CN208374535U - A kind of device for airspace engine thrust chamber and turbine pump Butt Assembling - Google Patents
A kind of device for airspace engine thrust chamber and turbine pump Butt Assembling Download PDFInfo
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- CN208374535U CN208374535U CN201820755816.9U CN201820755816U CN208374535U CN 208374535 U CN208374535 U CN 208374535U CN 201820755816 U CN201820755816 U CN 201820755816U CN 208374535 U CN208374535 U CN 208374535U
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Abstract
The utility model relates to a kind of device for airspace engine thrust chamber and turbine pump Butt Assembling, which includes thrust chamber fixed mechanism, turbine pump fixed mechanism, thrust chamber rotating mechanism compatible with thrust chamber fixed mechanism, turbine pump positioning plate compatible with turbine pump fixed mechanism and turbine pump pose adjustment unit compatible with thrust chamber rotating mechanism, turbine pump positioning plate respectively.Compared with prior art, the utility model can carry out high-precision, high efficiency, flexible docking to the two heavy components thrust chambers and turbine pump of airspace engine and assemble, not only increase the degree of automation of Butt Assembling, and reduce dependence to personnel's experience and heavy mechanized equipment, Butt Assembling suitable for different model product, assembly demand and process flow in dynamic response production plan, and can be integrated with entire airspace engine assembling line.
Description
Technical field
The utility model belongs to airspace engine manufacturing technology field, is related to a kind of for airspace engine thrust chamber and whirlpool
The device of wheel pump Butt Assembling.
Background technique
With the development of space technology, the demand of the increase of Spacecraft Launch number and intelligence manufacture, people are to conduct
The quality and quantity of the airspace engine of spacecraft and satellite launch core component requires higher and higher.Airspace engine will be realized
High-performance, the target of high reliability are just able to satisfy the demand of manned space flight, the high-grade, precision and advanced task such as engineering and deep space exploration of landing on the moon, because
More stringent requirements are proposed for this assembling process consistency and reliability to airspace engine.The component assembling of airspace engine is
One complicated system engineering, core are the Butt Assemblings of thrust chamber and turbine pump.Currently, the thrust chamber of airspace engine
Mainly based on manual operation, the experience and heavy machinery for relying on operator are filled for Butt Assembling work with turbine pump
It is standby, and lack effective measurement auxiliary assembling means, and need to adjust the position of mechanical frock repeatedly, working efficiency pole
It is low, and assembly precision is poor.
Utility model content
The purpose of this utility model is exactly to provide a kind of for space flight to overcome the problems of the above-mentioned prior art
The device of motor power room and turbine pump Butt Assembling.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of device for airspace engine thrust chamber and turbine pump Butt Assembling, the device include the fixed machine of thrust chamber
Structure, turbine pump fixed mechanism, with thrust chamber fixed mechanism compatible thrust chamber rotating mechanism, mutually fit with turbine pump fixed mechanism
The turbine pump positioning plate matched and respectively turbine pump posture tune compatible with thrust chamber rotating mechanism, turbine pump positioning plate
Whole unit.When in use, assistant conveyance is carried out to thrust chamber fixed mechanism, turbine pump fixed mechanism using AGV trolley.
Further, the thrust chamber fixed mechanism include thrust chamber bracket and be arranged on thrust chamber bracket and with
Thrust chamber compatible thrust chamber fixed steelring is equipped with the fixed steel of thrust chamber between the thrust chamber fixed steelring and thrust chamber bracket
Coil support, and be fixedly connected by thrust chamber fixed steelring bracket with thrust chamber bracket.It is hung using row and thrust chamber is sling and put
It sets in thrust chamber fixed steelring, thrust chamber is fixed.
The end face of the thrust chamber bracket is in n font as a preferred technical solution, convenient for AGV trolley to thrust chamber
The jacking and transport of bracket.
Further, the thrust chamber bracket is fixed equipped with thrust chamber compatible with the unloading port of thrust chamber unloading port
Position block.Row is hung when being placed on thrust chamber in thrust chamber fixed steelring, keeps the unloading port of thrust chamber fixed to positive thrust room unloading port
Position block, to be positioned to thrust chamber.
