Monopropellant thrust chamber catalyst automatic filling system

Abstract

The invention discloses an automatic catalyst filling system for a single-component thrust chamber. The automatic catalyst filling system comprises a material taking device, a catalyst storing and taking device and a vibration device, wherein the material taking device takes out a thrust chamber and decomposition chamber assembly and places the thrust chamber and decomposition chamber assembly on the catalyst storing and taking device or the vibration device; the catalyst access device pours a catalyst with a set weight into the thrust chamber and decomposition chamber assembly; and the vibration device is used for knocking and vibrating the thrust chamber decomposition chamber assembly. According to the invention, automatic filling of the catalyst in the thrust chamber is realized, so that the production efficiency is improved, the labor intensity is reduced, and the quality consistency of products is improved.

Description

Technical Field

[0001] This invention belongs to the field of single-component thrust chamber technology, and particularly relates to an automatic loading system for single-component thrust chamber catalysts. Background Technology

[0002] A single-component thrust chamber structure typically consists of two parts: a decomposition chamber assembly welded from a decomposition chamber nozzle and a head. Before welding the head to the decomposition chamber assembly, granular catalyst needs to be loaded into the decomposition chamber cavity. Catalyst loading has high requirements for both catalyst weight and the flatness of the catalyst loading surface, thus the loading process is characterized by a large workload and high repeatability. Currently, catalyst loading is mainly completed manually, which not only greatly increases labor intensity but also seriously affects the consistency of product quality. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a single-component thrust chamber catalyst automatic filling system to realize the automatic filling of the thrust chamber catalyst, thereby improving production efficiency, reducing labor intensity, and improving product quality consistency.

[0004] The objective of this invention is achieved through the following technical solution: an automatic loading system for a single-component thrust chamber catalyst, comprising: a material handling device, a catalyst storage and retrieval device, and a vibration device; wherein, the material handling device removes the thrust chamber decomposition chamber assembly and places it on the catalyst storage and retrieval device or the vibration device; the catalyst storage and retrieval device pours a set weight of catalyst into the thrust chamber decomposition chamber assembly; and the vibration device is used to tap and vibrate the thrust chamber decomposition chamber assembly.

[0005] In the aforementioned automatic loading system for a single-component thrust chamber catalyst, the material handling device includes a control system, an upper camera, and a four-axis manipulator. The upper camera is mounted on the four-axis manipulator. Both the four-axis manipulator and the upper camera are connected to the control system. The upper camera takes pictures of the thrust chamber decomposition chamber assembly and transmits the image information to the control system. The control system obtains the position coordinates of the thrust chamber decomposition chamber assembly based on the image information and transmits the corresponding control commands to the four-axis manipulator. The four-axis manipulator grasps the thrust chamber decomposition chamber assembly according to the control commands and places it on the catalyst storage and retrieval device or the vibration device. After catalyst loading, the upper camera takes pictures of the catalyst loading morphology of the thrust chamber decomposition chamber assembly and transmits the second image information to the control system. The control system determines whether the catalyst loading is complete based on the second image information.

[0006] In the above-mentioned automatic loading system for single-component thrust chamber catalyst, the material handling device further includes a camera assembly; wherein the camera assembly is located below the upper camera; the camera assembly is used to repeatedly position the thrust chamber decomposition chamber assembly in the clamping state, thereby ensuring that the thrust chamber decomposition chamber assembly is placed on the catalyst storage and retrieval device or the vibration device.

[0007] In the above-mentioned automatic loading system for single-component thrust chamber catalyst, the four-axis manipulator includes a robotic arm and a liftable gripper assembly; wherein, the robotic arm and the liftable gripper assembly are connected; the liftable gripper assembly is used to grasp the thrust chamber decomposition chamber assembly.

[0008] In the above-mentioned automatic loading system for catalyst in a single-component thrust chamber, the liftable gripper assembly includes a lifting cylinder and a gripping cylinder; wherein the lifting cylinder and the gripping cylinder are connected; and the lifting cylinder is connected to the robotic arm.

