A solid rocket motor grain automatic loading and unloading chuck device

Abstract

The present invention relates to a surface treatment system for a solid rocket engine grain coating layer, specifically a solid rocket engine grain automatic loading and removal chuck device, comprising a frame unit, a grain propulsion motion unit, a grain lifting motion unit, a grain loading and removal chuck unit, a grain and a chuck, wherein the chuck is fixedly arranged on one side of the grain automatic loading and removal chuck device, and the grain is arranged on the grain loading and removal chuck unit. The grain is loaded into or removed from the chuck through the joint action of the grain propulsion motion unit, the grain lifting motion unit and the grain loading and removal chuck unit. The present invention can realize the automatic loading of incoming materials for the coating layer of a solid rocket engine into the chuck for processing, and automatically remove the chuck after the processing is completed, thereby avoiding manual participation in the grain transport work and improving the safety of the processing process; at the same time, the use of an automated device improves production efficiency; and has the advantages of modular composition, simple structure, compact layout, high reliability, and easy maintenance.

Description

Technical Field

[0001] The invention relates to a surface treatment system for a coating layer of a solid rocket engine grain, in particular to a chuck device for automatically loading and removing grain from a solid rocket engine grain. Background Art

[0002] Currently, the surface treatment of solid rocket motor grain coatings relies on manual labor by technicians, resulting in difficulties in controlling surface treatment consistency and processing risks. The designed automated processing equipment for grain coating surface treatment is compact, making it difficult to manually load and remove grains from the chuck. Furthermore, manual or semi-automatic loading and removal of grains from the chuck results in low production efficiency, and product consistency is affected by human factors. Summary of the Invention

[0003] In view of the above-mentioned problems existing in the manual surface treatment of the coating layer of solid rocket motor grains, the object of the present invention is to provide a chuck device for automatically loading and removing solid rocket motor grains.

[0004] The object of the present invention is achieved through the following technical solutions:

[0005] The present invention includes a power source for loading and removing a chuck of a drug column, a chuck unit for loading and removing a drug column, a power source for lifting a drug column, a drug column lifting motion unit, a drug column propulsion power source, a drug column propulsion motion unit and a frame unit, wherein the drug column propulsion power source is installed on the frame unit, and the output end of the drug column propulsion power source is connected to the drug column propulsion motion unit that can slide relative to the frame unit; the power source for loading and removing a chuck of the drug column and the power source for lifting a drug column are respectively installed on the drug column propulsion motion unit, and the output end of the drug column lifting power source is connected to the drug column lifting motion unit, and the drug column is placed on the drug column lifting motion unit ; The output end of the power source for loading and removing the medicine column into and out of the chuck is connected to the medicine column loading and removing chuck unit through a transmission device, and the medicine column loading and removing chuck unit has a clamping assembly for clamping the medicine column; the medicine column propulsion power source drives the medicine column propulsion motion unit to move, thereby realizing the freedom of the medicine column to move radially, and the medicine column lifting power source drives the medicine column lifting motion unit to lift and lower, thereby realizing the freedom of the medicine column to move up and down, and the medicine column loading and removing chuck power source drives the medicine column loading and removing chuck unit to move, and the clamping assembly clamps the medicine column, thereby realizing the freedom of the medicine column to be loaded into or removed from the chuck along the axial direction.

[0006] Wherein: the drug column lifting motion unit includes a drug column lifting frame, the drug column lifting frame is connected to the output end of the drug column lifting power source, and the motion unit can be lifted and lowered relative to the drug column through the drive of the drug column lifting power source; a drug column supporting device is installed on the drug column lifting frame, and the drug column is placed on the drug column supporting device.

[0007] The drug column support device is composed of one or more groups. When the drug column support device is composed of multiple groups, they are evenly installed on the drug column lifting frame along the axial direction of the drug column; each group of the drug column support device includes a drug column support roller and two bearing seats, the two bearing seats are symmetrically fixed on the drug column lifting frame, and the two ends of the drug column support roller are respectively rotatably connected to the two bearing seats; the drug column is placed on the drug column support roller and is in rolling contact with the drug column support roller.

