packaging, warehousing) or stacking station. If the inspection is unqualified, the conveying module moves the engine to the rework station, where staff rework it according to the inspection report. After rework, the engine is re-inspected until it is qualified or deemed scrap.

[0050] Example 3 Based on Embodiments 1 and 2, a control system for a small missile engine assembly system is proposed to realize the coordinated control of each module of the system described in Embodiment 1 and the data flow of the assembly method described in Embodiment 2, so as to ensure the automation, intelligence and traceability of the entire assembly process.

[0051] The control system adopts a hierarchical architecture of central controller – distributed execution units, including the following core components: It uses an industrial-grade PLC (Programmable Logic Controller) as the core control unit, equipped with redundant power supplies and high-speed processors to ensure the real-time performance and reliability of control commands. It is equipped with an industrial Ethernet module, supporting PROFINET and EtherCAT industrial bus protocols, enabling high-speed data interaction with each distributed execution unit.

[0052] The central controller communicates with the execution controllers of each module via the EtherCAT industrial bus protocol, with a communication cycle of 1ms to ensure real-time command performance. When the central controller receives the component positioning signal from the feeding module (triggered by the material platform position sensor), it immediately issues a command to the assembly execution module to grab the medicine column, and simultaneously updates the status of the components to be processed in the workstation module to achieve coordinated action between modules.

[0053] The distributed execution unit is equipped with an independent execution controller (small PLC or motion controller) for each of the following modules: material feeding module 2, assembly execution module 3, workstation module 4, conveying module, gantry operation module 5, and inspection workstation 8. These controllers are responsible for receiving instructions from the central controller and driving the local equipment. Each execution unit has a built-in sensor interface module, which can be connected to position sensors (such as photoelectric switches and encoders), pressure sensors, weight sensors, image acquisition devices, etc., to achieve real-time monitoring of local operating conditions.

[0054] The sliding conveyor assembly's displacement rail is equipped with an absolute encoder to provide real-time feedback on the sliding seat position. The central controller calculates the target position of the sliding seat based on the workstation coordinates (weighing workstation coordinates X=1500mm, Y=800mm), and adjusts the servo motor speed through a PID algorithm to control the sliding seat positioning accuracy to ≤±0.02mm, ensuring that the component is accurately transferred to the target workstation.

[0055] When performing projectile marking identification, the positioning marks (etched lines, QR codes) on the projectile surface are accurately identified from images captured by industrial cameras, eliminating the influence of light interference and surface stains; a two-step method of "image preprocessing + feature extraction" is adopted. Image preprocessing: Image noise is removed by Gaussian filtering (3×3 kernel size), and the marked area is separated from the background by adaptive threshold segmentation (the threshold is dynamically adjusted according to the local gray mean) to solve the problem of uneven illumination; Feature extraction: If the marking is a scribing line, Hough transform is used to detect straight line features and output the angle and position coordinates of the scribing line; if the marking is a QR code, the QR code information is parsed using the Zbar QR code recognition library and associated with the unique ID of the component; the deviation between the current angle of the projectile and the preset angle is calculated based on the marking position, and the adjustment command of the drive motor is generated to avoid overshoot or oscillation during adjustment. Deviation calculation: Based on the preset angle, the actual position coordinates of the mark are converted into angle values ​​(such as the angle between the scribe line and the baseline) through coordinate transformation. Deviation value = actual angle - preset angle; Regulation and control: A PID control algorithm is used to dynamically adjust the speed and direction of the drive motor based on the deviation value. Proportional term (P): Directly outputs the adjustment amount based on the magnitude of the deviation, quickly reducing the deviation; Integral term (I): Accumulates historical deviations and eliminates static errors (such as adjustment residues caused by mechanical backlash); Differential term (D): Suppresses adjustment overshoot based on the rate of change of deviation to ensure angle stability; Termination condition: When the absolute value of the deviation is ≤0.01° and lasts for 100ms, the adjustment is considered complete and the motor is stopped.

[0056] Finally, the following points should be noted: First, in the description of this invention, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can refer to mechanical connection or electrical connection, or internal connection between two components, or direct connection. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationship. When the absolute position of the object being described changes, the relative positional relationship may change. Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other. In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0057] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A small missile engine assembly system, characterized in that, include: The feeding module includes at least three independent feeding platforms, corresponding to the placement positions of the projectile, propellant charge, and long tail tube, respectively; The assembly execution module is set adjacent to the workstation module and is used to drive the parts to be assembled to switch positions between different workstations. The workstation module has multiple functional workstations distributed sequentially along the assembly path; the multiple functional workstations include at least a cleaning workstation, an adhesive application workstation, a weighing workstation, a coding workstation, and a photo alignment assembly workstation, and each workstation is arranged linearly along a preset assembly path. The conveying module is connected to the feeding module, the workstation module, and the assembly execution module. The conveying module includes a curing conveyor line and a mating curing line. The curing conveyor line runs through the bottom of each module and workstation, and the mating curing line is set parallel to the curing conveyor line.