[0009] In the above-mentioned automatic loading system for single-component thrust chamber catalysts, the catalyst storage and retrieval device includes a storage chamber A, a storage chamber B, a loading platform, and an outer shell; wherein, both storage chamber A and storage chamber B are located at the upper end of the outer shell; storage chamber A and storage chamber B are arranged in parallel; the loading platform is located on the platform of the outer shell, and the loading platform is aligned with the discharge port of storage chamber A and the discharge port of storage chamber B.

[0010] In the above-mentioned automatic loading system for single-component thrust chamber catalyst, the vibration device includes a base, a second outer shell, and a vibration tapping head; wherein, the base is disposed at the lower end of the second outer shell; and the vibration tapping head is disposed on the outer shell.

[0011] In the above-mentioned automatic loading system for single-component thrust chamber catalyst, the vibration device further includes a positioning platform assembly; wherein, the positioning platform assembly is located in front of the vibrating impact head; the positioning platform assembly is used to clamp and rotate the thrust chamber decomposition chamber assembly under the impact vibration state.

[0012] In the above-mentioned automatic loading system for single-component thrust chamber catalyst, when the material handling device places the thrust chamber decomposition chamber assembly onto the catalyst storage and handling device, the storage chamber A or storage chamber B controls the catalyst discharge according to the set weight, and pours the catalyst into the inner cavity of the decomposition chamber assembly.

[0013] An automatic loading method for a single-component thrust chamber catalyst based on an automatic loading system includes: an upper camera taking pictures of the thrust chamber decomposition chamber assembly and transmitting the image information to a control system; the control system obtaining the position coordinates of the thrust chamber decomposition chamber assembly based on the image information and transmitting control commands corresponding to the position coordinates to a four-axis robot; the four-axis robot grasping the thrust chamber decomposition chamber assembly according to the control commands, the camera assembly being used to repeatedly position the thrust chamber decomposition chamber assembly in the gripping state, and placing the thrust chamber decomposition chamber assembly on the loading table of a catalyst storage and retrieval device; the catalyst storage and retrieval device discharging catalyst particles according to a set weight, pouring them into the inner cavity of the thrust chamber decomposition chamber assembly to complete the initial loading; the upper camera taking pictures of the thrust chamber decomposition chamber assembly and transmitting the third image information to the control system; the control system... The system obtains the third position coordinates of the thrust chamber decomposition chamber component based on the third image information, and transmits the corresponding control command to the four-axis robot. The four-axis robot grasps the thrust chamber decomposition chamber component according to the control command corresponding to the third position coordinates. The camera component is used to repeatedly position the thrust chamber decomposition chamber component in the clamping state and place the thrust chamber decomposition chamber component on the positioning stage component. The positioning stage component clamps the rotating decomposition chamber component. The vibrating tapping head vibrates the decomposition chamber component according to the set frequency and amplitude. The upper camera takes pictures of the catalyst loading morphology of the vibrated thrust chamber decomposition chamber component and transmits the second image information to the control system. The control system confirms that the catalyst loading is complete based on the second image information, and the four-axis robot puts the catalyst-loaded thrust chamber decomposition chamber component into the roller conveyor to complete the discharge.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] This invention enables automated loading of catalyst into the thrust chamber, improving production efficiency, reducing labor intensity, and enhancing product quality consistency. Attached Figure Description

[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0017] Figure 1 This is a schematic diagram of the single-component thrust chamber catalyst automatic loading system provided in an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the catalyst automatic loading system material handling device provided in an embodiment of the present invention;

[0019] Figure 3This is a schematic diagram of the catalyst storage and retrieval device of the automatic catalyst loading system provided in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the vibration device of the automatic catalyst loading system provided in an embodiment of the present invention. Detailed Implementation

[0021] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] Employing advanced automated manufacturing technology to transform catalyst loading from manual to automatic processes has become crucial for improving the production efficiency and quality consistency of thrust chambers. To achieve fully automated catalyst loading in thrust chambers, it is necessary to organically combine mechanical devices, detectors, and control systems to form a corresponding fully automated catalyst loading process.

[0023] This embodiment provides an automatic loading system for a single-component thrust chamber catalyst. The system includes: a material handling device, a catalyst storage and retrieval device, and a vibration device. The material handling device removes the thrust chamber decomposition chamber assembly and places it on the catalyst storage and retrieval device or the vibration device. The catalyst storage and retrieval device pours a set weight of catalyst into the thrust chamber decomposition chamber assembly. The vibration device is used to tap and vibrate the thrust chamber decomposition chamber assembly.

