An automated device for disassembling clustered charge column tooling

Abstract

The present invention relates to an automated device for disassembling a tool for clustered medicine columns, the device comprising: a tool for clustered medicine columns, comprising an upper medicine tray and a lower bottom plate connected to the upper medicine tray, a plurality of medicine columns being placed between the upper medicine tray and the lower bottom plate; a quick-change tooling table for placing an upper medicine tray disassembly mechanism and a disassembly fixture; and a mechanical arm for installing the upper medicine tray disassembly mechanism or the disassembly fixture to disassemble the tool for clustered medicine columns. The automated device for disassembling a tool for clustered medicine columns provided by the present invention can realize the automated removal of the upper medicine tray of the tool for clustered medicine columns, avoiding the uncontrollable danger of friction between medicine column powders caused by failure to ensure horizontality when manually taking the upper medicine tray upwards, avoiding the safety hazards of friction between medicine column powders caused by breaking away from the adhesion of medicine columns when manually taking the upper medicine tray assembly upwards, and the potential safety hazards of medicine columns being lifted up and then falling, ensuring the safety, efficiency, stability and reliability of the automated disassembly of the tool for clustered medicine columns.

Description

Technical Field

[0001] The invention relates to the technical field of automated disassembly of cluster tooling, and in particular to an automated device for disassembling clustered charge tooling. Background Art

[0002] Grain refers to a cylindrical solid formed by the pouring and curing production process of energetic materials represented by composite solid propellants. After the grain is poured and cured in the cluster tooling, the cluster tooling and grain need to be disassembled. Use the removal tooling to safely remove each grain (for example, there are 9 grains in a 3x3 cluster tooling) to achieve the functions of cluster tooling disassembly and cluster grain removal and placement. Due to the product's own safety sensitivity to friction, impact, and pressure, during the cluster tooling disassembly and grain removal and placement process, there are relatively strict positioning accuracy and precision requirements to ensure safe and reliable operation.

[0003] At present, the disassembly of the existing medicine column tooling is completely done manually. First, manually remove the fixing screws with a wrench, and then use a rubber hammer to knock upward on the upper medicine tray assembly to make it detach. At the same time, two people cooperate to lift the upper medicine tray assembly upward to separate the upper surface of the entire medicine column from the upper medicine tray assembly (because after the poured medicine column solidifies, the excess medicine slurry will cause the upper surface of the medicine column to be bonded to the upper cover). Since it is a manual knock, the knocking force and knocking position are uncontrollable, and the surface of the medicine column may be knocked, and one or more medicine columns may still be bonded to the positioning cover. When the upper medicine tray assembly is manually moved upward for disassembly, because it cannot be guaranteed to be completely horizontal and upward, the medicine column may be lifted or dumped, etc., and the above phenomena all have safety hazards. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an automated device for disassembling a clustered charge tooling in view of the above-mentioned deficiencies.

[0005] The present invention is achieved through the following technical solutions:

[0006] An automated device for disassembling a clustered charge tooling, the device comprising:

[0007] A bundled medicine column tooling, comprising an upper medicine loading tray and a lower loading bottom plate connected to the upper medicine loading tray, wherein a plurality of medicine columns are placed between the upper medicine loading tray and the lower loading bottom plate;

[0008] A quick-change workbench for placing the upper medicine tray disassembly mechanism and removal fixture; and

[0009] A robotic arm is used to install the upper medicine tray disassembly mechanism or the disassembly fixture to disassemble the clustered medicine column tooling.

[0010] Furthermore, in the automated device for disassembling a tool for clustered medicine columns, the upper medicine tray disassembly mechanism includes a clamp for clamping the upper medicine tray, a plurality of cylinder top rods independently corresponding to and matching the plurality of medicine columns, and a plurality of cylinders connected to the plurality of cylinder top rods; when disassembling the upper medicine tray, the plurality of cylinder top rods correspondingly stop at the plurality of medicine columns, the clamp is clamped on the upper medicine tray, and the clamp and the plurality of cylinder top rods make relative motion.

