Rapid assembling and disassembling device for large modular servo mechanism

Abstract

The invention relates to a rapid assembling and disassembling device for a large modular servo mechanism, and belongs to the technical field of manufacturing and assembling. The device comprises a mechanism module trolley A, a mechanism module trolley B, a bolt disassembling structure and an assembling positioning pin. Two four-wheel tray type trolleys with the same height are adopted, mounting modules of the servo mechanism are placed on the two four-wheel tray type trolleys respectively, the two trolleys move in the opposite directions, and the two modules, with the assembly relation, of the servo mechanism are aligned and precisely and axially centered. Rapid, accurate and efficient assembly of the large-size and heavy-weight servo mechanism module is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of manufacturing and assembly, and relates to a rapid assembly and disassembly device for a large modular servo mechanism. Background Art

[0002] High-power servo mechanisms are heavy and large in size. The servo mechanisms supporting current large-thrust space engines all weigh more than 100 kg, and their axial lengths are all above 1400 mm. The connection structure between multiple modules of the servo mechanism is axially sealed, with flange and screw connections; as Figure 1 shown, the servo mechanism can be disassembled into two parts according to the large disassembly process, including module A and B. The weights of both parts exceed 50 kg. During assembly, a single person cannot complete the automatic centering and closing of module A and module B; moreover, there is a precision double-channel sealing structure and an assembly relationship between parts A and B. The assembly and disassembly processes rely on traditional assembly workers, and multiple people are required to participate in lifting the servo mechanism; there is a large oil storage cavity between the two parts. When troubleshooting the servo mechanism and disassembling adjacent two modules, due to the large resistance of multiple seals, multiple workers are required to drag forcefully or use tools (such as screwdrivers) to pry open the flange joint. This process is laborious, inefficient, easily damages the product appearance, and the oil in the servo mechanism is prone to spillage, polluting the assembly room environment and being difficult to clean. Therefore, the current above-mentioned assembly and disassembly processes have great limitations.

[0003] It is recorded in "A Flexible Fixture Integrating Assembly Force Detection" with publication number CN 109724730 A that pressure sensors are arranged on the flexible fixture to measure the assembly force of the workpiece during the assembly process, so as to indirectly detect the assembly condition of the internal sealing structure and avoid assembly damage to the internal sealing structure of the workpiece; secondly, multi-dimensional force sensors are arranged on the fixture to measure the change in the clamping force and avoid workpiece damage. The various sensors set require precise quantification operations, which directly affect the assembly progress. This docking fixture device has high requirements for fitting accuracy, large size, and is suitable for small servo mechanisms. Precise control of the assembly process is cumbersome and cannot adapt to servo mechanisms with large weight and large size, and occasions with requirements for rapid batch assembly and disassembly. The rail V-shaped centering structure set on the device requires the central symmetry plane of the V-shaped groove to coincide during centering, and the accuracy requirements for the rail and the V-shaped groove are high, and the manual centering operation is complex.

[0004] Both the traditional assembly method and the special assembly device have great drawbacks and are not suitable for the production needs of batch servo products. Summary of the Invention

[0005] The technical problem solved by the present invention is: overcoming the deficiencies of the prior art, the present invention provides a rapid assembly and disassembly device for a large modular servo mechanism, solves the problem of accurate centering when large-size and large-weight modules of the servo mechanism are assembled together, and realizes the efficient assembly of the servo mechanism.

[0006] The solution of the present invention is: a rapid assembly and disassembly device for a large modular servo mechanism, comprising: a mechanism module A trolley, a mechanism module B trolley, a disassembly bolt structure, and an assembly positioning pin;

[0007] The mechanism module A trolley is used to place the servo mechanism module A, and the mechanism module B trolley is used to place the servo mechanism module B. The mechanism module A trolley and the mechanism module B trolley are four-wheeled pallet trolleys of the same height. They move towards each other to align and assemble the servo mechanism modules A and B.

