Movable clamping fine adjustment device

Abstract

The invention discloses a movable clamping fine adjustment device which comprises a base arranged on a first guide rail and a first driving structure capable of driving the base to move along the first guide rail, a second guide rail perpendicular to the first guide rail is arranged on the base, and a supporting frame is arranged on the second guide rail. A second driving structure capable of driving the supporting frame to move along the second guide rail is arranged on the base, a bracket moving in the vertical direction and a third driving structure capable of driving the bracket to move in the vertical direction are arranged on the supporting frame, an arc-shaped groove is formed in the bracket, and the axis of the arc-shaped groove and the first guide rail are in the same direction; the positions, located on the two opposite sides of the axis of the arc-shaped groove, of the bracket are each provided with a fourth driving structure and a holding arm, and the holding arms are rotationally arranged on the bracket and can be driven by the fourth driving structures to rotate close to or away from the arc-shaped groove. The movable clamping fine adjustment device can complete assembly of an upper section engine and a lower section engine, and is easy to operate, convenient to use, capable of saving time and labor, safe and efficient.

Description

Technical Field

[0001] This invention relates to the aerospace field, and in particular to a clamping and fine-tuning device for aerospace production and assembly. Background Technology

[0002] In recent years, with the rapid advancement of science and technology and the rapid development of the aerospace industry in my country, the country's demand for rocket engines has also been increasing.

[0003] Currently, rocket engine assembly mainly involves horizontally mounting the upper and lower engine sections onto fixed arc-shaped brackets, followed by manual assembly. The engines are relatively large, making fine-position adjustments difficult after placement on the arc-shaped brackets. Furthermore, the horizontal mounting of the engines causes some deformation, further hindering assembly. This installation method requires a large number of personnel, is inefficient, and cannot meet current production needs. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a movable clamping and fine-tuning device that can complete the assembly of the upper and lower engine sections, and is simple to operate, convenient to use, time-saving, labor-saving, safe and efficient.

[0005] The present invention relates to a movable clamping fine-tuning device, comprising a base disposed on a first guide rail arranged in a horizontal direction and a first drive structure capable of driving the base to move along the first guide rail. The base is provided with a second guide rail perpendicular to the first guide rail and arranged in a horizontal direction. A support frame is provided on the second guide rail. The base is provided with a second drive structure capable of driving the support frame to move along the second guide rail. The support frame is provided with a bracket that moves vertically and a third drive structure capable of driving the bracket to move vertically along the support frame. The bracket is provided with an upwardly arranged arc-shaped groove. The axis of the arc-shaped groove is in the same direction as the first guide rail. A fourth drive structure and a clamping arm are provided on both sides of the axis of the arc-shaped groove on the bracket. The clamping arm is rotatably disposed on the bracket and can rotate towards or away from the arc-shaped groove under the drive of the fourth drive structure.

[0006] The present invention provides a movable clamping fine-tuning device, wherein the base is slidably mounted on a first guide rail, the first driving structure includes a first motor, a gear and a rack, the first motor is mounted on the base, the output shaft of the first motor is connected to the gear, the rack is parallel to the first guide rail, and the gear meshes with the rack.

[0007] The present invention provides a movable clamping fine-tuning device, wherein there are two first guide rails, racks, and gears, with the two racks located between the two first guide rails. The output shaft of the first motor is connected to the input shaft of the gearbox, which is mounted on a base. The gearbox has two output shafts, each connected to one end of a transmission shaft. The other ends of the transmission shafts are connected to the input shafts of two speed reducers, which are mounted on the base. The output shafts of the two speed reducers are connected to two gears, and the two gears mesh with the two racks.

[0008] The present invention provides a movable clamping fine-tuning device, wherein the support frame is slidably mounted on a second guide rail, the second drive structure includes a second motor, a lead screw and a nut, the lead screw is rotatably mounted on a base and parallel to the second guide rail, the output shaft of the second motor is connected to one end of the lead screw, the second motor is mounted on the base, a nut is threaded onto the lead screw, and the nut is connected to the support frame.

[0009] The present invention provides a movable clamping fine-tuning device, wherein the base is provided with two proximity switches arranged along the length of the second guide rail, and the support frame is provided with two proximity switch sensing seats, and the two proximity switch sensing seats are respectively arranged in a one-to-one correspondence with the two proximity switches.

[0010] The present invention provides a movable clamping fine-tuning device, wherein the bracket is provided with a third guide rail arranged vertically, the support frame is provided with a slider that cooperates with the third guide rail, the slider is slidably disposed on the third guide rail, and the third driving structure consists of two first telescopic cylinders arranged vertically, one end of the telescopic rod of the two first telescopic cylinders is arranged upward and is respectively hinged to the bracket at positions on opposite sides of the axis of the arc-shaped groove, and one end of the cylinder body of the two first telescopic cylinders is arranged downward and is connected to the support frame.

[0011] The present invention relates to a movable clamping fine-tuning device, wherein the support frame includes two opposing frames connected by a support rod. Both frames are slidably mounted on a second guide rail. The support rod is connected to a nut. Slider blocks are provided on opposite sides of the two frames. A third guide rail is provided on opposite sides of the arc-shaped groove axis of the bracket. The bracket is slidably connected to the sliders on opposite sides of the two frames via the third guide rails on opposite sides of the arc-shaped groove axis. One end of the cylinder of each of the two first telescopic cylinders is connected to the two frames respectively.

