Automatic assembling device for missile body butt joint frame

Abstract

The utility model relates to the field of shell production, in particular to an automatic assembling device for a shell body butt-joint frame, which comprises a placing table, a press-fitting table arranged on the lower side of the placing table, a linear guide rail arranged between the press-fitting table and the placing table, a servo lifting rotating unit arranged in the middle of the placing table, and a supporting and positioning unit arranged on the front side of the servo lifting rotating unit. The elastic body is driven by the servo lifting rotating unit to rotate so that a positioning pin at the tail of the elastic body can preliminarily correspond to a pin hole of the butt joint frame, then the positioning pin at the tail of the elastic body and the butt joint frame are accurately aligned through the alignment clamping jaw, and the whole elastic body is supported through the front V-shaped supporting block and the rear V-shaped supporting block. And under the supporting of the tail supporting unit, the servo press-fitting unit pushes the butt-joint frame to be press-fitted to the tail of the projectile body, then automatic press-fitting treatment of the butt-joint frame of the whole projectile body is completed, and the butt-joint frame mounting speed of the whole projectile body is increased.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of cannonball production, in particular to a kind of automatic assembly device of shell butt joint frame. BACKGROUND

[0002] Cannonball needs to install multiple accessories when producing, and the entire cannonball is filled with a large amount of ammunition, so the gravity is relatively large, and therefore a corresponding support structure is needed to support it when installing accessories, to facilitate the installation of multiple accessories. When installing the butt joint frame of the cannonball, the cannonball needs to be turned over, positioned, supported and the like. Since the weight of the cannonball is large, it is very inconvenient to adjust the position of the cannonball when installing the butt joint frame. SUMMARY

[0003] The utility model aims at providing an automatic assembly device of shell butt joint frame to solve the above problems.

[0004] The utility model realizes the above-mentioned purposes by the following technical solutions:

[0005] An automatic assembly device of shell butt joint frame, comprising a placement table, a press-fitting table is arranged on the lower side of the placement table, a linear guide rail is arranged between the press-fitting table and the placement table, a servo lifting and rotating unit is arranged at the middle position of the placement table, a support positioning unit is arranged on the front side of the servo lifting and rotating unit, a servo press-fitting unit is arranged on the front side of the support positioning unit, a rear V-shaped support block is arranged on the rear side of the servo lifting and rotating unit, a tail support unit is arranged on the rear side of the rear V-shaped support block, and a rolling support unit is arranged at the front side position of the rear V-shaped support block and the inner side position of the servo lifting and rotating unit.

[0006] Preferably, the support positioning unit comprises a support fixed frame, a front V-shaped support block that slides up and down is arranged on the front side of the support fixed frame, a locating clamp for locating the tail of the shell is arranged on the front side of the front V-shaped support block, an end face distance detection mechanism is arranged on the front side of the locating clamp, a lifting mechanism for pushing the locating clamp to move up and down is arranged on the lower side of the end face distance detection mechanism, a V-shaped support drive cylinder for pushing the front V-shaped support block to move upwards is arranged on the lower side of the front V-shaped support block, a clamp drive cylinder for pushing the locating clamp to move upwards is arranged on the lower side of the locating clamp, a V-shaped support floating locking mechanism is arranged on the rear side of the support fixed frame, and a locking mechanism drive is arranged on the rear side of the V-shaped support floating locking mechanism.

[0007] Preferably, the servo press-fitting unit comprises a servo press-fitting cylinder, a mounting bracket is fixed to the telescopic part of the servo press-fitting cylinder, a butt joint frame positioning clamp is fixed to the rear end of the mounting bracket, a horizontal movement guide mechanism for allowing the mounting bracket to move forward and backward is arranged on the lower end of the mounting bracket, and a cable tensioning mechanism is arranged on the upper side of the mounting bracket and penetrates through the front and rear ends of the mounting bracket.