[0008] Assemble the positioning pin, fix it on the docking end face of the four-wheel pallet trolley, and cooperate with the pin hole on the docking end face of the other side to achieve axial alignment when the two trolleys move towards each other;

[0009] The bolt structure is disassembled to connect the two four-wheeled pallet trolleys, allowing the carried modules A and B to be installed.

[0010] Furthermore, the four-wheeled pallet trolley is equipped with a pallet, on which a U-shaped pallet support is fixed for placing the servo mechanism modules A and B, thereby limiting the axial and circumferential movement of modules A and B and ensuring the fixation of modules A and B of the servo mechanism during the alignment process of the two four-wheeled pallet trolleys moving towards each other.

[0011] Furthermore, the aforementioned mechanism module A trolley includes a frame I, wheels, handlebars, a U-shaped tray support A, and a lower support lug pin fixing bracket;

[0012] The frame includes a bottom frame, uprights I, and a top tray; the bottom frame and the top tray are placed parallel to each other, and four uprights are located between them. Each upright I is perpendicularly connected to and supports the bottom frame and the top tray, respectively.

[0013] The wheels are fixed at the four corners below the bottom frame of the chassis I, and are used to move the servo mechanism module A before or after assembly.

[0014] The handlebars are fixed to one end of the bottom frame of the frame I, enabling the disassembly of module A of the servo mechanism and providing a handrail for personnel during subsequent transportation;

[0015] The lower support lug pin fixing bracket and the U-shaped tray bracket A are both fixed on the top tray of the frame I to fix module A; the lower support lug pin fixing bracket is located near the handlebar end and is used to fix the lower support lug of module A; the U-shaped tray bracket A is used to fix the main body of module A.

[0016] Furthermore, the structure and composition of the mechanism module B vehicle are the same as those of the mechanism module A vehicle.

[0017] Furthermore, the mechanism module B trolley also includes a hydraulic oil pan; the hydraulic oil pan is fixed to one end of the bottom frame of the frame II, opposite to the handlebar II position on the other end; it is used to collect and store the hydraulic oil flowing down during the disassembly and assembly of the servo mechanism modules A and B.

[0018] Furthermore, in the frame I, pin holes I are respectively provided on the two uprights I near the mating surface; in the frame II, assembly positioning pins II are respectively provided on the two uprights II near the mating surface; the assembly positioning pins II correspond one-to-one with the pin holes I and match each other to achieve axial alignment when the two trolleys move towards each other.

[0019] Furthermore, the aforementioned disassembly bolt structure includes a bolt and a separating threaded sleeve structure, which are matched and connected. The bolt is fixed on two columns II near the mating surface of the frame II and matches the bolt holes on two columns I near the mating surface of the frame I, and is used to connect the mechanism module A trolley and the mechanism module B trolley. The separating threaded sleeve structure is used to slowly separate the sealing ring at the mating point of module A and module B during the disassembly process to avoid damaging the sealing ring.

[0020] Furthermore, during the assembly operation of module A and module B, the threaded sleeve structure is removed from one end of the bolt, and the bolt is slowly screwed into the corresponding bolt hole of the frame I, so that the sealing ring at the mating point of module A and module B slowly enters until the final installation state is achieved.

[0021] During the disassembly operation, the bolts are unscrewed from the bolt holes on the two columns I near the mating surface of the frame I, and a separation threaded sleeve structure is installed at the tail of the bolt. The bolts are slowly screwed in, so that the separation threaded sleeve structure presses against the column I. By continuously screwing in the bolts, the sealing ring at the mating point of module A and module B is slowly separated until a complete separation is achieved.

[0022] Furthermore, the handlebars are fixed to the bottom frame of the vehicle frame by bolts I and pins; after bolts I are removed, the handlebars can be lowered around the pins to facilitate the hoisting operation of module A.

[0023] Furthermore, the contact surface between the U-shaped tray support A and module A is provided with felt A to avoid damaging module A; the contact surface between the U-shaped tray support B and module B is provided with felt B to avoid damaging module B.