[0012] The present invention provides a movable clamping fine-tuning device, wherein the two ends of the clamping arm are a hinged end and a free end, respectively. The hinged end is hinged to the bracket, and the free end extends upward toward the bracket. The fourth driving structure is a second telescopic cylinder, which is located on the side of the clamping arm away from the arc-shaped groove. One end of the cylinder body of the second telescopic cylinder is hinged to the bracket, and one end of the telescopic rod of the second telescopic cylinder is hinged to the clamping arm.

[0013] The present invention provides a movable clamping fine-tuning device, wherein a flexible pad is provided on the wall of the arc-shaped groove, and a spacer groove is provided on the wall of the arc-shaped groove. No flexible pad is provided at the spacer groove, and a flexible pad is provided on the free end near the arc-shaped groove.

[0014] The arc-shaped groove has circumferentially arranged arc-shaped supports on its groove wall. The arc-shaped supports are arranged concentrically with the arc-shaped groove. The free end of the clamping arm has an extended clamping claw located on the side of the clamping arm closer to the arc-shaped groove. Flexible pads are provided on the arc-shaped side of the arc-shaped support away from the groove wall and on the end of the extended clamping claw away from the clamping arm. The arc-shaped side of the arc-shaped support away from the groove wall has a spacer groove, and no flexible pad is provided at the spacer groove.

[0015] The present invention provides a movable clamping fine-tuning device, wherein the flexible pad is felt.

[0016] The movable clamping and fine-tuning device of this invention differs from existing technologies in that, during use, at least one of the upper and lower engine sections of the rocket is mounted on the movable clamping and fine-tuning device. Before installing the upper and / or lower engine sections, the movable clamping and fine-tuning device needs to be arranged. Specifically, the first guide rail is arranged along the front-to-back direction, and since the second guide rail is perpendicular to the first guide rail, it is arranged along the left-to-right direction. The following description uses examples of one of the upper and lower engine sections being fixed on an existing arc-shaped bracket while the other is mounted on the movable clamping and fine-tuning device, and of both upper and lower engine sections being mounted on the movable clamping and fine-tuning device.

[0017] When one of the upper and lower engine sections is fixedly mounted on the existing arc-shaped bracket and the other is mounted on the movable clamping and fine-tuning device, the following example illustrates the situation where the upper engine is fixedly mounted on the existing arc-shaped bracket and the lower engine is mounted on the movable clamping and fine-tuning device. After fixing the upper engine section to the existing arc-shaped bracket, ensure that the axes of both sections are coaxial and arranged along the front-rear direction. Move the clamping and fine-tuning device to the docking end of the upper engine section, and arrange the first guide rail along the front-rear direction, while ensuring that the lower engine section, after being mounted on the clamping and fine-tuning device, is coaxial with the upper engine section. Next, the lower engine section is placed in the arc-shaped groove of the bracket, and the fourth drive structure drives the retaining arms to rotate closer to the arc-shaped groove until the two retaining arms hold the lower engine section tightly in the arc-shaped groove. At this time, the axis of the lower engine section is coaxial with the axis of the arc-shaped groove. Since the first guide rail is arranged in the front-back direction, the axis of the arc-shaped groove, which is in the same direction as the first guide rail, is also arranged in the front-back direction. Therefore, the axis of the lower engine section, which is coaxial with the axis of the arc-shaped groove, is also arranged in the front-back direction, which allows the lower engine section to be basically coaxial with the upper engine section. Next, the coaxiality of the upper and lower engine sections is adjusted based on the axial difference between them. This can be achieved by: first driving the base along the first guide rail (allowing the base, support frame, bracket, and lower engine section to move together in the front-rear direction); second driving the support frame along the second guide rail (allowing the support frame, bracket, and lower engine section to move together in the left-right direction); and third driving the bracket and its lower engine section vertically until the upper and lower engine sections are aligned and aligned coaxially. Finally, the upper and lower engine sections are assembled. Therefore, the movable clamping fine-tuning device can adjust the position of the lower engine section in the front-rear, left-right, and vertical directions to ensure coaxial alignment and final assembly with the upper engine section.

[0018] When the upper and lower engine sections are mounted on the movable clamping and fine-tuning device, it is equivalent to replacing the existing arc-shaped bracket used to fix the upper engine section with the movable clamping and fine-tuning device. The method of mounting the upper engine section on the movable clamping and fine-tuning device is the same as the method of mounting the lower engine section on the movable clamping and fine-tuning device, and will not be described again. In this way, both the upper and lower engine sections are mounted on the movable clamping and fine-tuning device. During the coaxial docking of the upper and lower engine sections, the position of the upper engine section can be adjusted in the front-rear, left-right, and vertical directions, as well as the position of the lower engine section, to achieve coaxial docking, and then the two are assembled.

[0019] In summary, the movable clamping and fine-tuning device of the present invention can complete the assembly of the upper and lower engine sections, and is simple to operate, convenient to use, time-saving, labor-saving, safe and efficient.

[0020] The invention will now be further described with reference to the accompanying drawings. Attached Figure Description

[0021] Figure 1 This is a front view of the movable clamping fine-tuning device of the present invention;

[0022] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0023] Figure 3 This is a top view of the movable clamping fine-tuning device of the present invention;

[0024] Figure 4 This is a left view of the movable clamping fine-tuning device of the present invention;

[0025] Figure 5 This is a schematic diagram of the arm-hugging action in this invention;

[0026] Figure 6 The three-dimensional movable clamping fine-tuning device of the present invention Figure 1 ;

[0027] Figure 7 The three-dimensional movable clamping fine-tuning device of the present invention Figure 2 ;

[0028] Figure 8 This is a front view of the bracket embodiment one of the present invention;

[0029] Figure 9 This is a perspective view of the bracket embodiment one of the present invention;

[0030] Figure 10 This is a perspective view of the first embodiment of the arm-mounted device in this invention;

[0031] Figure 11 This is a perspective view of embodiment two of the bracket in this invention;

[0032] Figure 12 This is a perspective view of the second embodiment of the arm-holding device in this invention.