[0008] Preferably, the servo lifting rotating unit comprises a first lifting guide mechanism, a lifting drive servo motor for pushing the height of the first lifting guide mechanism is arranged at the middle position of the first lifting guide mechanism, two wheel groups for rolling supporting the elastic body are arranged at the upper end of the first lifting guide mechanism, and a rotating drive servo motor is arranged between the two wheel groups.

[0009] Preferably, the two wheel groups are symmetrically arranged front and back, each wheel group is composed of two symmetrically arranged anti-static supporting wheels, and a servo rotating drive wheel group for driving the two anti-static supporting wheels to synchronously rotate is arranged between the two anti-static supporting wheels at the rear side of the first lifting guide mechanism.

[0010] Preferably, the rolling supporting unit comprises a lifting guide seat, a lifting frame is slidably connected in the lifting guide seat, two rolling supporting wheels are arranged at the upper end of the lifting frame, a lifting drive wedge for pushing the lifting frame to move up and down is arranged at the lower end of the lifting frame, and a first lifting drive cylinder for pushing the lifting drive wedge to move front and back is fixed at the end of the lifting drive wedge.

[0011] Preferably, the tail supporting unit comprises a mounting support frame, a sliding frame is arranged at the front side of the mounting support frame, second lifting guide mechanisms for sliding at the front side of the mounting support frame are fixed at the two sides of the sliding frame, a second lifting drive cylinder for pushing the sliding frame to move up and down is fixed at the position between the two second lifting guide mechanisms at the front side of the mounting support frame, a product contact clamp is arranged at the front end of the sliding frame, and the sliding frame and the product contact clamp are connected through an XY platform follow-up mechanism.

[0012] Compared with the prior art, the beneficial effects are as follows: the servo lifting rotating unit drives the elastic body to rotate to preliminarily correspond the positioning pin at the tail of the elastic body with the pin hole of the butt joint frame, then the positioning pin at the tail of the elastic body is accurately aligned with the butt joint frame through the aligning clamp, the whole elastic body is supported through the front V-shaped support block and the rear V-shaped support block, the servo press fitting unit pushes the butt joint frame to be press fitted at the tail of the elastic body under the support of the tail supporting unit, and then the automatic press fitting processing of the butt joint frame of the whole elastic body is completed, and the installation speed of the butt joint frame of the whole elastic body is improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating laborious work.

[0014] Figure 1 is a structural schematic view of the automatic assembly device for the butt joint frame of the elastic body.

[0015] Figure 2It is the V-shaped support floating locking mechanism structural schematic view of the automatic assembly device of the butt joint frame of the elastic body.

[0016] Figure 3 It is the front V-shaped support block partial parts drawing of the automatic assembly device of the butt joint frame of the elastic body.

[0017] Figure 4 It is the rolling support unit partial parts drawing of the automatic assembly device of the butt joint frame of the elastic body.

[0018] Figure 5 It is the tail support unit partial parts drawing of the automatic assembly device of the butt joint frame of the elastic body.

[0019] Figure 6 It is the servo press fitting unit partial parts drawing of the automatic assembly device of the butt joint frame of the elastic body.

[0020] Figure 7 It is the servo lifting and rotating unit partial parts drawing of the automatic assembly device of the butt joint frame of the elastic body.

[0021] The figure mark is explained as follows:

[0022] 1, placing table; 2, support positioning unit; 3, rolling support unit; 4, servo lifting and rotating unit; 5, servo press fitting unit; 6, rear V-shaped support block; 7, tail support unit; 8, press fitting table; 21, support fixed frame; 22, locking mechanism drive; 23, V-shaped support floating locking mechanism; 24, V-shaped support drive cylinder; 25, clamping jaw drive cylinder; 26, front V-shaped support block; 27, alignment clamping jaw; 28, end face distance detection mechanism; 31, first lifting drive cylinder; 32, lifting drive wedge; 33, lifting guide seat; 34, rolling support wheel; 35, lifting frame; 41, first lifting guide mechanism; 42, lifting drive servo motor; 43, servo rotating drive wheel group; 44, rotating drive servo motor; 45, anti-static support wheel; 51, servo press fitting cylinder; 52, cable tensioning mechanism; 53, transverse guide mechanism; 54, butt joint frame positioning clamp; 71, installation support frame; 72, XY platform follow-up mechanism; 73, product contact clamp; 74, second lifting drive cylinder; 75, second lifting guide mechanism. DETAILED DESCRIPTION

[0023] In the description of the utility model, it is necessary to explain, unless another explicit provision and limitation, the term "installation", "link", "connection" should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through the intermediate medium, can be two elements inside the communication。For ordinary skilled in the art, the above-mentioned terms can be understood by the specific meaning in the utility model through specific circumstances.