Further, the thrust chamber rotating mechanism includes that thrust chamber rotating platform and being arranged vertically at pushes away
Thrust chamber bracket positioning pin on the rotating platform of power room, the bottom of the thrust chamber bracket is offered to be positioned with thrust chamber bracket
Sell compatible thrust chamber rack positioning hole.When thrust chamber bracket is placed on thrust chamber rotating platform by AGV trolley, make thrust
Room rack positioning hole is to positive thrust room bracket positioning pin.Thrust chamber rotating platform is rotated by thrust chamber supporting band dynamicthrust room,
Adjusting thrust chamber to proper angle.
Thrust chamber bracket positioning pin there are two being set altogether on the thrust chamber rotating platform as a preferred technical solution,.
Two thrust chamber bracket positioning pins carry out two-point locating to thrust chamber bracket, and thrust chamber bracket and thrust chamber rotating platform is avoided to send out
It is raw to relatively rotate.
The bottom of the thrust chamber rotating platform offers foundation bolt fixation hole as a preferred technical solution,.It is logical
It crosses foundation bolt fixation hole and foundation bolt the bottom of thrust chamber rotating platform is fixedly mounted on the ground.
Further, the turbine pump fixed mechanism includes turbine pump bracket and multiple is separately positioned on turbine pump branch
Turbine pump fixed block on frame offers turbine pump card slot compatible with turbine pump at the top of the turbine pump fixed block.
It is hung using row and turbine pump is placed on turbine pump fixed block, and be stuck in turbine pump in turbine pump card slot.According to turbine pump
Form and dimension is arranged multiple turbine pump fixed blocks in turbine pump bracket, the different parts of turbine pump fixed block is fixed.
The turbine pump card slot is in V-shape as a preferred technical solution,.
Further, turbine pump bracket positioning pin is equipped on the turbine pump positioning plate along the vertical direction, it is described
The bottom of turbine pump bracket offers turbine pump rack positioning hole compatible with turbine pump bracket positioning pin.AGV trolley is by whirlpool
When wheel pump bracket is placed on turbine pump positioning plate, make turbine pump rack positioning hole to positive turbine pump bracket positioning pin.
Turbine pump bracket positioning pin there are two being set altogether on the turbine pump positioning plate as a preferred technical solution,.
Foundation bolt fixation hole is offered on the positioning plate as a preferred technical solution,.
Further, the turbine pump pose adjustment unit includes the turbine pump of mechanical arm and setting on the robotic arm
Clamping device.Turbine pump clamping device picks up the turbine pump being transported in its working region, and is adjusted by mechanical arm
The posture of turbine pump.
The mechanical arm is six degree of freedom heavy-duty machinery arm as a preferred technical solution,.
The end of the mechanical arm is equipped with six-dimension force sensor, the six-dimension force sensor as a preferred technical solution,
Between the end and turbine pump clamping device of mechanical arm.Mechanical arm balances turbine pump clamping device and turbine pump clamping machine
The weight of turbine pump in structure, and according to the deviation of the initial pose of the fed back turbine pump of automatic measurement system and object pose, whirlpool
Wheel pump gripper mechanism grips live turbine pump and automatic-posture-adjustment to predetermined position section, then pass through artificial traction turbine pump clamping device
The movements such as accurate movement, accurate overturning, the accurate stopping of turbine pump are completed, so that the spatial pose of turbine pump is quantitative controllable, it is real
Existing high-precision assembly.
Further, the turbine pump clamping device include the gripper pedestal that mechanical arm end is set, fixation set
Set on gripper pedestal turbine pump strap and it is mobile be arranged on gripper pedestal and with turbine pump strap
Compatible turbine pump ambulatory splint.Turbine pump ambulatory splint is moved to turbine pump strap direction, is pressed from both sides to turbine pump
It fastens.
The side of the six-dimension force sensor is connected to the end of mechanical arm, the other side as a preferred technical solution,
It is connected on gripper pedestal.Six-dimension force sensor accurately perceives the manually external force to turbine pump clamping device and feeds back to machinery
Arm control system guides the precise movement of mechanical arm.