[0024] The advantages of this invention compared to the prior art are:

[0025] (1) The present invention uses two four-wheeled pallet trolleys of the same height to place the mounting modules of the servo mechanism respectively. The front end face of the trolley is set as pin holes and positioning pins to achieve accurate alignment when the two trolleys move towards each other, ensuring the precise alignment of the servo mechanism modules fixed on the trolley pallet, realizing the rapid and accurate assembly of the servo mechanism modules with large weight and large volume, and is suitable for the needs of mass production of servo products.

[0026] (2) The bottom frame of the four-wheeled pallet trolley is equipped with a hydraulic oil pan, which can collect the hydraulic oil flowing down during the disassembly and assembly of the servo mechanism module, thus avoiding pollution of the assembly room environment.

[0027] (3) The four-wheeled pallet trolley of the present invention has a fixed U-shaped pallet support seat on the pallet for placing the servo mechanism module, thereby limiting the axial and circumferential movement of the module and fixing the servo mechanism module during the alignment process of the trolley moving towards each other, making the overall assembly process more convenient. Attached Figure Description

[0028] Figure 1 This invention relates to a servo mechanism assembly and disassembly device;

[0029] Figure 2 This is a schematic diagram of the trolley for module A of the present invention;

[0030] Figure 3 This is a schematic diagram of the trolley in module B of the present invention;

[0031] Figure 4 This is an exploded view of the bolt structure of this invention;

[0032] Figure 5 This is an assembly and disassembly diagram of the servo mechanism of the present invention. Detailed Implementation

[0033] The present invention will be further explained and described below with reference to the accompanying drawings and specific embodiments.

[0034] A rapid assembly and disassembly device for large modular servo mechanisms, such as Figure 1 As shown, the servo mechanism assembly and disassembly device of the present invention includes a mechanism module A trolley 1, a mechanism module B trolley 2, a disassembly bolt structure 3, and an assembly positioning pin 4; the assembly and disassembly bolts and positioning pins are used in conjunction with the trolleys; the entire device is equipped with two disassembly bolt structures 3 and two assembly positioning pins 4 to achieve precise assembly and rapid disassembly of the servo mechanism modules.

[0035] Mechanism module A (cart 1) and mechanism module B (cart 2) both employ four-wheeled pallet-type carts of the same height. The mounting modules of the servo mechanism are placed on these carts respectively. The two carts move towards each other, aligning the two modules of the servo mechanism that have an assembly relationship. This assembly scheme enables rapid and accurate assembly of the servo mechanism modules, which are characterized by their large weight and size. The front end of the four-wheeled pallet-type carts is designed with pin holes and assembly positioning pins 4 to ensure accurate alignment when the two carts move towards each other, guaranteeing the precise alignment of the servo mechanism modules fixed on the cart pallets.

[0036] The four-wheeled pallet trolley has a fixed U-shaped groove structure on its pallet for placing the servo mechanism module, which limits the axial and circumferential movement of the module and ensures that the servo mechanism module is fixed on the trolley during the alignment process of the trolley moving towards each other.

[0037] like Figure 2 As shown, the trolley 1 of module A includes a frame 11, wheels 12, handlebars 13, a U-shaped pallet support 14 for module A, and a lower support lug pin fixing bracket 15. Four wheels 12 are provided and fixed to the frame 11 with bolts, enabling movement of the servo mechanism module A before assembly or after disassembly. The handlebars 13 are fixed to the frame 11 with bolts and pins, facilitating module disassembly and subsequent transport. After the bolts are removed, the handlebars 13 can be lowered around the pins for easy lifting of the module. Module A is placed on the U-shaped pallet support 14, and the lower support lug pin fixing bracket 15 connects to the lower support lugs of module A via pins, ensuring axial and circumferential stability and fixation of module A. Felt is provided on the contact surface between the U-shaped pallet support 14 and module A to prevent damage to the product. The upright of the frame 11 has two threaded holes and two pin holes.