[0033] Figure reference numerals:

[0034] 01. First guide rail; 02. First sliding block; 03. Base; 04. Second guide rail; 05. Second sliding block; 06. Support frame; 07. Bracket; 08. Arc-shaped support; 09. Second telescopic cylinder; 10. Arm; 11. Extended gripper; 12. Upper or lower engine section; 13. Arc-shaped groove; 14. Extension; 15. First telescopic cylinder; 16. Cable displacement sensor; 17. Frame; 18. Support rod; 19. Gear; 20. Rack; 21. Reducer; 22. Drive shaft; 23. First motor; 24. Gearbox; 25. Second motor; 26. Lead screw; 27. Bearing seat; 28. Proximity switch sensor seat; 29. ​​Proximity switch; 30. Nut; 31. Slider; 32. Third guide rail; 33. Spacing groove on the arc-shaped support; 34. Spacing groove on the arc-shaped groove. Detailed Implementation

[0035] like Figure 1 As shown, and in combination Figure 2-12 As shown, the movable clamping fine-tuning device of the present invention includes a base 03 disposed on a first guide rail 01 arranged in a horizontal direction and a first driving structure capable of driving the base 03 to move along the first guide rail 01. The base 03 is provided with a second guide rail 04 perpendicular to the first guide rail 01 and arranged in a horizontal direction. A support frame 06 is provided on the second guide rail 04. The base 03 is provided with a second driving structure capable of driving the support frame 06 to move along the second guide rail 04. The support frame 06 is provided with a bracket 07 that moves vertically and a third driving structure capable of driving the bracket 07 to move vertically along the support frame 06. The bracket 07 is provided with an upwardly arranged arc-shaped groove 13. The axis of the arc-shaped groove 13 is in the same direction as the first guide rail 01. A fourth driving structure and a clamping arm 10 are provided on both sides of the axis of the arc-shaped groove 13 on the bracket 07. The clamping arm 10 is rotatably disposed on the bracket 07 and can rotate closer to or away from the arc-shaped groove 13 under the drive of the fourth driving structure.

[0036] like Figure 1-7 As shown, the present invention provides a movable clamping fine-tuning device, wherein the base 03 is slidably mounted on the first guide rail 01, and the first driving structure includes a first motor 23, a gear 19, and a rack 20. The first motor 23 is mounted on the base 03, and the gear 19 is connected to the output shaft of the first motor 23. The rack 20 is parallel to the first guide rail 01, and the gear 19 meshes with the rack 20.

[0037] This invention relates to a movable clamping fine-tuning device, wherein there are two first guide rails 01, two racks 20, and two gears 19. The two first guide rails 01 are parallel to each other, and the two racks 20 are also parallel to each other, and the racks 20 and the first guide rails 01 are also parallel to each other. A first sliding block 02 is fixedly provided at the bottom of the base 03 to cooperate with the first guide rail 01. The first sliding block 02 is slidably connected to the first guide rail 01, so that the base 03 can slide on the first guide rail 01 through the first sliding block 02. Both racks 20 are located between two first guide rails 01. The output shaft of the first motor 23 is connected to the input shaft of the gearbox 24. The gearbox 24 is fixedly mounted on the base 03. The gearbox 24 has two output shafts. The two output shafts of the gearbox 24 are respectively fixedly connected to one end of two transmission shafts 22 through couplings. The other ends of the two transmission shafts 22 are respectively fixedly connected to the input shafts of two reducers 21 through couplings. Both reducers 21 are fixedly mounted on the base 03. The output shafts of the two reducers 21 are respectively coaxially fixedly connected to two gears 19. The two gears 19 mesh with the two racks 20 respectively.

[0038] The first motor 23, gearbox 24, two drive shafts 22, and two reducers 21 are all located between the two racks 20. The first motor 23 is fixed on the gearbox 24, which in turn is fixed on the base 03. That is, the first motor 23 is fixed to the base 03 via the gearbox 24. The two drive shafts 22 are located on opposite sides of the first motor 23 / gearbox 24, and the two reducers 21 are also located on opposite sides of the first motor 23 / gearbox 24. The two gears 19 are also located on opposite sides of the first motor 23 / gearbox 24. Both drive shafts 22 are arranged horizontally and are perpendicular to the two racks 20 / first guide rail 01. The gearbox 24 and reducers 21 can be fixed to the base 03 by welding, or alternatively, support plates for fixing the gearbox 24 and reducers 21 can be welded to the base 03 first, and then the gearbox 24 and reducers 21 can be fixed to their respective support plates. The teeth of the two racks 20 are arranged facing upwards, and the two gears 19 are located above the two racks 20 respectively and mesh with the two racks 20 respectively.

[0039] When the first motor 23 is started, it drives two transmission shafts 22 to rotate synchronously via the gearbox 24. The two transmission shafts 22, in turn, drive two gears 19 to rotate synchronously via two reducers 21. Since the two gears 19 mesh with two racks 20, they can roll synchronously along the length of the racks 20. Because the gearbox 24 and reducers 21 are fixed to the base 03, and the racks 20 are parallel to the first guide rail 01, the base 03, along with the support frame 06 and bracket 07 mounted on it, slide together along the first guide rail 01 under the drive of the gears 19. In summary, the first motor 23 can drive the base 03, support frame 06, and bracket 07 to slide together along the first guide rail 01.