[0011] Furthermore, in the automated device for disassembling a clustered drug column tool, the upper drug tray disassembly mechanism further comprises:

[0012] A pneumatic mechanism for controlling the movement of the clamp;

[0013] A valve island module, used to control the switch of the pneumatic mechanism and the plurality of cylinders;

[0014] A proportional valve, used to control the pressure of several of the cylinders;

[0015] A plurality of first digital displacement sensors are arranged in one-to-one correspondence with the plurality of cylinder push rods, and are used to detect the displacement of the corresponding cylinder push rods;

[0016] a second digital displacement sensor, used to detect the displacement of the fixture;

[0017] a data transmission module, connected to the plurality of the first digital displacement sensors and the second digital displacement sensors, and used for transmitting the displacement data detected by the plurality of the first digital displacement sensors and the second digital displacement sensors to the PLC controller; and

[0018] A dust hood is used to cover the proportional valve, the valve island module, the data transmission module, a plurality of the first digital displacement sensors and a plurality of the cylinders.

[0019] Furthermore, the automated device for disassembling a clustered charge tool also includes a turntable, and the clustered charge tool is mounted on the turntable.

[0020] Furthermore, in the automated device for disassembling a clustered charge tool, the turntable, the quick-change tooling table and the robotic arm are arranged on a work platform.

[0021] Furthermore, the automated device for disassembling a clustered charge tool also includes a material cart for transporting the clustered charge tool, and a first locking and positioning mechanism and a first guide positioning block are provided on one side of the work platform, and the material cart is locked to the first locking and positioning mechanism via the first guide positioning block.

[0022] Furthermore, the automated device for disassembling a clustered charge tooling also includes a charge trolley for placing a number of the charges, a second locking and positioning mechanism and a second guide positioning block are provided on one side of the work platform, and the charge trolley is locked to the second locking and positioning mechanism via the second guide positioning block.

[0023] Furthermore, the automated device for disassembling a clustered medicine column tooling also includes a 3D camera scanning and positioning system, which is used to locate a plurality of fasteners and a plurality of medicine columns on the upper medicine tray.

[0024] Furthermore, in the automated device for disassembling a clustered charge tool, a six-dimensional force sensor manipulator is provided at the end of the robotic arm.

[0025] The advantages and effects of the present invention are:

[0026] 1. The automated device for disassembling the clustered drug column tooling provided by the present invention can realize the automated removal of the upper drug tray of the clustered drug column tooling, thereby avoiding the uncontrollable danger of drug column and drug powder friction caused by failure to ensure the level when manually taking up the upper drug tray, and avoiding the safety hazards of drug column and drug powder friction caused by breaking away from the adhesive force of the drug column and the drug column being lifted up and then falling when manually taking up the upper drug tray assembly, thereby ensuring the safe, efficient, secure and reliable automated disassembly of the clustered drug column tooling.

[0027] 2. The upper medicine tray disassembly mechanism of the clustered medicine column tooling automatic disassembly device provided by the present invention realizes the control of the tightening force of each medicine column and the control of the upward pulling force and stroke, ensuring that the medicine column will not be damaged and will not move up or tip over due to the adhesion between the medicine column and the top cover, thereby greatly increasing the safety factor of the process.

[0028] 3. The automatic device for disassembling the clustered charge tool provided by the present invention has a mechanical arm, a charge trolley and a material trolley, which can realize the fully automated operation of automatic loading, automatic positioning, automatic operation and automatic unloading of the clustered charge tool. This avoids the dangerous operation of manual face-to-face disassembly of the charge, realizes unmanned and isolated operation on site, improves the safety control of the operation process, and improves the production quality and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram showing the structure of the automated device for disassembling the clustered charge tooling provided by the present invention;

[0030] Figure 2 A top view of the automated device for disassembling the clustered charge tooling provided by the present invention is shown;

[0031] Figure 3 A schematic diagram showing the structure of the clustered charge tooling provided by the present invention is shown;

[0032] Figure 4 Show Figure 3 A top view of

[0033] Figure 5 A schematic diagram showing the structure of the upper medicine tray disassembly mechanism provided by the present invention;

[0034] Figure 6 Show Figure 5 A top view of

[0035] Figure 7 Show Figure 5 Middle BB section view;

[0036] Figure 8 A schematic diagram showing the disassembly operation of the upper medicine tray disassembly mechanism provided by the present invention;

[0037] Fig. 9 Show Figure 8 AA section view;

[0038] Fig.10 The following is a flowchart showing the operation of the automated device for disassembling the clustered charge tooling provided by the present invention.