[0024] like Figure 1 As shown, the system includes: a support plate storage rack 1, a material handling device 2, a camera assembly 3, a loading and unloading line 4, a catalyst storage and retrieval device 7, a vibration device 8, and a tooling return line 10; wherein, the material handling device 2 takes out the thrust chamber decomposition chamber assembly and places it on the catalyst storage and retrieval device 7 or the vibration device 8; the catalyst storage and retrieval device 7 pours the catalyst into the decomposition chamber assembly according to a set weight; the vibration device 8 is used to tap and vibrate the decomposition chamber assembly.

[0025] Among them, the purpose of the support plate storage rack 1 is to temporarily store the support plate parts to be assembled, the purpose of the loading and unloading line 4 is to load the parts and transport the assembled components to the outside of the unit, and the purpose of the tooling return line 10 is to return the tooling used for temporary limiting and pressing after the catalyst is filled to the inside of the unit.

[0026] This embodiment integrates mechanical mechanisms, camera components, roller conveyors, and other parts to form a modular automatic loading device for single-component thrust chamber catalysts, providing an automatic loading method for single-component thrust chamber catalysts. This embodiment mainly consists of a shell structure, operation panel, alarm device, bottom rollers, and other general basic structures, as well as various functional mechanisms integrated inside, achieving automated operation from raw material feeding to finished product unloading.

[0027] The automatic catalyst loading system controls production efficiency through action timing analysis, including stages such as feeding, robotic arm gripping, displacement to the filling position, catalyst loading, and unloading. The timing analysis results are as follows:

[0028] UPH = 30 PCS / h;

[0029] CT = 120s;

[0030] Where UPH is the hourly output and CT is the total time for the system to complete the process, the analysis results show that the hourly output of the filling system is 30 pieces and the total time for the system process is 120 seconds.

[0031] like Figure 2 As shown, the material handling device 2 includes a control system, an upper camera 22, and a four-axis robot arm; wherein, the upper camera is mounted on the four-axis robot arm; both the four-axis robot arm and the upper camera are connected to the control system; the upper camera takes pictures of the thrust chamber decomposition chamber assembly and transmits the image information to the control system; the control system obtains the position coordinates of the thrust chamber decomposition chamber assembly based on the image information and transmits the corresponding control commands to the four-axis robot arm; the four-axis robot arm grasps the thrust chamber decomposition chamber assembly according to the control commands and places the thrust chamber decomposition chamber assembly on the catalyst storage and retrieval device or the vibration device; after the catalyst is loaded, the upper camera takes pictures of the catalyst loading morphology of the thrust chamber decomposition chamber assembly and transmits the second image information to the control system; the control system determines whether the catalyst loading is complete based on the second image information.

[0032] like Figure 3 As shown, the material handling device includes a control system, an upper camera 22, and a four-axis robot. The four-axis robot and the upper camera are both connected to the control system. The upper camera takes pictures of the thrust chamber and decomposition chamber and transmits the image information to the control system. The control system obtains the position coordinates of the decomposition chamber components based on the image information and transmits the corresponding control commands to the four-axis robot. The four-axis robot grabs the decomposition chamber components according to the control commands and places them on the catalyst storage and retrieval device or vibration device according to the process.

[0033] The material handling device also includes a camera assembly 3; wherein the camera assembly 3 is located below the upper camera 22; the camera assembly is used to repeatedly position the thrust chamber decomposition chamber assembly in the clamping state, thereby ensuring that the thrust chamber decomposition chamber assembly is placed on the catalyst storage and handling device or the vibration device.

[0034] like Figure 2 As shown, the material handling device also includes a lower camera assembly 3. The lower camera assembly is used to repeatedly position the thrust chamber decomposition chamber assembly in the clamping state, thereby ensuring that the decomposition chamber assembly is placed on the catalyst storage and retrieval device or the vibration device.

[0035] like Figure 2 As shown, the four-axis manipulator includes a robotic arm 21 and a liftable gripper assembly 23; wherein the robotic arm and the liftable gripper assembly are connected; the liftable gripper assembly is used to grasp the thrust chamber disintegration chamber assembly.