[0040] like Figure 1 , 2 As shown in Figures 4-7, the movable clamping fine-tuning device of the present invention includes a support frame 06 slidably mounted on a second guide rail 04. The second drive structure includes a second motor 25, a lead screw 26, and a nut 30. The lead screw 26 is rotatably mounted on a base 03 and parallel to the second guide rail 04. The output shaft of the second motor 25 is connected to one end of the lead screw 26. The second motor 25 is mounted on the base 03. The nut 30 is threaded onto the lead screw 26 and is fixedly connected to the support frame 06.

[0041] Two second guide rails 04 are provided, which are parallel to each other and spaced apart. A lead screw 26 is located between the two second guide rails 04 and is rotatably mounted on the base 03 via a bearing seat 27. The lead screw 26 is parallel to both second guide rails 04 and is a ball screw. A second motor 25 is fixedly mounted on the base 03, and the output shaft of the second motor 25 is coaxially and fixedly connected to one end of the lead screw 26. A second sliding block 05 is fixedly provided at the bottom of the support frame 06 to cooperate with the second guide rails 04. The second sliding block 05 is slidably connected to the second guide rails 04, so that the support frame 06 can slide on the second guide rails 04 via the second sliding block 05.

[0042] When the second motor 25 is started, it drives the lead screw 26 to rotate. Since the nut 30 is fixedly connected to the support frame 06, and the support frame 06 is slidably connected to the second guide rail 04 via the second sliding block 05, the nut 30 will not rotate with the lead screw 26 under the constraint of the support frame 06. Instead, it can only move along the axial direction of the lead screw 26. Because the lead screw 26 is parallel to the second guide rail 04 (i.e., the axial direction of the lead screw 26 is parallel to the second guide rail 04), the support frame 06 and the bracket 07 mounted on it can slide together along the second guide rail 04 via the second sliding block 05 under the drive of the nut 30. At this time, the support frame 06 and the bracket 07 slide together relative to the base 03. In summary, the second motor 25 can drive the support frame 06 and the bracket 07 to slide together along the second guide rail 04.

[0043] like Figure 1 , 3 As shown in Figures 5 and 7, to prevent the support frame 06 from slipping off the second guide rail 04, two proximity switches 29 are fixedly installed on the base 03, arranged along the length of the second guide rail 04. That is, the two proximity switches 29 are respectively arranged near both ends of the second guide rail 04. Two proximity switch sensing seats 28 are fixedly installed on the support frame 06, and the two proximity switch sensing seats 28 are arranged in a one-to-one correspondence with the two proximity switches 29. The two proximity switches 29 are respectively referred to as the first proximity switch 29 and the second proximity switch 29, and the two proximity switch sensing seats 28 are respectively referred to as the first proximity switch sensing seat 28 and the second proximity switch sensing seat 28. The first proximity switch sensing seat 28 is arranged corresponding to the first proximity switch 29, and the second proximity switch sensing seat 28 is arranged corresponding to the second proximity switch 29. The first proximity switch 29 is arranged at one end near the second guide rail 04, and the second proximity switch 29 is arranged at the other end near the second guide rail 04. Both proximity switch sensing bases 28 are located between the two proximity switches 29. The first proximity switch sensing base 28 is arranged close to the first proximity switch 29 (i.e., the two are arranged correspondingly), and the second proximity switch sensing base 28 is arranged close to the second proximity switch 29 (i.e., the two are arranged correspondingly).

[0044] When the second motor 25 drives the support frame 06 to slide towards one end of the second guide rail 04, during this process, the first proximity switch sensing seat 28 moves closer to the first proximity switch 29, while the second proximity switch sensing seat 28 moves away from the second proximity switch 29. After the support frame 06 slides a certain distance, the first proximity switch sensing seat 28 comes to the sensing area of ​​the first proximity switch 29, and the first proximity switch 29 is triggered, which sends a signal to the PLC controller. After receiving the signal, the PLC controller issues an instruction to the second motor 25, and the second motor 25 stops running. Similarly, when the second motor 25 reverses and drives the support frame 06 to slide towards the other end of the second guide rail 04, during this process, the second proximity switch sensor base 28 moves closer to the second proximity switch 29, while the first proximity switch sensor base 28 moves away from the first proximity switch 29. After the support frame 06 slides a certain distance, the second proximity switch sensor base 28 reaches the sensing area of ​​the second proximity switch 29, thus triggering the second proximity switch 29, which sends a signal to the PLC controller. Upon receiving the signal, the PLC controller issues a command to the second motor 25, causing the second motor 25 to stop running. Thus, under the action of the proximity switch 29 and the proximity switch sensor base 28, the support base will not slip off the second guide rail 04.

[0045] like Figure 1 , 3 As shown in Figures 5-9 and 11, the movable clamping fine-tuning device of the present invention includes a vertically arranged third guide rail 32 fixedly mounted on the bracket 07, and a slider 31 that cooperates with the third guide rail 32 fixedly mounted on the support frame 06. The slider 31 is slidably mounted on the third guide rail 32, i.e., the slider 31 is slidably connected to the third guide rail 32. In this way, the bracket 07 can slide vertically along the support frame 06 via the third guide rail 32 and the slider 31, thus achieving the purpose of having a vertically movable bracket 07 on the support frame 06.