[0039] Explanation of the accompanying drawings: 1-clustered drug column tooling, 11-boiling circle, 12-positioning cover plate, 13-fixing screws, 14-pull rod, 15-positioning base plate, 16-upper drug tray, 17-lower base plate, 18-drug column, 2-mechanical arm, 3-quick-change tooling table, 4-turntable, 5-material trolley, 6-drug column trolley, 7-working platform, 71-first locking positioning mechanism, 72-first guide positioning block, 73-second locking positioning mechanism, 74-second guide positioning block, 8-upper drug tray disassembly mechanism, 81-clamp, 82-cylinder push rod, 83-cylinder, 84-pneumatic mechanism, 85-valve island module, 86-proportional valve, 87-first digital displacement sensor, 88-second digital displacement sensor, 89-data transmission module, 90-dust hood, 9-3D camera. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages of the implementation of the present invention clearer, the technical scheme in the embodiment of the present invention is described in more detail below in conjunction with the drawings in the embodiment of the present invention. The described embodiment is a part of the embodiment of the present invention, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present invention, and should not be understood as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention. The embodiments of the present invention are described in detail below in conjunction with the drawings:

[0041] In the description of the present invention, it should be understood that, unless otherwise specified, "multiple" means two or more than two; the orientation or position relationship indicated by the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0042] Figure 1 , Figure 2 The schematic diagram of the structure of the automatic disassembly device for the bundled charge tooling provided by the present invention is shown. The automatic disassembly device comprises a bundled charge tooling 1, a robotic arm 2, a quick-change tooling table 3, a turntable 4, a material trolley 5 and a charge trolley 6. Taking a 3×3 charge bundle tooling as an example, the automatic disassembly device automatically separates and disassembles the tooling parts and the charge, which can be clamped by the robotic arm and placed on a material trolley equipped with a special container.

[0043] like Figure 3 As shown, the bundled-charge tool 1 includes an upper medicine tray 16 and a lower base plate 17, which are connected together by a plurality of fixing screws 13, and a plurality of medicine columns 18 are placed in the cavity formed between the upper medicine tray 16 and the lower base plate 17. The upper medicine tray 16 includes a boiling ring 11 and a positioning cover plate 12, and the lower base plate 17 includes a positioning base plate 15 and a pull rod 14. The positioning base plate 15 is placed at the lowest part, and the front end thread of the pull rod 14 is locked with a nut through the corresponding fixed hole position of the positioning base plate 15, so that the positioning base plate 15 and the pull rod 14 are locked. A plurality of medicine columns are placed on the positioning base plate 15. The positioning cover plate 12 is placed on a plurality of medicine columns. The boiling ring 11 is placed on the positioning cover plate 12. The fixing screws 13 are locked with the pull rod 14 through the corresponding holes of the boiling ring 11 and the positioning cover plate 12. At this time, the bundled-charge tool 1 is completely locked.