It is offered on the turbine pump strap and turbine pump ambulatory splint as a preferred technical solution, and whirlpool
The compatible turbine pump sets of holes of wheel pump.The both ends of turbine pump are each passed through turbine pump strap, on turbine pump ambulatory splint
The intermediate position of turbine pump sets of holes, turbine pump is fixedly clamped by turbine pump strap, turbine pump ambulatory splint.
Further, the gripper pedestal is equipped with guide rail, the lead screw parallel with guide rail and and lead screw transmission
The basal sliding of the lead screw driving motor of connection, the turbine pump ambulatory splint is arranged on guide rail, sets on the lead screw
There is nut, which is fixedly connected with turbine pump ambulatory splint.Lead screw driving motor drives lead screw rotation, makes nut along lead screw shaft
To reciprocating motion, and turbine pump ambulatory splint is driven to slide along guide rail.
The bottom of the turbine pump ambulatory splint is locked equipped with guide rail as a preferred technical solution,.When turbine pump activity
Clamping plate slides on guide rail behind predetermined position, is locked by guide rail and is reliably lockked turbine pump ambulatory splint, presss from both sides turbine pump
Hold the grasp force that mechanism keeps stable.
Further, the turbine pump ambulatory splint is equipped with rotary stopper block cylinder, the rotary stopper block cylinder
Pistons end is equipped with rotary stopper block.The piston of rotary stopper block cylinder is flexible, and rotary stopper block is driven to move to suitable position,
Rotary stopper block is stuck in turbine pump and protrudes above position two sides, and turbine pump is avoided to rotate.
The end of the rotary stopper block offers V-shape card slot as a preferred technical solution,.
Thrust chamber is sling and is placed in thrust chamber fixed mechanism in practical application, being hung using row by the utility model,
Thrust chamber fixed mechanism is transported into thrust chamber rotating mechanism by AGV trolley later；It is hung using row and slings turbine pump simultaneously
It is placed on turbine pump fixed mechanism, is later transported turbine pump fixed mechanism to turbine pump positioning plate by AGV trolley.It pushes away
Power room rotating mechanism and turbine pump positioning plate are in the working region of turbine pump pose adjustment unit, turbine pump pose adjustment
Turbine pump in turbine pump fixed mechanism is clamped and adjusts turbine pump to suitable posture by unit, is convenient for turbine pump and thrust
The Butt Assembling of room.
Compared with prior art, the utility model has the following characteristics that
1) high-precision, high efficiency, flexibility can be carried out to the two heavy components thrust chambers and turbine pump of airspace engine
Butt Assembling, not only increases the degree of automation of Butt Assembling, and reduces to personnel's experience and heavy mechanized equipment
Dependence, suitable for the Butt Assembling of different model product, assembly demand and process flow in dynamic response production plan, and
And it can be integrated with entire airspace engine assembling line；
2) during entire Butt Assembling, position and the posture of turbine pump can be adjusted flexibly automatically, improve docking
Mounting plate simplifies the complexity of mechanism to the flexible adaptation of product, and the artificial link that participates in is few, securely and reliably.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the structural schematic diagram of thrust chamber fixed mechanism in the utility model；
Fig. 3 is the structural schematic diagram of thrust chamber rotating mechanism in the utility model；
Fig. 4 is the structural schematic diagram of turbine pump fixed mechanism in the utility model；
Fig. 5 is the structural schematic diagram of turbine pump clamping device in the utility model；
Description of symbols in figure:
1-thrust chamber bracket, 2-thrust chamber fixed steelrings, 3-thrust chamber fixed steelring brackets, 4-thrust chamber unloading ports
Locating piece, 5-thrust chamber rotating platforms, 6-thrust chamber bracket positioning pins, 7-turbine pump brackets, 8-turbine pump fixed blocks,
9-mechanical arms, 10-gripper pedestals, 11-turbine pump straps, 12-turbine pump ambulatory splints, 13-guide rails, 14-
Lead screw, 15-lead screw driving motors, 16-nuts, 17-rotary stopper block cylinders, 18-rotary stopper blocks, 19-thrust chambers,
20-turbine pumps, 21-AGV trolleies.