[0046] The third driving structure consists of two vertically arranged first telescopic cylinders 15. One end of the telescopic rod of each first telescopic cylinder 15 faces upward and is hinged to the bracket 07 on opposite sides of the axis of the arc-shaped groove 13. One end of the cylinder body of each first telescopic cylinder 15 faces downward and is fixedly connected to the support frame 06. The first telescopic cylinders 15 are electric cylinders. When the telescopic rods of both first telescopic cylinders 15 extend upward simultaneously, the bracket 07 slides upward along the support frame 06; conversely, when the telescopic rods of both first telescopic cylinders 15 retract downward simultaneously, the bracket 07 slides downward along the support frame 06. Two first telescopic cylinders 15 are located on opposite sides of the bracket 07, and are symmetrically arranged along the axis of the arc-shaped groove 13. In this way, one end of the telescopic rod of the two first telescopic cylinders 15 can be hinged to the bracket 07 on opposite sides of the axis of the arc-shaped groove 13. When the telescopic rods of the two first telescopic cylinders 15 extend and retract, they can apply a balanced upward pushing force and a downward pulling force to the bracket 07, that is, make the bracket 07 subject to balanced force, so that the bracket 07 can slide vertically along the support frame 06 more smoothly.

[0047] like Figure 1 , 3 As shown in Figure -12, the movable clamping fine-tuning device of the present invention includes a support frame 06 comprising two opposing frame bodies 17, which are fixedly connected by a support rod 18. Both frame bodies 17 are slidably mounted on a second guide rail 04. The support rod 18 is fixedly connected to a nut 30. Slider blocks 31 are fixedly mounted on two opposing sides of the two frame bodies 17. The bracket 07 is provided with a third guide rail 32 on both sides of the axis of the arc-shaped groove 13. The bracket 07 is slidably connected to the sliders 31 on the two opposing sides of the two frame bodies 17 via the third guide rails 32 on both sides of the axis of the arc-shaped groove 13. One end of the cylinder of each of the two first telescopic cylinders 15 is fixedly connected to the two frame bodies 17.

[0048] The present invention provides a movable clamping fine-tuning device, wherein the two ends of the clamping arm 10 are a hinged end and a free end, respectively. The hinged end is hinged to the bracket 07, and the free end extends upward toward the bracket 07. The fourth driving structure is a second telescopic cylinder 09, which is located on the side of the clamping arm 10 away from the arc-shaped groove 13. One end of the cylinder body of the second telescopic cylinder 09 is hinged to the bracket 07, and one end of the telescopic rod of the second telescopic cylinder 09 is hinged to the clamping arm 10.

[0049] Combination Figure 8-11As shown, the bracket 07 is a vertically arranged square plate structure, which includes two horizontal end faces (top and bottom) and two vertical end faces (left and right). After an arc-shaped groove 13 is opened in the middle of the upper end face, penetrating the front and rear sides of the bracket 07, the bracket 07 has an overall U-shaped structure. Extensions 14 are fixedly provided on the left and right sides of the arc-shaped groove 13 on the upper end face of the bracket 07, and the extensions 14 extend away from the arc-shaped groove 13. The two extensions 14 are located on opposite sides of the axis of the arc-shaped groove 13 of the aforementioned bracket 07. Therefore, each extension 14 has a fourth drive structure and a retaining arm 10 on its upper side (the hinge end of the retaining arm 10 is hinged to the upper side of the extension 14, one end of the cylinder of the second telescopic cylinder 09 is also hinged to the upper side of the extension 14, one end of the telescopic rod of the second telescopic cylinder 09 is hinged to the side of the retaining arm 10 away from the arc-shaped groove 13, and the hinge position of the telescopic rod of the second telescopic cylinder 09 and the retaining arm 10 is arranged close to the free end of the retaining arm 10). The telescopic rods of the two first telescopic cylinders 15 are respectively hinged to the two extensions 14. Meanwhile, the bracket 07 positions below the two extensions 14, i.e., the left and right vertical end faces of the bracket 07, are also located on opposite sides of the axis of the arc-shaped groove 13 of the aforementioned bracket 07. Therefore, each of the left and right vertical end faces of the bracket 07 is provided with a third guide rail 32.

[0050] The bracket 07 is located between the two frames 17 of the support frame 06. The third guide rail 32 on the left vertical end face of the bracket 07 is slidably connected to the slider 31 on one frame 17, and the third guide rail 32 on the right vertical end face of the bracket 07 is slidably connected to the slider 31 on the other frame 17. In this way, the bracket 07 can be driven to slide vertically between the two frames 17 of the support frame 06 by the extension and retraction of the two first telescopic cylinders 15.

[0051] Two extensions 14 are located above the two frames 17 respectively. A pull-rope displacement sensor 16 is provided between each frame 17 and its upper extension 14. The pull-rope displacement sensor 16 is used to measure the displacement between the frame 17 and the extension 14, that is, it can measure the displacement of the bracket 07 sliding vertically along the support frame 06. The pull-rope displacement sensor 16 can send the measured displacement signal to the PLC controller, and the PLC controller controls the first telescopic cylinder 15 to operate based on the displacement signal.

[0052] The second guide rail 04 includes two mutually isolated second guide rail sections. The two frames 17 of the support frame 06 are slidably connected to the two second guide rail sections through the second sliding block 05. The two proximity switches 29 and the two proximity switch sensing bases 28 are located between the two second guide rail sections. The two proximity switches 29 are arranged close to the two second guide rail sections, which can be regarded as the two proximity switches 29 being arranged close to the two ends of the second guide rail 04, that is, the two proximity switches 29 are arranged along the length direction of the second guide rail 04.

[0053] The second telescopic cylinder 09 is an electric cylinder. When the telescopic rod of the second telescopic cylinder 09 extends, the clamping arm 10 rotates closer to the arc-shaped groove 13. Conversely, when the telescopic rod of the second telescopic cylinder 09 retracts, the clamping arm 10 rotates away from the arc-shaped groove 13.