[0044] The quick-change workbench 3 is used to place the upper medicine tray disassembly mechanism and the disassembly fixture. Specifically, the disassembly fixture includes a first disassembly fixture and a second disassembly fixture. The first disassembly fixture is used to remove a number of fixing screws 13 and place them in a suitable position. The second disassembly fixture is used to clamp a number of medicine columns 18 and place them in a suitable position. The upper medicine tray disassembly mechanism is used to separate the upper medicine tray 16 from a number of medicine columns 18 and the lower base plate 17, and place the upper medicine tray 16 in a suitable position. The fixtures (upper medicine tray disassembly mechanism and disassembly fixture) of the quick-change workbench 3 are automatically replaced by the robot arm. When the fixture needs to be replaced, the robot arm first moves the existing fixture to the placement position, ventilates the locking mechanism of the robot arm, the locking mechanism releases the fixture, and places it in the current position. A sensor identifies whether the current fixture is correct and detects whether the fixture on the robot arm falls off. When all inspections and identifications are completed, the fixture release procedure is completed; before replacing the fixture, the robot arm will confirm that there is no fixture installed or locked at the current end, and then the robot arm will move to the position of the fixture that needs to be replaced, ventilate to open the locking mechanism, and insert the locking part of the fixture into the locking mechanism, cut off the air and lock the locking mechanism, which is detected by the sensor and fed back to the robot arm. The robot arm moves to the set position to complete the fixture replacement operation.

[0045] The robot arm 2 is used to replace and install the upper medicine tray disassembly mechanism or disassembly fixture from the tooling changer 3 to disassemble the clustered medicine column tooling 1. Specifically, a six-dimensional force sensor manipulator is arranged at the end of the robot arm 2, which is a six-axis vertical multi-joint type, and is subjected to positive pressure explosion-proof treatment to meet the requirements of use in dangerous places on site. In order to ensure the stability of the mechanical system, the safety redundancy of the robot arm load is increased. At the same time, the robot arm has a power-off protection function-a built-in safety brake ensures that the robot arm stays in place in the event of a sudden power outage without displacement, thereby ensuring the safety of the process operation, and immediately alarming or shutting down when abnormal operation is found. In addition, the robot arm controller of the disassembly automation device is configured with remote control software, which can realize remote control.

[0046] During the disassembly work, the clustered charge tooling 1 is placed on the turntable 4 and can rotate, which is convenient for the precise operation of the robot arm 2. The turntable 4, the quick-change tooling table 3 and the robot arm 2 are arranged on the working platform 7 and are arranged at a suitable position and height.

[0047] like Figure 2As shown, the material trolley 5 is used to transport the bundled drug column tooling 1. A first locking positioning mechanism 71 and a first guide positioning block 72 are provided on one side of the working platform 7. The material trolley 5 is locked to the first locking positioning mechanism 71 via the first guide positioning block 72. The drug column trolley 6 is used to place a plurality of drug columns 18. A second locking positioning mechanism 73 and a second guide positioning block 74 are provided on one side of the working platform 7. The drug column trolley 6 is locked to the second locking positioning mechanism 73 via the second guide positioning block 74. Both the material trolley 5 and the drug column trolley 6 are equipped with front fixed wheels and rear universal wheels, and the rear wheels have brakes. Both the material trolley 5 and the drug column trolley 6 have guiding, positioning, and locking devices, which can safely fix the material trolley 5 and the drug column trolley 6 to prevent displacement during transportation and movement. At the same time, the material trolley 5 and the drug column trolley 6 have an error-proof design, and the width of the two trolleys differ by 20 to prevent misplacement.

[0048] like Figure 5 , 6 As shown in , 7, the upper medicine tray disassembly mechanism 8 includes a clamp 81, a plurality of cylinder push rods 82 and a plurality of cylinders 83. The clamp 81 is used to clamp the upper medicine tray 16. Specifically, the clamp 81 is provided with four front, rear, left and right clamping claws, which apply force to the outer side of the upper medicine tray 16 from four sides to grab it. A plurality of cylinders 83 are connected to a plurality of cylinder push rods 82 in a one-to-one correspondence, and a plurality of cylinder push rods 82 independently correspond to and match a plurality of medicine columns 18, that is, one cylinder drives a cylinder push rod to move and stop at the top surface of a corresponding medicine column. When disassembling the upper medicine tray 16, a plurality of cylinder push rods 82 correspondingly stop at a plurality of medicine columns 18, and the clamp 81 is clamped on the upper medicine tray 16, and the clamp 81 and the plurality of cylinder push rods 82 move relative to each other. The position arrangement of each cylinder 83 is designed in accordance with the arrangement size of the medicine column in the bundled medicine column tooling, and the size of the clamp 81 is designed in accordance with the size of the upper medicine tray 16, so as to achieve the process of automatically completing the disassembly of the bundled medicine column. It avoids the uncontrollable danger of medicine column powder friction caused by failure to ensure the level when manually taking the upper medicine tray assembly upward, and avoids the safety hazards of medicine column powder friction and medicine column being lifted and dropped due to the breakage of the medicine column bonding force when manually taking the upper medicine tray assembly upward; it realizes the control of the size of the tightening force of each medicine column and the control of the upward pulling force and stroke, ensuring that the medicine column will not be damaged, and the phenomenon of upward movement and dumping will not occur due to the adhesion between the medicine column and the top cover, thereby greatly increasing the safety factor of the process.