[0038] like Figure 3 As shown, the module B trolley 2 includes a frame 21, wheels 22, handlebars 23, a U-shaped tray support 24, an upper support lug pin fixing bracket 25, and a hydraulic oil pan 26. The functions and installation relationships of trolleys 21-25 are similar to those of trolley 1 in module A, and the height of trolley 2 is the same as that of trolley 1. The hydraulic oil pan 26 is located on the frame 21 of trolley 2 and is used to collect hydraulic oil flowing down during the disassembly and assembly of the two parts of the servo mechanism, preventing pollution of the workshop environment. Two threaded holes and two pin holes are provided on the upright of the frame 21.

[0039] like Figure 4 As shown, the disassembly bolt structure 3 of the present invention includes a bolt 31 and a disassembly threaded sleeve structure 32. The disassembly bolt structure 3 is disposed in two threaded holes on the frame 21 of the module B trolley 2.

[0040] like Figure 5As shown, during the assembly operation of module A and module B of the servo mechanism, the upper and lower supports of the two modules are fixed to the shaft holes of the lower support pin fixing bracket 15 and the upper support pin fixing bracket 25 respectively by pins. Then, two trolleys are moved towards each other, and the two modules are aligned on the axis by two positioning pins installed in the pin holes of the trolley frame 21 of module B. The disassembly bolt structure 3 and the threaded sleeve structure 32 are removed, leaving only the bolts 31. The two bolts 31 are simultaneously and slowly screwed into the corresponding bolt holes of the trolley frame 11 of the mechanism body, so that the sealing ring at the mating point of the two modules slowly enters until the two modules reach the final installation state. The slow screwing operation of the bolts can avoid damaging the sealing ring.

[0041] The servo mechanism's modules A and B are detached. The upper and lower lugs of the two modules are respectively fixed to the lower lug pin fixing bracket 15 and the upper lug pin fixing bracket 25 shaft holes by pins. The disassembled bolt structure 3 is unscrewed from the mechanism body trolley frame 11, and a detachable threaded sleeve structure 32 (such as...) is installed at the tail of the bolt 31. Figure 4 Use a wrench to slowly screw in bolt 31, so that the separation threaded sleeve structure 32 presses against the column of module A trolley frame 11. By continuously screwing in bolt 31, the sealing ring at the mating point of the two modules is slowly separated until the two modules are completely separated. This process can avoid damaging the sealing ring.

[0042] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A large scale modular servo fast assembly and disassembly device, characterized by, It comprises: Mechanism module A trolley (1), mechanism module B trolley (2), disassembly bolt structure (3), assembly positioning pin (4); Mechanism module A trolley (1) is used for placing servo mechanism module A; mechanism module B trolley (2) is used for placing servo mechanism module B; mechanism module A trolley (1) and mechanism module B trolley (2) are four-wheel pallet trolleys with the same height, and the two trolleys move towards each other to align and assemble servo mechanism module A and module B; The assembly positioning pin (4) is fixed on the butt joint end face of the four-wheel pallet trolley, cooperates with the pin hole on the butt joint end face of the other side, and realizes axial centering when the two trolleys move towards each other; The disassembly bolt structure (3) is used for connecting the two four-wheel pallet trolleys, so that the carried module A and module B reach the installation state.

2. A large modular servo mechanism quick assembly and disassembly device according to claim 1, characterized in that: The four-wheel pallet trolley is provided with a tray, and the tray is fixed with a U-shaped tray support seat for placing servo mechanism module A and module B, so that the axial and circumferential limiting of module A and module B is realized, and the fixing of servo mechanism module A and module B during the alignment of the two four-wheel pallet trolleys moving towards each other is ensured.