[0054] like Figure 8-10 As shown, where Figure 8 , 9 The structure shown is that of the first embodiment of bracket 07. Figure 10 The structure shown is that of the first embodiment of the clamping arm 10, as follows: A circumferentially arranged arc-shaped support 08 is fixedly provided on the groove wall of the arc-shaped groove 13. The arc-shaped support 08 is arranged concentrically with the arc-shaped groove 13. An extended clamping claw 11 is fixedly provided at the free end of the clamping arm 10. The extended clamping claw 11 is located on the side of the clamping arm 10 near the arc-shaped groove 13. Flexible pads are fixedly provided on the arc-shaped side of the arc-shaped support 08 away from the groove wall of the arc-shaped groove 13 and on the end of the extended clamping claw 11 away from the clamping arm 10. A spacer groove 33 is provided on the arc-shaped side of the arc-shaped support 08 away from the groove wall of the arc-shaped groove 13. No flexible pad is provided at the spacer groove 33.

[0055] The arc-shaped support 08 has an outer arc-shaped side and an inner arc-shaped side. The outer arc-shaped side of the arc-shaped support 08 abuts against the wall of the arc-shaped groove 13 of the bracket 07, and the inner arc-shaped side is the arc-shaped side of the arc-shaped support 08 that is away from the wall of the arc-shaped groove 13.

[0056] like Figure 11 , 12 As shown, where Figure 11 The structure shown is that of bracket 07 in embodiment two. Figure 12 The structure shown is that of the second embodiment of the arm 10, specifically as follows: a flexible pad is fixedly provided on the groove wall of the arc-shaped groove 13, and a spacer groove 34 is provided on the groove wall of the arc-shaped groove 13. No flexible pad is provided at the spacer groove 34. A flexible pad is fixedly provided on the free end near the arc-shaped groove 13. Therefore, in this embodiment, the arc-shaped support 08 is not provided on the groove wall of the arc-shaped groove 13 of the bracket 07, but a flexible pad is directly provided. Furthermore, the free end of the arm 10 is not provided with an extended gripper 11, but a flexible pad is directly provided.

[0057] Embodiment 1 of bracket 07 and arm 10 is suitable for rocket upper and lower section engines 12 with smaller diameters. Embodiment 2 of bracket 07 and arm 10, due to the absence of the arc-shaped support 08 and extended claw 11, is suitable for rocket upper and lower section engines 12 with larger diameters. Of course, the specific diameter of the arc-shaped groove 13 on bracket 07, the size of the arc-shaped support 08, the size of arm 10, and the size of extended claw 11 can all be determined according to the actual diameter of the rocket upper and lower section engines 12.

[0058] When installing the upper / lower stage rocket engine 12 onto the bracket 07, first retract the telescopic rods of the two second telescopic cylinders 09, so that both clamping arms 10 rotate away from the arc-shaped groove 13 (the two clamping arms 10 open), fully exposing the arc-shaped groove 13. Then, make the axis of the upper / lower stage engine 12 parallel to the axis of the arc-shaped groove 13, and then place the upper / lower stage engine 12 into the arc-shaped groove 13. At this time, the upper / lower stage engine 12 abuts against the flexible pad on the arc-shaped support 08 of the bracket 07 embodiment one or against the flexible pad on the arc-shaped groove 13 of the bracket 07 embodiment two. Next, the telescopic rods of the two second telescopic cylinders 09 are extended, causing both clamping arms 10 to rotate close to the arc-shaped groove 13 (closing both clamping arms 10) until the flexible pad on the extended clamping claw 11 of embodiment one or the flexible pad on the free end of embodiment two of embodiment 10 abuts against the upper / lower section engine 12. In this way, the two clamping arms 10 clamp the upper / lower section engine 12 within the arc-shaped groove 13 of the bracket 07. Figure 1 As shown. After the upper / lower section engine 12 is clamped by the clamping arm 10, it can move together with the bracket 07. The clamping arm 10 provides a fastening and protection function for the upper / lower section engine 12.

[0059] In embodiment 07 of the bracket, the inner arc-shaped side of the arc-shaped support 08 matches the shape of the upper or lower section engine 12. After the upper or lower section engine 12 is installed on the arc-shaped support 08, the axis of the arc-shaped support 08, the axis of the arc-shaped groove 13, and the axis of the upper / lower section engine 12 are all arranged coaxially. The end of the extended gripper 11 that abuts against the upper or lower section engine 12 (i.e., the end away from the gripper arm 10) is an arc-shaped end face, which matches the shape of the upper or lower section engine 12.

[0060] In embodiment 2 of bracket 07, the arc-shaped groove 13 matches the shape of the upper or lower engine 12. After the upper or lower engine 12 is installed on the arc-shaped groove 13, the axis of the arc-shaped groove 13 is arranged coaxially with the axis of the upper or lower engine 12. The side of the free end of the arm 10 that abuts against the upper or lower engine 12 (i.e., the side near the arc-shaped groove 13) is an arc-shaped side surface, which matches the shape of the upper or lower engine 12.

[0061] The purpose of providing a spacer groove 33 on the arc-shaped support 08 in Embodiment 1 of Bracket 07 and a spacer groove 34 on the arc-shaped groove 13 in Embodiment 2 of Bracket 07 is to avoid stress concentration when the upper and lower engine sections 12 are clamped. Because the spacer groove 33 on the arc-shaped support 08 does not contact the upper and lower engine sections 12 when they are clamped, the spacer groove 33 divides the arc-shaped support 08 into two parts that abut against the upper and lower engine sections 12, thus avoiding stress concentration. Similarly, the purpose of providing a spacer groove 34 on the arc-shaped groove 13 in Embodiment 2 of Bracket 07 is also to avoid stress concentration when the upper and lower engine sections 12 are clamped.