[0049] The upper medicine tray disassembly mechanism 8 also includes a pneumatic mechanism 84, a valve island module 85, a proportional valve 86, a first digital displacement sensor 87, a second digital displacement sensor 88, a data transmission module 89 and a dust hood 90. The pneumatic mechanism 84 is used to control the movement of the fixture 81. The valve island module 85 is used to control the switch of the pneumatic mechanism 84 and a plurality of cylinders 83, that is, the on-off of the air pressure. The proportional valve 86 is used to control the pressure of the plurality of cylinders 83. The air pressure automatically adjusts the output air pressure according to the set parameters through the proportional valve, and inputs the air pressure to the plurality of cylinders. A plurality of first digital displacement sensors 87 and a plurality of cylinder top rods 82 are arranged on the cylinder top rods 82 in a one-to-one correspondence, and are used to detect the displacement of the corresponding cylinder top rods 82. The second digital displacement sensor 88 is arranged on the fixture 81, and is used to detect the displacement of the fixture 81. The data transmission module 89 is connected to the plurality of first digital displacement sensors 87 and the second digital displacement sensors 88, and is used to transmit the displacement data detected by the plurality of first digital displacement sensors 87 and the second digital displacement sensors 88 to the PLC controller via Ethernet for communication, so as to further control the robot arm. The dust cover 90 is used to cover the valve island module 85, the proportional valve 86, the data transmission module 89, the plurality of first digital displacement sensors 87 and the plurality of cylinders 83.

[0050] The disassembly automation device also includes a 3D camera scanning positioning system for locating a plurality of fasteners (fixing screws 13) and a plurality of medicine columns on the upper medicine tray 16. The 3D camera scanning positioning system includes a 3D camera 9, which provides the PLC controller with position images of the plurality of fasteners and the plurality of medicine columns for positioning. Specifically, Figure 4 As shown, the 3D camera scanning and positioning system can locate the 8 fasteners of the upper positioning cover and the grabbing positions of the 9 rounds of powder on the circumference of the positioning base plate through the 8 ear reserved holes on the boiling circle, and perform faster and more accurate positioning, thereby realizing automated disassembly operations and avoiding dangerous manual face-to-face operations.

[0051] When the robotic arm places the clustered charge column tooling at the designated position on the turntable and secures it. First, according to the automatic operation process, use the 3D camera scanning and positioning system to locate the 8 fasteners on the upper positioning plate, and then the robotic arm operates the pneumatic tool (the first disassembly fixture) to remove all the fasteners above the positioning cover. Then, the robotic arm removes the first disassembly fixture, grabs the upper medicine tray disassembly mechanism, and moves to the set position above the clustered charge column tooling (the robotic arm's repeatable positioning accuracy can reach ±0.06mm). The PLC controller gives the pneumatic mechanism an action command, and the pneumatic mechanism drives the fixture to lock the edge of the upper medicine tray front, back, left and right, such as Figure 4As shown. The second digital displacement sensor is used to feedback the movement stroke of the fixture. When the designed value is reached, it indicates that the lock has been put in place, and then the cylinder action command is automatically sent. The 9 cylinder push rods are pressed vertically downward at the same time, pressing on the upper end surface of each medicine column. The pressure can be adjusted by the proportional valve (the surface pressure of the medicine column can be controlled by adjusting the air pressure). The displacement of the cylinder push rod is read by the first digital displacement sensor on each cylinder. The data determines that the cylinder push rods have pressed down the upper end surface of the medicine column and applied a certain pressure. After confirmation, the robot arm starts the lifting command. At this time, the robot arm slowly lifts the upper medicine tray upward, and the 9 cylinder push rods move downward in the opposite direction at the same speed, always pressing on the upper end surface of each medicine column with a certain pressure, and is in a static state relative to the medicine column. Until the upper medicine tray is completely separated from the medicine column, and the upper medicine tray is placed on the material trolley. Then, the robot arm removes the upper medicine tray disassembly mechanism, grabs the second disassembly fixture, and automatically transports a group of medicine columns to the medicine column trolley one by one to complete the disassembly work.