[0024] The utility model will be further described below in connection with the drawings:

[0025] As Figures 1-7 Indicated, a kind of automatic assembly device of bullet body butt joint frame, including placement table 1, placement table 1 lower side is equipped with press fitting station 8, straight line guide is equipped between press fitting station 8 and placement table 1, the middle position of placement table 1 is equipped with servo lifting rotary unit 4, the front side of servo lifting rotary unit 4 is equipped with support positioning unit 2, the front side of support positioning unit 2 is equipped with servo press fitting unit 5, the rear side of servo lifting rotary unit 4 is equipped with rear V-shaped support block 6, the rear side of rear V-shaped support block 6 is equipped with tail support unit 7, rear V-shaped support block 6 front side position and servo lifting rotary unit 4 inner side position are all equipped with rolling support unit 3.

[0026] In the embodiment: the support positioning unit 2 comprises a support fixing frame 21, the front side of the support fixing frame 21 is provided with a front V-shaped support block 26 sliding up and down, the front side of the front V-shaped support block 26 is provided with a locating clamp jaw 27 for aligning the tail positioning pin of the projectile body, the front side of the locating clamp jaw 27 is provided with an end face distance detection mechanism 28, the lower side of the end face distance detection mechanism 28 is provided with a lifting mechanism for pushing it to move up and down, the lower side of the front V-shaped support block 26 is provided with a V-shaped support drive cylinder 24 for pushing it to move upwards, the lower side of the locating clamp jaw 27 is provided with a clamp jaw drive cylinder 25 for pushing it to move upwards, the rear side of the support fixing frame 21 is provided with a V-shaped support floating locking mechanism 23, and the rear side of the V-shaped support floating locking mechanism 23 is provided with a locking mechanism drive 22, the locating clamp jaw 27 is pushed upwards to the position on both sides of the tail positioning pin of the projectile body by the clamp jaw drive cylinder 25, then the tail positioning pin of the projectile body is clamped by the locating clamp jaw 27 under the rolling support of the two rolling support units 3, the tail positioning pin of the projectile body is corresponded and kept concentric with the pin hole of the butt joint frame, then the projectile body is driven by the two rolling support units 3 to move downwards and falls on the front V-shaped support block 26 and the rear V-shaped support block 6, the projectile body is aligned with the butt joint frame by the front V-shaped support block 26 and the rear V-shaped support block 6, then the locating clamp jaw 27 is driven downwards by the clamp jaw drive cylinder 25, in addition, the end face distance detection mechanism 28 is driven upwards to the tail of the projectile body by the lifting mechanism, and the projectile body is driven to move forward and backward on the press fitting table 8 by the placement table 1, then the end face distance detection mechanism 28 detects that the tail end face of the projectile body is in the appropriate position.

[0027] In the embodiment: the servo press fitting unit 5 comprises a servo press fitting cylinder 51, the telescopic part of the servo press fitting cylinder 51 is fixed with a mounting frame, the rear end of the mounting frame is fixed with a butt joint frame positioning clamp 54, the lower end of the mounting frame is provided with a transverse movement guide mechanism 53 for moving it forward and backward, the upper side of the mounting frame is provided with a cable tensioning mechanism 52 penetrating through the front and rear ends of the mounting frame, the butt joint frame to be installed on the tail of the projectile body is fixed by the butt joint frame positioning clamp 54, then the cable led out from the tail of the projectile body is inserted through the inner ring gap of the butt joint frame, and the cable end is fixed to the cable tensioning mechanism 52, the cable is tensioned by the cable tensioning mechanism 52, then the mounting frame is pushed to move towards the tail of the projectile body on the transverse movement guide mechanism 53 by the servo press fitting cylinder 51, and the butt joint frame is pressed on the tail of the projectile body by the mounting frame pushing the butt joint frame positioning clamp 54.