Specific embodiment
The utility model is described in detail in the following with reference to the drawings and specific embodiments.The present embodiment is with the utility model
Implemented premised on technical solution, the detailed implementation method and specific operation process are given, but the guarantor of the utility model
Shield range is not limited to the following embodiments.
Embodiment:
A kind of device for airspace engine thrust chamber and turbine pump Butt Assembling as shown in Figure 1, including thrust chamber
Fixed mechanism, turbine pump fixed mechanism, thrust chamber rotating mechanism compatible with thrust chamber fixed mechanism and the fixed machine of turbine pump
The compatible turbine pump positioning plate of structure and respectively turbine pump compatible with thrust chamber rotating mechanism, turbine pump positioning plate
Pose adjustment unit.
As shown in Fig. 2, thrust chamber fixed mechanism include thrust chamber bracket 1 and be arranged on thrust chamber bracket 1 and with push away
The compatible thrust chamber fixed steelring 2 in power room 19, it is solid equipped with thrust chamber between the thrust chamber fixed steelring 2 and thrust chamber bracket 1
Determine steel ring set 3, and is fixedly connected by thrust chamber fixed steelring bracket 3 with thrust chamber bracket 1.Thrust chamber bracket 1 is equipped with
Thrust chamber compatible with the unloading port of thrust chamber 19 unloading port locating piece 4.
As shown in figure 3, thrust chamber rotating mechanism includes thrust chamber rotating platform 5 and is arranged vertically at thrust chamber
Thrust chamber bracket positioning pin 6 on rotating platform 5, the bottom of thrust chamber bracket 1 offer suitable with 6 phase of thrust chamber bracket positioning pin
The thrust chamber rack positioning hole matched.
As shown in figure 4, turbine pump fixed mechanism includes turbine pump bracket 7 and multiple is separately positioned on turbine pump bracket 7
On turbine pump fixed block 8, the top of turbine pump fixed block 8 offers turbine pump card slot compatible with turbine pump 20.Turbine
It pumps and is equipped with turbine pump bracket positioning pin on positioning plate along the vertical direction, the bottom of turbine pump bracket 7 offers and turbine pump branch
The compatible turbine pump rack positioning hole of frame positioning pin.
Turbine pump pose adjustment unit includes mechanical arm 9 and the turbine pump clamping device being arranged on mechanical arm 9.Such as figure
Shown in 5, turbine pump clamping device includes the gripper pedestal 10 that 9 end of mechanical arm is arranged in, is fixed at gripper pedestal
Turbine pump strap 11 and mobile setting on 10 are adapted on gripper pedestal 10 and with turbine pump strap 11
Turbine pump ambulatory splint 12.Gripper pedestal 10 is equipped with guide rail 13, the lead screw 14 and and lead screw parallel with guide rail 13
The basal sliding of the lead screw driving motor 15 of 14 transmission connections, turbine pump ambulatory splint 12 is arranged on guide rail 13, on lead screw 14
Equipped with nut 16, which is fixedly connected with turbine pump ambulatory splint 12.Turbine pump ambulatory splint 12 is equipped with rotary stopper
The pistons end of block cylinder 17, the rotary stopper block cylinder 17 is equipped with rotary stopper block 18.