[0052] The operation process of the automatic device for disassembling the clustered charge column tooling of the present invention is as follows:

[0053] (1) After manually positioning and connecting the material cart equipped with the clustered charge tooling to the working platform of the disassembly automation device, the personnel evacuate the site;

[0054] (2) The pneumatic part of the disassembly automation device locks the material cart, releases it with ventilation, and locks it with air cut-off;

[0055] (3) The personnel remotely activate the robotic arm to separate and disassemble the upper medicine tray;

[0056] (4) The end of the robot arm is equipped with a load detection (force sensor), which can detect the load during the disassembly process in real time;

[0057] (5) The speed of the robot arm during the disassembly process can be adjusted to hold the top cover of each cartridge and pull out the upper cartridge tray;

[0058] (6) When disassembling the upper medicine tray, the cylinder push rod of the upper medicine tray disassembling mechanism will hold the upper cover of the medicine column and will not be withdrawn together with the upper medicine tray. The upper medicine tray disassembling mechanism can adjust the push force according to the actual use situation, and the control adopts a pneumatic proportional valve;

[0059] (7) The robot arm is equipped with a 6-dimensional force sensor, with a load of 200 kg and data transmission via EtherCAT;

[0060] (8) The force of the robot arm when pulling out the upper medicine tray is controllable, measurable and displayable. The upper medicine tray and the upper medicine tray disassembly mechanism have synchronous displacement detection. The speed of separation of the upper medicine tray and the medicine column positioning ring is controllable. When the difference exceeds the set value, the system automatically alarms;

[0061] (9) The top pressure of the top cover on the medicine column is ≥ the upward disassembly force of the upper medicine tray;

[0062] (10) The robot arm disassembles the parts one by one and places them on the material cart. The external axis digital turntable is used to rotate to a position that is convenient for the robot arm to disassemble, thereby improving operational safety and efficiency;

[0063] (11) The outer surface of the drug column is provided with a soft rubber sleeve, which increases the clamping area to increase the clamping stability. At the same time, the flexible surface of the clamping jaws ensures that there is no clamping damage to the surface of the drug column.

[0064] (12) The clamp of the upper medicine tray disassembly mechanism has a power-off brake function, which can also be controlled according to the use;

[0065] (13) The locking screws on the powder column are loosened using a pneumatic mechanism installed at the end of the robot arm;

[0066] (14) Manual isolation control operation and monitoring. When each set of upper medicine trays and medicine columns are taken out, the medicine column trolley loaded with medicine columns and the material trolley loaded with tooling parts are manually pulled away respectively;

[0067] (15) The quick-change chuck of the robot arm is pneumatically replaced automatically, with ventilation to loosen and air-off to lock;

[0068] (16) On-site video surveillance, convenient for remote monitoring and viewing;

[0069] (17) Real-time voice and video communications between the site and the control room;

[0070] (18) The monitoring system provides clear dynamic video images in the working area throughout the entire operation process.