[0028] In the embodiment: the servo lifting rotating unit 4 comprises a first lifting guide mechanism 41, a lifting drive servo motor 42 is installed in the middle position of the first lifting guide mechanism 41 for pushing its height, four anti-static support wheels 45 are arranged at the upper end of the first lifting guide mechanism 41, a rotating drive servo motor 44 is arranged between the four anti-static support wheels 45, a servo rotating drive wheel set 43 for driving the two anti-static support wheels 45 at the rear side of the first lifting guide mechanism 41 to rotate synchronously is arranged between the two anti-static support wheels 45 at the rear side of the first lifting guide mechanism 41, the servo rotating drive wheel set 43 is driven by the rotating drive servo motor 44 to drive the two anti-static support wheels 45 at the rear side of the first lifting guide mechanism 41 to rotate, then the two anti-static support wheels 45 at the front side and the two anti-static support wheels 45 at the rear side rollingly support the two annular support seats outside the projectile body, and the projectile body is rotated with its axis as the center, so that the positioning pin at the tail of the projectile body is flipped downward and preliminarily corresponds to the pin hole of the butt joint frame, then the lifting drive servo motor 42 drives the first lifting guide mechanism 41 and the projectile body above it to move downward, after the warhead of the projectile body falls on the two rolling support units 3, the four anti-static support wheels 45 are separated from the support of the annular support seat of the projectile body.

[0029] In the embodiment: the rolling support unit 3 comprises a lifting guide seat 33, a lifting frame 35 is slidably connected inside the lifting guide seat 33, two rolling support wheels 34 are arranged at the upper end of the lifting frame 35, a lifting drive wedge 32 for pushing the lifting frame 35 to move up and down is arranged at the lower end of the lifting frame 35, a first lifting drive cylinder 31 for pushing the lifting drive wedge 32 to move forward and backward is fixed at the end of the lifting drive wedge 32, when the support and positioning unit 2 adjusts the position of the projectile body, the warhead of the projectile body is rollingly supported by the two rolling support wheels 34 on the lifting frame 35, after the position adjustment of the entire projectile body is completed, the first lifting drive cylinder 31 drives the lifting drive wedge 32 to move, so that the lifting drive wedge 32 is separated from the pushing of the lifting frame 35, and then the lifting frame 35 moves downward along the lifting guide seat 33 to place the projectile body on the support and positioning unit 2 and the rear V-shaped support block 6.

[0030] In the embodiment: the tail support unit 7 comprises a mounting support frame 71, a sliding frame is arranged at the front side of the mounting support frame 71, second lifting guide mechanisms 75 are fixed at the positions on both sides of the sliding frame for sliding at the front side of the mounting support frame 71, a second lifting drive cylinder 74 for pushing the sliding frame to move up and down is fixed at the position between the two second lifting guide mechanisms 75 at the front side of the mounting support frame 71, a product contact clamp 73 is arranged at the front end of the sliding frame, the sliding frame and the product contact clamp 73 are connected through an XY platform follow-up mechanism 72, the sliding frame and the second lifting guide mechanism 75 are driven by the second lifting drive cylinder 74 to move upward along the front side of the mounting support frame 71, and the product contact clamp 73 is supported against the front end of the bullet head through the XY platform follow-up mechanism 72 on the sliding frame.