[0062] The present invention relates to a movable clamping fine-tuning device, wherein the flexible pad is felt. In addition to felt, other flexible materials can also be used for the flexible pad. The function of the flexible pad is to prevent damage to the upper and lower sections of the engine 12 when they are clamped.

[0063] like Figure 1-12 As shown, the movable clamping fine-tuning device of the present invention differs from the prior art in that, in use, at least one of the upper and lower engine sections 12 of the rocket is mounted on the movable clamping fine-tuning device. Before installing the upper and / or lower engine section 12, the movable clamping fine-tuning device needs to be arranged first. Specifically, the first guide rail 01 is arranged along the front-to-back direction, and since the second guide rail 04 is perpendicular to the first guide rail 01, it is arranged along the left-to-right direction. The following description uses examples of one of the upper and lower engine sections 12 being fixedly mounted on an existing arc-shaped bracket while the other is mounted on the movable clamping fine-tuning device, and both upper and lower engine sections 12 being mounted on the movable clamping fine-tuning device respectively.

[0064] When one of the upper and lower engine sections 12 is fixedly mounted on the existing arc-shaped bracket and the other is mounted on the movable clamping and fine-tuning device, the following example illustrates the situation where the upper engine section 12 is fixedly mounted on the existing arc-shaped bracket and the lower engine section 12 is mounted on the movable clamping and fine-tuning device. After fixing the upper engine section 12 to the existing arc-shaped bracket, the axes of the two are coaxial, and both axes are arranged in the front-rear direction. The clamping and fine-tuning device is moved to the docking end side of the upper engine section 12, and the first guide rail 01 is arranged in the front-rear direction. It is also necessary to ensure that the lower engine section 12 can be coaxially arranged with the upper engine section 12 after being mounted on the clamping and fine-tuning device. Next, the lower engine 12 is placed in the arc-shaped groove 13 of the bracket 07, and the fourth drive structure drives the holding arm 10 to rotate closer to the arc-shaped groove 13 until the two holding arms 10 hold the lower engine 12 tightly in the arc-shaped groove 13. At this time, the axis of the lower engine 12 is coaxial with the axis of the arc-shaped groove 13. Since the first guide rail 01 is arranged in the front-back direction, the axis of the arc-shaped groove 13, which is in the same direction as the first guide rail 01, is also arranged in the front-back direction. Therefore, the axis of the lower engine 12, which is coaxial with the axis of the arc-shaped groove 13, is also arranged in the front-back direction, so that the lower engine 12 can be basically coaxial with the upper engine 12. Next, the coaxiality of the upper and lower engine sections 12 is adjusted according to the axial difference between them. Specifically, the base 03 can be driven along the first guide rail 01 via the first drive structure, allowing the base 03, the support frame 06 and bracket 07 mounted on it, and the lower engine section 12 to move together in the front-rear direction. The support frame 06 can be driven along the second guide rail 04 via the second drive mechanism, allowing the support frame 06, the bracket 07 mounted on it, and the lower engine section 12 to move together in the left-right direction. The bracket 07 and the lower engine section 12 mounted on it can be driven vertically via the third drive structure until the upper and lower engine sections 12 are aligned and connected. Then, the upper and lower engine sections 12 can be assembled. Therefore, the movable clamping fine-tuning device can adjust the position of the lower engine section 12 in the front-rear, left-right, and vertical directions to achieve coaxial connection and final assembly with the upper engine section 12.

[0065] When the upper and lower engine sections 12 are respectively mounted on the movable clamping and fine-tuning device, it is equivalent to replacing the existing arc-shaped bracket used to fix the upper engine section 12 with the movable clamping and fine-tuning device. The method of mounting the upper engine section 12 on the movable clamping and fine-tuning device is the same as the method of mounting the lower engine section 12 on the movable clamping and fine-tuning device, and will not be described again. In this way, both the upper and lower engine sections 12 are mounted on the movable clamping and fine-tuning device. During the coaxial docking of the upper and lower engine sections 12, the position of the upper engine section 12 can be adjusted in the front-back, left-right, and vertical directions, and the position of the lower engine section 12 can also be adjusted in the front-back, left-right, and vertical directions to achieve coaxial docking, and then the two are assembled.

[0066] In summary, the movable clamping fine-tuning device of the present invention can complete the assembly of the upper and lower engine sections 12, and is simple to operate, convenient to use, time-saving, labor-saving, safe and efficient.

[0067] In this invention, the first guide rail 01 and the rack 20 are both arranged in the front-back horizontal direction, the second guide rail 04 is arranged in the left-right horizontal direction, and the axes of the arc-shaped groove 13 of the bracket 07 and the arc-shaped support 08 are also arranged in the front-back horizontal direction. After the upper section and / or lower section engine 12 is installed on the movable clamping fine adjustment device, the axis of the upper section and / or lower section engine 12 is also arranged in the front-back horizontal direction.

[0068] The arm 10 and the extended claw 11 are welded from profiles, with a simple and flat structure and high strength. The extended claw 11 can be fixed to the arm 10 or removed from the arm 10, thus making it suitable for products with two different diameters and highly adaptable.

[0069] The bracket 07 and the arc-shaped support 08 are welded from profiles, with a simple and flat structure and high strength. The arc-shaped support 08 can be fixed on the bracket 07 and can also be removed from the bracket 07, so it can be used for products with two different diameters, making it highly versatile.