[0036] The liftable gripper assembly includes a lifting cylinder and a finger-gripping cylinder; wherein the lifting cylinder and the finger-gripping cylinder are connected; the lifting cylinder is connected to the robotic arm.

[0037] like Figure 3 As shown, the catalyst storage and retrieval device 7 includes a storage chamber A5, a storage chamber B6, a loading platform 73, and a housing 74; wherein, storage chamber A and storage chamber B are both located at the upper end of the housing; storage chamber A and storage chamber B are arranged in parallel; the loading platform is located on the platform of the housing, and the loading platform is aligned with the discharge port of storage chamber A and the discharge port of storage chamber B.

[0038] When the feeding device places the decomposition chamber assembly on the loading platform of the catalyst storage device, storage chambers A and B discharge the catalyst according to the set weight, and the catalyst particles are poured into the inner cavity of the decomposition chamber assembly to complete the initial filling.

[0039] like Figure 4 As shown, the vibration device 8 includes a base 83, a second housing 81, and a vibration striking head 82; wherein the base is disposed at the lower end of the second housing; and the vibration striking head is disposed on the housing.

[0040] The vibration device also includes a positioning platform assembly 9; wherein, the positioning platform assembly is located in front of the vibrating striking head; the positioning platform assembly is used to clamp and rotate the thrust chamber decomposition chamber assembly under the vibration state. After the material handling device places the decomposition chamber assembly initially filled with catalyst onto the positioning platform assembly, the vibration device vibrates the decomposition chamber assembly according to the set frequency and amplitude through the vibrating striking head, so that the catalyst particles in the decomposition chamber assembly are filled evenly and densely.

[0041] When the material handling device places the thrust chamber decomposition chamber assembly onto the catalyst storage and handling device, storage chamber A or storage chamber B controls the catalyst discharge according to the set weight, pouring the catalyst into the inner cavity of the decomposition chamber assembly.

[0042] When the material handling device places the thrust chamber decomposition chamber assembly onto the impact vibration device, the positioning table assembly clamps the rotating decomposition chamber assembly, and the vibrating impact head strikes the vibrating decomposition chamber assembly at a set frequency and amplitude.

[0043] After the material is fed into the equipment, the material handling device 2 positions and grabs it, and the lower camera assembly 3 performs repeated positioning to assemble the decomposition chamber assembly into the catalyst storage and retrieval device 7. The catalyst storage and retrieval device 7 pours the catalyst into the inner cavity of the decomposition chamber assembly according to the set weight. The material handling device 2 positions and grabs it, and the lower camera assembly 3 performs repeated positioning again to assemble the decomposition chamber assembly into the positioning platform assembly 9. The positioning platform assembly 9 clamps and rotates the decomposition chamber assembly. The vibration device 8 taps and vibrates the decomposition chamber assembly according to the set amplitude and frequency. After filling, the upper camera takes pictures of the decomposition chamber inlet and transmits them to the control system to confirm that the catalyst is filled tightly. After confirmation, the finished product is grabbed and discharged through the roller conveyor.

[0044] This embodiment also provides an automatic loading method for a single-component thrust chamber catalyst. The method includes: an upper camera taking pictures of the thrust chamber decomposition chamber assembly and transmitting the image information to a control system; the control system obtaining the position coordinates of the thrust chamber decomposition chamber assembly based on the image information and transmitting control commands corresponding to the position coordinates to a four-axis robotic arm; the four-axis robotic arm grasping the thrust chamber decomposition chamber assembly according to the control commands, the camera assembly repeatedly positioning the thrust chamber decomposition chamber assembly in the gripping state, and placing the thrust chamber decomposition chamber assembly on the loading platform of the catalyst storage and retrieval device; the catalyst storage and retrieval device discharging catalyst particles according to a set weight, pouring them into the inner cavity of the thrust chamber decomposition chamber assembly to complete the initial loading; the upper camera taking pictures of the thrust chamber decomposition chamber assembly and transmitting the third image information to the control system; the control system then... The third image information yields the third position coordinates of the thrust chamber decomposition chamber assembly, and the corresponding control command is transmitted to the four-axis robot. The four-axis robot grips the thrust chamber decomposition chamber assembly according to the control command. The camera assembly repeatedly positions the assembly in the gripping state and places it on the positioning platform assembly. The positioning platform assembly clamps the rotating decomposition chamber assembly. The vibrating tapping head vibrates the decomposition chamber assembly according to the set frequency and amplitude. The upper camera takes a picture of the catalyst loading morphology of the vibrated thrust chamber decomposition chamber assembly and transmits the second image information to the control system. The control system confirms that the catalyst loading is complete based on the second image information, and the four-axis robot places the catalyst-loaded thrust chamber decomposition chamber assembly into the roller conveyor for discharge.