2. The small missile engine assembly system according to claim 1, characterized in that, Also includes: A gantry operation module is straddling the assembly execution module and the mating curing line. The gantry operation module includes a gripper assembly, which has at least two sets of independent grippers. The inspection station is located at the end of the conveying module; the inspection station includes a drive frame, a center of gravity positioning frame and an inspection placement table, the center of gravity positioning frame and the inspection placement table are arranged adjacent to each other, and the drive frame is used to drive the inspection placement table to move.

3. A small missile engine assembly system according to claim 1, characterized in that, The assembly execution module includes a sliding transport component and a pressing assembly component; the sliding transport component is slidably connected to the displacement slide rail, the pressing assembly component is located on one side of the sliding transport component, and the pressing assembly component and the sliding transport component are arranged in the same horizontal direction; the pressing assembly component has a longitudinal pressing function, which can drive the assembled component to flip at a preset angle.

4. A small missile engine assembly system according to claim 3, characterized in that, The sliding transport assembly includes: A sliding seat is sleeved on the outside of the displacement slide rail and slidably connected to the displacement slide rail; The rotating platform is fixedly connected at its bottom to the top of the sliding seat. The telescopic component is fixed at one end to the rotating platform and has a gripping claw installed at the other end. The gripper is telescopically connected to the rotating platform via a telescopic component; the inner side of the gripper is provided with an anti-slip buffer layer.

5. A small missile engine assembly system according to claim 1, characterized in that, The photo alignment assembly station is equipped with an image acquisition unit and an angle adjustment unit; the image acquisition unit is located on one side of the photo alignment assembly station, and the angle adjustment unit is located in the middle of the photo alignment assembly station, with the lens of the image acquisition unit facing the angle adjustment unit.

6. A small missile engine assembly system according to claim 1, characterized in that, The conveying module also includes a lifting derailment frame and a cooperating conveying platform; the cooperating conveying platform is located above the solidified conveying line, the lifting derailment frame is located below the cooperating conveying platform, and the lifting derailment frame is fixedly connected to the bottom of the cooperating conveying platform. The lifting derailment frame can drive the cooperating conveying platform to rise and fall in the vertical direction.

7. A small missile engine assembly system according to claim 1, characterized in that, Each independent material platform includes a stacking support platform, slide rails, and a material stacking rack; the bottom of the stacking support platform is provided with multiple positioning bolts, which are threadedly connected to the bottom of the stacking support platform; there are four slide rails, which are symmetrically distributed along the vertical center line of the stacking support platform, with each pair of slide rails forming a group; there are at least two material stacking racks, which are slidably connected to two groups of slide rails respectively, and the two material stacking racks are staggered along the height direction of the slide rails.

8. A small missile engine assembly system according to claim 2, characterized in that, The gantry operation module also includes: The gantry frame is positioned above the assembly execution module, the curing line, and the medicine box loading platform. Assemble the displacement frame, sleeve it on the outside of the crossbeam of the gantry frame and slide it with the crossbeam; The gantry frame is constructed of steel and fixed by welding or bolts; the top of the gripper assembly is fixedly connected to the bottom of the assembled displacement frame.

9. An assembly method for a small missile engine assembly system according to any one of claims 1-8, characterized in that, Includes the following steps: S1. After visually inspecting the projectile, propellant charge, and long tail tube, place each component on the corresponding material platform of the loading module to complete the loading of the components to be assembled. S2. In the assembly execution module, the gripper of the sliding transport component grabs the drug column, moves it to the weighing station, completes the weight detection, moves it to the coding station, and then moves it to the gluing station; at the same time, the gripper of the sliding transport component grabs the projectile and moves it to the cleaning station. S3. The gripper of the sliding transport assembly moves the glued propellant to the flipping station for temporary storage and moves the cleaned projectile to the pressing and assembly assembly. Then, the gripper of the sliding transport assembly moves the flipped propellant to the photo alignment station to complete the initial assembly with the projectile. S4. The pre-assembled components are transferred to the curing conveyor line of the conveying module by the sliding transport assembly. After curing, they are transferred to the assembly position for temporary storage by the curing conveyor line. S5. Manual operations to complete the assembly of gaskets, application of adhesive, and installation of igniters at the assembly position; S6, the gantry operation module will move the components on the curing line to the worker's operating position; S7. The assembled projectile, along with the tooling plate, is transferred by the conveyor module to the next process or stacking station.

10. The assembly method of a small missile engine assembly system according to claim 9, characterized in that, In step S3, when the projectile and the propellant are aligned, the image acquisition unit of the alignment station acquires the projectile marking image, and the angle adjustment unit drives the projectile to rotate to ensure that the assembly coaxiality error does not exceed the preset threshold.

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