3. A large modular servo mechanism quick assembly and disassembly device according to claim 2, characterized in that: The mechanism module A trolley (1) comprises a frame I (11), wheels (12), a handle (13), a U-shaped tray support seat A (14) and a lower ear pin shaft fixing frame (15). The frame (11) comprises a bottom frame, a column I and a top tray; the bottom frame and the top tray are placed in parallel, and four columns are located between the bottom frame and the top tray, and each column I is vertically connected and supported to the bottom frame and the top tray respectively; The wheels (12) are fixed at the four corners below the bottom frame of the frame I (11) and are used for moving before or after the assembly or disassembly of servo mechanism module A; The handle (13) is fixed at one end of the bottom frame of the frame I (11) and provides a handrail for personnel during the disassembly and subsequent transportation of servo mechanism module A; The lower ear pin shaft fixing frame (15) and the U-shaped tray support seat A (14) are both fixed on the top tray of the frame I (11) and are used for fixing module A; the lower ear pin shaft fixing frame (15) is close to one end of the handle (13) and is used for fixing the lower ear of module A; the U-shaped tray support seat A (14) is used for fixing the main body of module A.

4. A large modular servo mechanism quick assembly and disassembly device according to claim 3, characterized in that, The structure and composition of the mechanism module B trolley (2) are the same as those of the mechanism module A trolley (1).

5. A large modular servo mechanism quick assembly and disassembly device according to claim 4, characterized in that, The mechanism module B trolley (2) further comprises a hydraulic oil disc (26); the hydraulic oil disc (26) is fixed at one end of the bottom frame of the frame II (21) and is opposite to the handle II (23) at the other end; and the hydraulic oil disc (26) is used for receiving the hydraulic oil flowing down during the disassembly and assembly of servo mechanism module A and module B.

6. A large modular servo mechanism quick assembly and disassembly device according to claim 5, characterized in that, The two columns I near the butt joint face of the frame I (11) are respectively provided with pin holes I; the two columns II near the butt joint face of the frame II (21) are respectively provided with assembly positioning pins II; the assembly positioning pins II correspond to and match the pin holes I, so as to realize axial centering when the two trolleys move towards each other.

7. A large modular servo mechanism quick assembly and disassembly device according to claim 5, characterized in that: The bolt structure (3) includes a bolt (31) and a separate threaded sleeve structure (32) which are matched and connected; the bolt (31) is fixed on two upright columns II of the frame II (21) near the butt joint surface, matched with the bolt hole on two upright columns I of the frame I (11) near the butt joint surface, used for connecting the mechanism module A trolley (1) and the mechanism module B trolley (2); the separate threaded sleeve structure (32) is used for slowly separating the sealing ring at the joint of module A and module B during the disassembly process, so as to avoid damaging the sealing ring.

8. A large modular servo mechanism quick assembly and disassembly device according to claim 7, characterized in that: The module A and the module B are slowly rotated into the corresponding bolt hole of the frame I (11) from one end of the bolt (31) during the assembly operation, so that the sealing ring at the joint of module A and module B slowly enters until the final installation state is reached. During the disassembly operation, the bolt (31) is rotated out of the bolt hole on two upright columns I of the frame I (11) near the butt joint surface, and the separate threaded sleeve structure (32) is installed at the tail of the bolt (31), the bolt (31) is slowly rotated in, the separate threaded sleeve structure (32) is pressed against the upright column I, the sealing ring at the joint of module A and module B is slowly separated by continuously rotating the bolt (31), until the complete separation state is reached.

9. A large modular servo mechanism quick assembly and disassembly device according to claim 3, characterized in that: The handlebar (13) is fixed on the bottom frame of the frame (11) through the bolt I and the pin shaft; after the bolt I is disassembled, the handlebar (13) can be lowered around the pin shaft to facilitate the hoisting operation of module A.

10. The large modular servo mechanism quick assembly and disassembly device according to claim 3, characterized in that: The U-shaped tray support seat A (14) is provided with a felt A on the contact surface of module A to avoid damaging module A; the U-shaped tray support seat B (24) is provided with a felt B on the contact surface of module B to avoid damaging module B.

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