The course of work of device is as follows:
1) it is hung using row and hangs onto thrust chamber 19 among thrust chamber fixed steelring 2, pass through thrust chamber unloading port locating piece 4
It is positioned；
2) thrust chamber 19 and thrust chamber fixed steelring bracket 3 are transported to the specified of docking station together by AGV trolley 21
The lifting body in region, AGV trolley 21 declines automatically, and thrust chamber 19 and thrust chamber fixed steelring bracket 3 is made to fall in thrust together
On room rotating platform 5, AGV trolley 21 leaves automatically later；
3) it is hung using row and hangs onto turbine pump 20 on turbine pump bracket 7, the turbine pump fixed block 8 on turbine pump bracket 7
The reliable location of turbine pump 20 may be implemented, posture is fixed；
4) turbine pump 20 and turbine pump bracket 7 are transported to the specified region of docking station, AGV together by AGV trolley 21
The lifting body of trolley 21 declines automatically, falls in turbine pump 20 and turbine pump bracket 7 together on turbine pump positioning plate, later
AGV trolley 21 leaves automatically；
5) thrust chamber rotating platform 5 is rotated, thrust chamber 19 is driven to rotate to suitable docking orientation；
6) soft-lock is installed on mechanical arm 9, with the load of balancing mechanical arm 9；Turbine pump clamping device is from turbine pump fixed block 8
Upper crawl turbine pump 20, turbine pump ambulatory splint 12 is moved toward one another with turbine pump strap 11, is formed resultant force and is held turbine pump tightly
20 spherical shell, to limit one-movement-freedom-degree of the turbine pump 20 on tri- directions X, Y, Z；Rotary stopper block cylinder 17 drives rotation
Turn limited block 18 and move to suitable position, rotary stopper block 18 limits turbine pump 20 around the rotary freedom of tri- axis of X, Y, Z；
7) spatial position using contactless measuring system measurement thrust chamber 19 and posture, and to turbine pump clamping device
The spatial position of middle turbine pump 20 and posture measure, and analysis meter calculates initial position turbine pump 20 and pushes away with target position later
Deviation between power room 19, mechanical arm 9 cook up movement locus according to this deviation automatically, realize thrust chamber 19 and turbine pump 20
Butt Assembling, thrust chamber 19 and turbine pump 20 are fixed and welded together using welding manner later.
Welding process is as follows:
1) using contactless measuring system to the docking nozzle feature ruler of the docking nozzle and turbine pump 20 of thrust chamber 19
Very little and its distance measures, and analytical calculation is adjusted ring size, enables thrust chamber 19, turbine pump 20 and adjustment ring group
It is fit at a complete thrust chamber/gas-turbine-pump combination, the dimension data of the assembly is recorded and uploads to generation engineering drawing
Software systems, software systems automatically generate the engineering drawing of adjustment ring and are transmitted to machine shop, and machine shop produces accordingly
Adjustment ring is processed, through examining qualified adjustment ring to be transmitted to docking station by shop logistics system to carry out postorder welding；
2) the mounting and adjusting ring between thrust chamber 19 and turbine pump 20, and bolt fastening is used, to resist welding process
The welding stress deformation of middle generation can carry out welding later；
3) other components are installed on thrust chamber 19 and turbine pump 20, utilize AGV trolley 21 by thrust chamber 19 and whirlpool later
The assembly of wheel pump 20 is transported in specified station.
Wherein, the welding stress deformation that adjustment ring generates in the welding process to resist thrust chamber 19 and turbine pump 20,
Improve assembly precision.
It can understand the above description of the embodiments is intended to facilitate those skilled in the art and use practical
It is novel.Person skilled in the art obviously easily can make various modifications to these embodiments, and illustrating herein
General Principle be applied in other embodiments without having to go through creative labor.Therefore, the utility model is not limited to above-mentioned
Embodiment, those skilled in the art's announcement according to the present utility model, do not depart from improvement that the utility model scope is made and
Modification should be all within the protection scope of the utility model.
Claims (10)
1. a kind of device for airspace engine thrust chamber and turbine pump Butt Assembling, which is characterized in that the device includes pushing away
Power room fixed mechanism, turbine pump fixed mechanism, thrust chamber rotating mechanism compatible with thrust chamber fixed mechanism and turbine pump are solid
Determine the compatible turbine pump positioning plate of mechanism and respectively whirlpool compatible with thrust chamber rotating mechanism, turbine pump positioning plate
Wheel pump pose adjustment unit.
2. a kind of device for airspace engine thrust chamber and turbine pump Butt Assembling according to claim 1, special
Sign is, the thrust chamber fixed mechanism includes thrust chamber bracket (1) and is arranged on thrust chamber bracket (1) and and thrust
The compatible thrust chamber fixed steelring (2) in room (19) is equipped between the thrust chamber fixed steelring (2) and thrust chamber bracket (1) and pushes away
Power room fixed steelring bracket (3), and be fixedly connected by thrust chamber fixed steelring bracket (3) with thrust chamber bracket (1).