[0071] The process of separating and disassembling the tooling and the powder column:

[0072] (1) The robot arm is connected to the upper medicine tray disassembly mechanism through a quick-change interface;

[0073] (2) The locking cylinder pushes the slider to move below the positioning cover plate of the upper medicine tray, and the digital displacement sensor detects and confirms that the four sliders have moved below the positioning cover plate;

[0074] (3) The pneumatic digital proportional valve ventilates the cylinder of the upper medicine tray disassembly mechanism and controls the air pressure;

[0075] (4) When the air pressure, the set pressure and the value of the digital displacement sensor installed in the cylinder are stable, the value of the digital displacement sensor of the cylinder is reset to zero;

[0076] (5) Start the upward disassembly, and the 6-dimensional force sensor installed at the end of the robotic arm monitors the upward load force in real time, and monitors the force and torque from the X, Y, and Z directions;

[0077] (6) The speed and distance of the robot arm's upward movement are synchronized with the speed and distance of the cylinder's movement. When asynchronism occurs, the proportional valve will quickly adjust the control pressure in a linear proportion to ensure synchronous disassembly and movement up and down;

[0078] (7) The force of the robot arm when pulling out the upper medicine tray is controllable, measurable and displayable. The upper medicine tray and the upper medicine tray disassembly mechanism have synchronous displacement detection. The speed of separation of the upper medicine tray and the medicine column positioning ring is controllable. When the difference exceeds the set value, the system automatically alarms;

[0079] (8) Each charge of the 3×3 charge cluster tooling corresponds to an independent cylinder push rod and digital displacement sensor, which can monitor the disassembly and movement process in real time.

[0080] The operator starts the disassembly automation device in an isolated state, and ensures that the clustered charge tooling is level. The fasteners of the upper charge tray are automatically removed first, and then the positioning rings of the 3×3 charges in the clustered charge tooling are automatically supported. At the same time, a certain force and stroke are applied to the upper charge tray. Finally, the positioning ring pressure and stroke limit are removed, and the upper charge tray is automatically taken out and neatly placed on the material cart.

[0081] Fixture replacement mechanism:

[0082] (1) The fixture is automatically replaced by the robot arm. When the fixture needs to be replaced, the robot arm first moves the existing fixture to the quick-change workbench, ventilates the locking mechanism of the robot arm, releases the fixture, and places it in the current position. A sensor identifies whether the current fixture is correct and detects whether the fixture on the robot arm has fallen off. When all detection and identification are completed, the fixture release operation procedure is completed;

[0083] (2) Before replacing the fixture, the robot arm will confirm that there is no fixture installed or locked at the current end. Only then will the robot arm move to the position of the fixture that needs to be replaced on the quick-change workbench, ventilate to open the locking mechanism, and insert the locking component of the fixture into the locking mechanism. The air is cut off and the locking mechanism is locked. The sensor detects and feeds back to the robot arm, and the robot arm moves to the set position to complete the fixture replacement operation.

[0084] Optimized clustered charge tooling design:

[0085] (1) By optimizing and combining, the locking nut can be replaced without changing the existing tooling, and can be shared by manual and robot arms, which is more in line with the purpose of facilitating the joint operation of humans and machines and improving efficiency;

[0086] (2) Through the optimized locking nut, the tool held by the robot arm can easily pass through the upper hole, insert into the hexagonal hole, and be driven and loosened by the pneumatic tool;

[0087] (3) According to the on-site explosion-proof requirements, the disassembly tools and locking nuts are made of copper to prevent the generation of mechanical sparks.

[0088] 3D Machine Vision Description:

[0089] Machine vision is to use machines to replace human eyes for measurement and judgment. The machine vision system converts the captured target into an image signal through a machine vision product (i.e., an image capture device, which is divided into CMOS and CCD), transmits it to a dedicated image processing system, obtains the morphological information of the captured target, and converts it into a digital signal based on pixel distribution, brightness, color and other information; the image system performs various operations on these signals to extract the characteristics of the target, and then controls the action of the equipment on site based on the results of the judgment. In the present invention, machine vision is mainly used to detect the angle and position of the drug column tooling, and send the angle and position data to the robot to make real-time adjustments to the robot's workpiece position. The 3D vision camera is placed in an explosion-proof casing and subjected to explosion-proof treatment to meet the requirements of use in dangerous environments on site.