[0045] The specific steps include: First, the roller conveyor feeds the thrust chamber / decomposition chamber assembly into the system. Then, a four-axis robot, positioned by an upper camera, grips the assembly using an integrated gripper assembly. The robot's rotation radius is 600mm, and the repeatability is ±0.05mm. Next, a lower camera assembly repeatedly positions the gripped assembly, generating coordinate-based motion commands for the robot via a computer control system. The robot then places the assembly onto the loading platform of the catalyst storage and retrieval device. The catalyst storage and retrieval device dispenses catalyst particles according to a set weight, pouring them into the cavity of the decomposition chamber assembly to complete the initial filling. During the repeated positioning and gripping process, the robot places the assembly onto the positioning platform of the vibration device, which clamps and rotates the assembly. A vibrating head vibrates the assembly at a set frequency and amplitude. After vibration, the robot uses the integrated upper camera to photograph and confirm the catalyst filling is dense and uniform before transferring the assembly out of the system via the roller conveyor.

[0046] This embodiment uses a four-axis robot that integrates a dedicated gripper assembly and a camera assembly as a material handling device. It positions, grips, and inspects the disassembly chamber assembly after loading, and performs repeated positioning through the lower camera vision module to complete functions such as product gripping and movement.

[0047] This embodiment uses a catalyst storage and retrieval device to load the catalyst into the thrust chamber decomposition chamber assembly according to a set weight.

[0048] In this embodiment, a vibration device is used to tap and vibrate the decomposition chamber assembly in a clamped and rotating state according to a set frequency and amplitude to ensure that the catalyst is uniformly and densely packed.

[0049] This embodiment adopts an integrated design, integrating the above-mentioned mechanisms into a unitized device to form a single-component thrust chamber catalyst automatic filling system, providing a feasible solution for the automated spot welding of single-component filter components.

[0050] This embodiment completes the automated loading of single-component thrust chamber catalyst, improving production efficiency, reducing labor intensity, and enhancing product quality consistency.

[0051] 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. An automatic loading system for a single-component thrust chamber catalyst, characterized in that... include: The device includes a material handling unit, a catalyst storage and retrieval unit, and a vibration device; among which, The material handling device removes the thrust chamber decomposition chamber assembly and places it on the catalyst storage and handling device or the vibration device; The catalyst storage and retrieval device pours a set weight of catalyst into the thrust chamber decomposition chamber assembly; The vibration device is used to strike the vibration thrust chamber disintegration chamber assembly.

2. The automatic catalyst loading system for a single-component thrust chamber according to claim 1, characterized in that: The material handling device includes a control system, an upper camera, and a four-axis robotic arm; wherein... The upper camera is mounted on the four-axis robotic arm; Both the four-axis robotic arm and the upper camera are connected to the control system. The upper camera takes pictures of the thrust chamber disintegration chamber assembly and transmits the image information to the control system; The control system obtains the position coordinates of the thrust chamber disintegration chamber component based on the image information, and transmits the corresponding control commands to the four-axis manipulator. The four-axis manipulator grasps the thrust chamber decomposition chamber assembly according to control commands and places the thrust chamber decomposition chamber assembly on the catalyst storage and retrieval device or the vibration device; The upper camera takes pictures of the catalyst loading morphology of the thrust chamber decomposition chamber assembly after the catalyst is loaded, and transmits the second image information to the control system. The control system determines whether the catalyst has been fully loaded based on the information in the second image.