3. a kind of device for airspace engine thrust chamber and turbine pump Butt Assembling according to claim 2, special
Sign is that the thrust chamber bracket (1) is positioned equipped with thrust chamber unloading port compatible with the unloading port of thrust chamber (19)
Block (4).
4. a kind of device for airspace engine thrust chamber and turbine pump Butt Assembling according to claim 2, special
Sign is, the thrust chamber rotating mechanism includes thrust chamber rotating platform (5) and is arranged vertically at thrust chamber rotation
Turn the thrust chamber bracket positioning pin (6) on platform (5), the bottom of the thrust chamber bracket (1) offers and thrust chamber bracket
The compatible thrust chamber rack positioning hole of positioning pin (6).
5. a kind of device for airspace engine thrust chamber and turbine pump Butt Assembling according to claim 1, special
Sign is, the turbine pump fixed mechanism includes turbine pump bracket (7) and multiple is separately positioned on turbine pump bracket (7)
Turbine pump fixed block (8), offer at the top of the turbine pump fixed block (8) and turbine pump (20) compatible turbine pump
Card slot.
6. a kind of device for airspace engine thrust chamber and turbine pump Butt Assembling according to claim 5, special
Sign is, is equipped with turbine pump bracket positioning pin, the turbine pump bracket on the turbine pump positioning plate along the vertical direction
(7) bottom offers turbine pump rack positioning hole compatible with turbine pump bracket positioning pin.
7. a kind of device for airspace engine thrust chamber and turbine pump Butt Assembling according to claim 1, special
Sign is that the turbine pump pose adjustment unit includes mechanical arm (9) and the turbine pump being arranged on mechanical arm (9) clamping
Mechanism.
8. a kind of device for airspace engine thrust chamber and turbine pump Butt Assembling according to claim 7, special
Sign is, the turbine pump clamping device include setting mechanical arm (9) end gripper pedestal (10), be fixed at
Turbine pump strap (11) and movement on gripper pedestal (10) are arranged on gripper pedestal (10) and and turbine pump
The compatible turbine pump ambulatory splint (12) of strap (11).
9. a kind of device for airspace engine thrust chamber and turbine pump Butt Assembling according to claim 8, special
Sign is, the gripper pedestal (10) be equipped with guide rail (13), the lead screw parallel with guide rail (13) (14) and with silk
The basal sliding of the lead screw driving motor (15) of thick stick (14) transmission connection, the turbine pump ambulatory splint (12) is arranged in guide rail
(13) on, the lead screw (14) is equipped with nut (16), which is fixedly connected with turbine pump ambulatory splint (12).
10. a kind of device for airspace engine thrust chamber and turbine pump Butt Assembling according to claim 8, special
Sign is that the turbine pump ambulatory splint (12) is equipped with rotary stopper block cylinder (17), the rotary stopper block cylinder (17)
Pistons end be equipped with rotary stopper block (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820755816.9U CN208374535U (en) | 2018-05-21 | 2018-05-21 | A kind of device for airspace engine thrust chamber and turbine pump Butt Assembling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820755816.9U CN208374535U (en) | 2018-05-21 | 2018-05-21 | A kind of device for airspace engine thrust chamber and turbine pump Butt Assembling |
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| Publication Number | Publication Date |
|---|---|
| CN208374535U true CN208374535U (en) | 2019-01-15 |
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ID=64971242
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820755816.9U Active CN208374535U (en) | 2018-05-21 | 2018-05-21 | A kind of device for airspace engine thrust chamber and turbine pump Butt Assembling |
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| CN (1) | CN208374535U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202320A (en) * | 2019-03-15 | 2019-09-06 | 蓝箭航天技术有限公司 | Composite tooling and thrust chamber preparation process for thrust chamber preparation process |
-
2018
- 2018-05-21 CN CN201820755816.9U patent/CN208374535U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202320A (en) * | 2019-03-15 | 2019-09-06 | 蓝箭航天技术有限公司 | Composite tooling and thrust chamber preparation process for thrust chamber preparation process |
| CN110202320B (en) * | 2019-03-15 | 2024-06-04 | 蓝箭航天技术有限公司 | Composite tool for thrust chamber preparation process and thrust chamber preparation process |
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