[0031] Working principle: in use, first use the derrick to put the projectile to the four anti-static support wheel 45 of servo lifting rotary unit 4, and through the annular support seat outside the projectile to contact with four anti-static support wheel 45, then through the rotation drive servo motor 44 drive servo rotary drive wheel group 43 drive let first lifting guide mechanism 41 rear two anti-static support wheel 45 rotation, immediately front two anti-static support wheel 45 and rear two anti-static support wheel 45 on the two annular support seat outside the projectile rolling support, in turn let the projectile with its axis as the center of rotation, so that the positioning pin of the projectile tail flips down and preliminarily corresponds with the pin hole of the docking frame, then lifting drive servo motor 42 drive first lifting guide mechanism 41 and its upper side projectile moves down;

[0032] After the projectile warhead falls are supported by the two rolling support wheels 34 on the rolling support unit 3, with the descent of the servo lifting rotary unit 4, the four anti-static support wheels 45 are separated from the support of the annular support seat of the projectile, at this time the jaw drive cylinder 25 pushes the alignment jaw 27 to move up to the both sides of the positioning pin of the projectile tail, then under the rolling support of the four rolling support wheels 34, the positioning pin of the projectile tail is clamped by the alignment jaw 27, while the rolling support wheels 34 on the two lifting frames 35 rollingly support the projectile warhead, in turn to make the positioning pin of the projectile tail correspond with the pin hole of the docking frame and keep concentric;

[0033] After the whole projectile position adjustment is completed, the first lifting drive cylinder 31 drives the lifting drive wedge 32 to move, so as to make the lifting drive wedge 32 separate from the push of the lifting frame 35, in turn the lifting frame 35 will move down along the lifting guide seat 33 to place the projectile on the front V-shaped support block 26 and the rear V-shaped support block 6, at this time the locking mechanism drive 22 pushes the V-shaped support floating locking mechanism 23 to move forward, the V-shaped support floating locking mechanism 23 is locked to the front V-shaped support block 26, to avoid the falling of the front V-shaped support block 26 during the support of the projectile, in turn to make the projectile tail keep concentric with the docking frame at this position; then the lifting mechanism drives the end face distance detection mechanism 28 to move up to the projectile tail, and the placing table 1 drives the projectile to move forward and backward on the press fitting table 8, in turn the end face distance detection mechanism 28 detects that the end face of the projectile tail is in the appropriate position, then the lifting mechanism drives the end face distance detection mechanism 28 to move down, and the jaw drive cylinder 25 also drives the alignment jaw 27 to move down;

[0034] When the butt joint frame begins to be installed to the tail of the projectile body, the sliding frame and the second lifting guide mechanism 75 are driven by the second lifting drive cylinder 74 to move upward along the front side of the installation support frame 71, the product contact clamp 73 is supported by the XY platform servo mechanism 72 on the sliding frame against the front end of the projectile, at this time the cable extending from the tail of the projectile body is passed through the gap of the butt joint frame, and the end of the cable is fixed to the cable tensioning mechanism 52, the cable is kept straight by the cable tensioning mechanism 52 when the butt joint frame is pressed, then the servo pressing cylinder 51 pushes the installation frame to move to the tail of the projectile body on the transverse guide mechanism 53, the butt joint frame is pressed on the tail of the projectile body by the positioning clamp 54 driven by the installation frame;

[0035] When the end face of the butt joint frame is attached to the front side of the front V-shaped support block 26, the whole butt joint frame can support the tail of the projectile body, then the two rolling support units 3 continue to move upward and support the warhead of the projectile, at this time the XY platform servo mechanism 72 adjusts the floating of the product contact clamp 73 according to the position of the front end of the projectile, at this time the V-shaped support drive cylinder 24 drives the front V-shaped support block 26 to move downward and disengage from supporting the tail of the projectile body, then the servo pressing cylinder 51 pushes the installation frame to continue to move to the tail of the projectile body, so as to completely press the butt joint frame into the tail of the projectile body, and the whole butt joint frame pressing process of the projectile body is completed.

[0036] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principle of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application.