3. The automatic catalyst loading system for a single-component thrust chamber according to claim 2, characterized in that: The material handling device also includes a camera assembly; wherein... The camera assembly is located below the upper camera; The camera assembly is used to repeatedly position the thrust chamber decomposition chamber assembly in the clamping state, thereby ensuring that the thrust chamber decomposition chamber assembly is placed on the catalyst storage device or vibration device.

4. The automatic catalyst loading system for a single-component thrust chamber according to claim 2, characterized in that: The four-axis robotic arm includes a robotic arm and a liftable gripper assembly; wherein... The robotic arm and the liftable gripper assembly are connected; The liftable gripper assembly is used to grip the thrust chamber disintegration chamber assembly.

5. The automatic catalyst loading system for a single-component thrust chamber according to claim 4, characterized in that: The liftable gripper assembly includes a lifting cylinder and a finger-gripping cylinder; wherein... The lifting cylinder and the finger-clamping cylinder are connected; The lifting cylinder is connected to the robotic arm.

6. The automatic catalyst loading system for a single-component thrust chamber according to claim 1, characterized in that: The catalyst storage and retrieval device includes storage chamber A, storage chamber B, a loading platform, and an outer shell; wherein... Storage compartment A and storage compartment B are both located at the upper end of the outer shell; storage compartment A and storage compartment B are arranged in parallel. The loading platform is located on the platform of the outer shell, and the loading platform is aligned with the discharge port of storage compartment A and the discharge port of storage compartment B.

7. The automatic catalyst loading system for a single-component thrust chamber according to claim 1, characterized in that: The vibration device includes a base, a second housing, and a vibrating striking head; wherein... The base is disposed at the lower end of the second outer casing; The vibrating striking head is disposed on the outer casing.

8. The automatic loading system for a single-component thrust chamber catalyst according to claim 7, characterized in that: The vibration device further includes a positioning platform assembly; wherein... The positioning platform assembly is located at the front of the vibrating striking head; The positioning platform assembly is used to clamp and rotate the thrust chamber disintegration chamber assembly under impact vibration.

9. The automatic catalyst loading system for a single-component thrust chamber according to claim 6, characterized in that: When the material handling device places the thrust chamber decomposition chamber assembly onto the catalyst storage and handling device, the storage chamber A or storage chamber B controls the catalyst discharge according to the set weight, and pours the catalyst into the inner cavity of the decomposition chamber assembly.

10. A method for automatically loading a single-component thrust chamber catalyst using an automatic loading system according to any one of claims 1-9, characterized in that... include: The upper camera takes pictures of the thrust chamber and reassembly chamber components and transmits the image information to the control system; The control system obtains the position coordinates of the thrust chamber disintegration chamber components based on the image information and transmits the corresponding control commands to the four-axis robot. The four-axis robot grips the thrust chamber decomposition chamber assembly according to control commands, and the camera assembly is used to repeatedly position the thrust chamber decomposition chamber assembly in the gripping state and place the thrust chamber decomposition chamber assembly on the loading table of the catalyst storage and retrieval device. The catalyst storage and retrieval device discharges catalyst particles according to the set weight and pours them into the inner cavity of the thrust chamber decomposition chamber component to complete the initial filling. The upper camera takes pictures of the thrust chamber disintegration chamber components and transmits the third image information to the control system; The control system obtains the third position coordinates of the thrust chamber disintegration chamber component based on the third image information, and transmits the control command corresponding to the third position coordinates to the four-axis robot. The four-axis robot grips the thrust chamber disintegration chamber assembly according to the control command corresponding to the third position coordinate. The camera assembly is used to repeatedly position the thrust chamber disintegration chamber assembly in the gripping state and place the thrust chamber disintegration chamber assembly on the positioning stage assembly. The positioning stage assembly clamps the rotating disintegration chamber assembly; the vibrating tapping head vibrates the disintegration chamber assembly according to the set frequency and amplitude; The upper camera takes pictures of the catalyst loading morphology of the thrust chamber decomposition chamber assembly after vibration, and transmits the second image information to the control system; The control system confirms that the catalyst loading is complete based on the information in the second image, and the four-axis robot puts the catalyst-loaded thrust chamber decomposition chamber assembly into the roller conveyor to complete the discharge.

Images