[0070] Both the support frame 06 and the base 03 are welded from profiles, resulting in a simple, flat structure with high strength. This invention uses a PLC controller combined with a proximity switch 29 and a pull-rope displacement sensor 16 to control the actions of the first motor 23, the second motor 25, the first telescopic cylinder 15, and the second telescopic cylinder 09, enabling precise movement control and making assembly more convenient and faster.

[0071] This invention enables arbitrary adjustment of the assembly position of the product (upper and / or lower engine 12), adjustable support points, accurate position adjustment, flexible use, stable installation speed, improved production efficiency, no personnel required for installation, saving labor costs, and safe, time-saving and efficient production process.

[0072] It should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "middle", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0073] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0074] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A movable clamping fine-tuning device, characterized in that: The device includes a base mounted on a first guide rail arranged horizontally and a first drive structure capable of driving the base to move along the first guide rail. The base has a second guide rail perpendicular to the first guide rail and arranged horizontally. A support frame is mounted on the second guide rail. The base has a second drive structure capable of driving the support frame to move along the second guide rail. The support frame has a bracket that moves vertically and a third drive structure capable of driving the bracket to move vertically along the support frame. The bracket has an upwardly oriented arc-shaped groove with the axis of the arc-shaped groove in the same direction as the first guide rail. A fourth drive structure and a retaining arm are provided on both sides of the bracket at positions opposite to the axis of the arc-shaped groove. The retaining arm is rotatably mounted on the bracket and can rotate towards or away from the arc-shaped groove under the drive of the fourth drive structure.

2. The movable clamping fine-tuning device according to claim 1, characterized in that: The base is slidably mounted on the first guide rail. The first drive structure includes a first motor, a gear, and a rack. The first motor is mounted on the base. A gear is connected to the output shaft of the first motor. The rack is parallel to the first guide rail and meshes with the gear.

3. The movable clamping fine-tuning device according to claim 2, characterized in that: The first guide rail, rack, and gear are all provided in pairs. The two racks are located between the two first guide rails. The output shaft of the first motor is connected to the input shaft of the gearbox. The gearbox is mounted on the base and has two output shafts. The two output shafts of the gearbox are respectively connected to one end of two transmission shafts. The other ends of the two transmission shafts are respectively connected to the input shafts of two reducers. The two reducers are both mounted on the base. The output shafts of the two reducers are respectively connected to two gears. The two gears mesh with the two racks respectively.

4. The movable clamping fine-tuning device according to claim 3, characterized in that: The support frame is slidably mounted on the second guide rail. The second drive structure includes a second motor, a lead screw, and a nut. The lead screw is rotatably mounted on the base and parallel to the second guide rail. The output shaft of the second motor is connected to one end of the lead screw. The second motor is mounted on the base. A nut is threaded onto the lead screw and is connected to the support frame.

5. The movable clamping fine-tuning device according to claim 4, characterized in that: The base is provided with two proximity switches arranged along the length of the second guide rail, and the support frame is provided with two proximity switch sensing seats, which are arranged in a one-to-one correspondence with the two proximity switches.

6. The movable clamping fine-tuning device according to claim 5, characterized in that: The bracket is provided with a third guide rail arranged vertically, and the support frame is provided with a slider that cooperates with the third guide rail. The slider is slidably mounted on the third guide rail. The third driving structure consists of two first telescopic cylinders arranged vertically. One end of the telescopic rod of each of the two first telescopic cylinders is arranged upward and is respectively hinged to the bracket at positions on opposite sides of the axis of the arc-shaped groove. One end of the cylinder body of each of the two first telescopic cylinders is arranged downward and is connected to the support frame.

7. The movable clamping fine-tuning device according to claim 6, characterized in that: The support frame includes two opposing frames connected by a support rod. Both frames are slidably mounted on a second guide rail. The support rod is connected to a nut. Slider blocks are provided on opposite sides of both frames. A third guide rail is provided on opposite sides of the arc-shaped groove axis of the bracket. The bracket is slidably connected to the sliders on opposite sides of the two frames via the third guide rails on opposite sides of the arc-shaped groove axis. One end of each of the two first telescopic cylinders is connected to the two frames.

8. The movable clamping fine-tuning device according to claim 7, characterized in that: The two ends of the arm are a hinged end and a free end, respectively. The hinged end is hinged to the bracket, and the free end extends upwards from the bracket. The fourth drive structure is a second telescopic cylinder. The second telescopic cylinder is located on the side of the arm away from the arc-shaped groove. One end of the cylinder body of the second telescopic cylinder is hinged to the bracket, and one end of the telescopic rod of the second telescopic cylinder is hinged to the arm.

9. The movable clamping fine-tuning device according to claim 8, characterized in that: The arc-shaped groove has a flexible pad on its wall, and a spacer groove on its wall. No flexible pad is provided at the spacer groove. A flexible pad is provided on the free end near the arc-shaped groove. The arc-shaped groove has circumferentially arranged arc-shaped supports on its groove wall. The arc-shaped supports are arranged concentrically with the arc-shaped groove. The free end of the clamping arm has an extended clamping claw located on the side of the clamping arm closer to the arc-shaped groove. Flexible pads are provided on the arc-shaped side of the arc-shaped support away from the groove wall and on the end of the extended clamping claw away from the clamping arm. The arc-shaped side of the arc-shaped support away from the groove wall has a spacer groove, and no flexible pad is provided at the spacer groove.

10. The movable clamping fine-tuning device according to claim 9, characterized in that: The flexible padding layer is felt.

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