[0090] Digital six-axis force sensor:

[0091] It can measure Fx\Fy\Fz\Tx\Ty\Tz data simultaneously and in real time, and transmit force feedback data to the industrial computer for each program to call. The digital six-dimensional force sensor is installed in the positive pressure explosion-proof suit of the machine to ensure the safety of electrical explosion-proof. The digital six-dimensional force sensor is an alloy steel hollow ring structure with a large range analog six-dimensional force sensor. It has two outlet modes, inside the ring and outside the ring, which can adapt to different assembly application requirements. The sensor has the characteristics of high rigidity, high resolution, low coupling, high precision and high protection level. It can be used for robot arm force control grinding, assembly, drag teaching, collision detection and scientific research testing.

[0092] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not used to limit the scope of implementation of the present invention. Any equivalent changes and modifications made within the protection scope of the present invention should be considered to fall within the protection scope of the present invention.

Claims

1. An automated device for disassembling a clustered charge tooling, characterized in that: The device includes: A bundled medicine column tooling, comprising an upper medicine loading tray and a lower loading bottom plate connected to the upper medicine loading tray, wherein a plurality of medicine columns are placed between the upper medicine loading tray and the lower loading bottom plate; A quick-change workbench for placing the upper medicine tray disassembly mechanism and removal fixture; and A mechanical arm, used for installing the upper medicine tray disassembly mechanism or the disassembly fixture to disassemble the clustered medicine column tooling; The upper medicine tray disassembly mechanism includes a clamp for clamping the upper medicine tray, a plurality of cylinder top rods independently corresponding to and matching the plurality of medicine columns, and a plurality of cylinders connected to the plurality of cylinder top rods; when disassembling the upper medicine tray, the plurality of cylinder top rods correspondingly stop at the plurality of medicine columns, the clamp is clamped on the upper medicine tray, and the clamp and the plurality of cylinder top rods move relative to each other.

2. The automatic device for disassembling the clustered charge tooling according to claim 1 is characterized in that: The upper medicine tray disassembly mechanism also includes: A pneumatic mechanism for controlling the movement of the clamp; A valve island module, used to control the switch of the pneumatic mechanism and the plurality of cylinders; A proportional valve, used to control the pressure of several of the cylinders; A plurality of first digital displacement sensors are arranged in one-to-one correspondence with the plurality of cylinder push rods, and are used to detect the displacement of the corresponding cylinder push rods; a second digital displacement sensor, used to detect the displacement of the fixture; a data transmission module, connected to the plurality of the first digital displacement sensors and the second digital displacement sensors, and used for transmitting the displacement data detected by the plurality of the first digital displacement sensors and the second digital displacement sensors to the PLC controller; and A dust hood is used to cover the proportional valve, the valve island module, the data transmission module, a plurality of the first digital displacement sensors and a plurality of the cylinders.

3. The automatic device for disassembling the clustered charge tooling according to claim 1 is characterized in that: The device also includes a turntable, and the clustered drug column is installed on the turntable.

4. The automatic device for disassembling the clustered charge tooling according to claim 3 is characterized in that: The turntable, the quick-change tooling table and the mechanical arm are arranged on a working platform.

5. The automatic device for disassembling the clustered charge tooling according to claim 4 is characterized in that: The device also includes a material trolley for transporting the clustered charge tooling, a first locking and positioning mechanism and a first guide positioning block are arranged on one side of the working platform, and the material trolley is locked to the first locking and positioning mechanism via the first guide positioning block.

6. The automatic device for disassembling the clustered charge tooling according to claim 4, characterized in that: The device also includes a medicine column trolley for placing a plurality of the medicine columns, a second locking and positioning mechanism and a second guide positioning block are arranged on one side of the working platform, and the medicine column trolley is locked to the second locking and positioning mechanism via the second guide positioning block.

7. The automatic device for disassembling a clustered charge assembly according to claim 1, characterized in that: The device also includes a 3D camera scanning positioning system, which is used to locate a plurality of fasteners and a plurality of medicine columns on the upper medicine tray.

8. The automatic device for disassembling a clustered charge assembly according to claim 1, characterized in that: A six-dimensional force sensor manipulator is arranged at the end of the mechanical arm.

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