Claims

1. An automatic assembly device for a body-to-body docking frame, characterized in that: The utility model provides a kind of servo press mounting unit, including placing table (1), the lower side of the placing table (1) is equipped with pressure mounting table (8), linear guide is equipped between the pressure mounting table (8) and the placing table (1), the middle position of the placing table (1) is equipped with servo lifting rotary unit (4), the front side of the servo lifting rotary unit (4) is equipped with support positioning unit (2), the front side of the support positioning unit (2) is equipped with servo press mounting unit (5), the rear side of the servo lifting rotary unit (4) is equipped with rear V-shaped support block (6), the rear side of the rear V-shaped support block (6) is equipped with tail support unit (7), the front side position of the rear V-shaped support block (6) and the inside position of the servo lifting rotary unit (4) are equipped with rolling support unit (3).

2. The automatic assembling device for the butt joint frame of the elastic body according to claim 1, characterized in that: The support positioning unit (2) includes a support fixed frame (21), the front side of the support fixed frame (21) is equipped with a front V-shaped support block (26) that slides up and down, the front side of the front V-shaped support block (26) is equipped with a locating clamp jaw (27) for aligning the tail positioning pin of the projectile, the front side of the locating clamp jaw (27) is equipped with an end face distance detection mechanism (28), the lower side of the end face distance detection mechanism (28) is equipped with a lifting mechanism for pushing it to move up and down, the lower side of the front V-shaped support block (26) is equipped with a V-shaped support drive cylinder (24) for pushing it to move upwards, the lower side of the locating clamp jaw (27) is equipped with a clamp jaw drive cylinder (25) for pushing it to move upwards, the rear side of the support fixed frame (21) is equipped with a V-shaped support floating locking mechanism (23), and the rear side of the V-shaped support floating locking mechanism (23) is equipped with a locking mechanism drive (22).

3. The automatic assembling device for the butt joint frame of the elastic body according to claim 1, characterized in that: The servo press mounting unit (5) includes a servo press mounting cylinder (51), the telescopic part of the servo press mounting cylinder (51) is fixed with a mounting frame, the rear end of the mounting frame is fixed with a docking frame positioning clamp (54), the lower end of the mounting frame is equipped with a transverse movement guide mechanism (53) for moving it forward and backward, and the upper side of the mounting frame is equipped with a cable tensioning mechanism (52) that penetrates through the front and rear ends thereof.

4. The automatic assembling device for the butt joint frame of the elastic body according to claim 1, characterized in that: The servo lifting rotary unit (4) includes a first lifting guide mechanism (41), a lifting drive servo motor (42) for pushing its height is installed at the middle position of the first lifting guide mechanism (41), and the upper end of the first lifting guide mechanism (41) is equipped with two wheel groups for rolling support of the projectile.

5. The automatic assembly device for the body butt joint frame according to claim 4, characterized in that: The two wheel groups are symmetrically arranged front and rear, and each wheel group is composed of two symmetrically arranged anti-static support wheels (45), and between the two anti-static support wheels (45) at the rear side of the first lifting guide mechanism (41), a servo rotary drive wheel group (43) for driving both to rotate synchronously is arranged.

6. The automatic device for assembling the body of the butt joint frame according to claim 1, characterized in that: The rolling support unit (3) comprises a lifting guide seat (33), a lifting frame (35) is slidably connected inside the lifting guide seat (33), two rolling support wheels (34) are arranged at the upper end of the lifting frame (35), a lifting driving wedge (32) for pushing the lifting frame (35) to move up and down is arranged at the lower end of the lifting frame (35), and a first lifting driving cylinder (31) for pushing the lifting driving wedge (32) to move forward and backward is fixed to the end of the lifting driving wedge (32).

7. The automatic device for assembling the body of the butt joint frame according to claim 1, characterized in that: The tail support unit (7) comprises a mounting support frame (71), a sliding frame is arranged at the front side of the mounting support frame (71), second lifting guide mechanisms (75) for sliding at the front side of the mounting support frame (71) are fixed at the two sides of the sliding frame, a second lifting driving cylinder (74) for pushing the sliding frame to move up and down is fixed at the front side of the mounting support frame (71) between the two second lifting guide mechanisms (75), a product contact clamp (73) is arranged at the front end of the sliding frame, and the sliding frame and the product contact clamp (73) are connected through an XY platform follow-up mechanism (72).

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