[0008] A charge lifting flange slider is fixedly connected to the charge lifting frame, a charge lifting guide rail is installed on the charge propulsion motion unit, the charge lifting flange slider is slidably connected to the charge lifting guide rail, and the charge lifting power source drives the charge lifting frame to rise and fall along the charge lifting guide rail.

[0009] The power source for lifting the charge column includes a charge column lifting cylinder and a lifting cylinder rod floating joint. The charge column lifting cylinder is installed on the charge column propulsion motion unit. The lifting cylinder rod floating joint is connected to the charge column lifting motion unit. The cylinder extension rod of the charge column lifting cylinder is connected to the lifting cylinder rod floating joint.

[0010] The drug column loading and removing chuck unit includes a clamping cylinder connecting plate, a clamping cylinder and drug column clamping fingers. One end of the clamping cylinder connecting plate is connected to the output end of the drug column loading and removing chuck power source through a transmission device, and the other end of the clamping cylinder connecting plate is fixedly connected to the clamping cylinder. The protruding ends on both sides of the clamping cylinder are respectively equipped with drug column clamping fingers for clamping the drug column.

[0011] The inner side surface of each of the medicine column clamp fingers is fixedly connected with a clamping finger pad. The horizontal projection of the medicine column clamp fingers is a rectangle, and the clamping surface of the clamping finger pad in contact with the medicine column is "V" shaped.

[0012] The power source for loading and removing the medicine column from the chuck includes a module drive motor, a precision planetary reducer, a coupling and a slide. The slide is installed on the medicine column propulsion motion unit, and the precision planetary reducer is fixed on the slide. The module drive motor is connected to the input end of the precision planetary reducer, and the output end of the precision planetary reducer is connected to the input end of the coupling; the transmission device includes a screw and a screw slider. The screw is rotatably installed on the slide and is connected to the output end of the coupling. A screw slider is threaded on the screw, and the medicine column loading and removing chuck unit is installed on the screw slider.

[0013] The power source for propelling the grain includes a grain propulsion cylinder, a floating joint of the propulsion cylinder rod and a propulsion cylinder push plate. One end of the propulsion cylinder push plate is fixedly connected to the grain propulsion motion unit, and the floating joint of the propulsion cylinder rod is connected to the other end of the propulsion cylinder push plate. The grain propulsion cylinder is installed on the frame unit, and the cylinder extension rod of the grain propulsion cylinder is connected to the floating joint of the propulsion cylinder rod.

[0014] The charge propulsion motion unit includes a lifting frame, a charge propulsion guide rail, a charge propulsion flange slider and a right-angle mounting plate of the slider. The frame unit is fixedly connected to the charge propulsion guide rail, and the lifting frame is fixedly connected to the charge propulsion flange slider through the right-angle mounting plate of the slider. The charge propulsion flange slider is slidably connected to the charge propulsion guide rail; the output end of the charge propulsion power source is connected to the lifting frame.

[0015] The advantages and positive effects of the present invention are:

[0016] 1. The present invention's automatic charge loading and removal chuck device incorporates four degrees of freedom, enabling it to clamp charges of varying diameters and lengths and accommodate height differences between the external transport mechanism and the chuck. This invention eliminates manual charge transport, improving process safety while also utilizing automated equipment to enhance production efficiency. It boasts modular design, a simple structure, a compact layout, high reliability, and ease of maintenance.

[0017] 2. The automatic charge loading and removal chuck device of the present invention has a compact layout and does not interfere with charge surface treatment equipment. It can be loaded into the chuck before and removed from the chuck after charge surface treatment. Compared with manual or machine-assisted methods, it has strong functional adaptability and high efficiency.

[0018] 3. The automatic charge loading and removal chuck unit of this invention is equipped with a charge support roller, which solves the problem of single-sided clamping of large aspect ratio charges that are prone to deformation. The coordination of the charge loading and removal chuck unit and the charge support roller ensures the structural integrity of the charge during the process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is one of the structural schematic diagrams of the charge lifting unit and the charge loading and removing chuck unit of the present invention;

[0021] Figure 3 This is the second structural diagram of the charge lifting unit and the charge loading and removing chuck unit of the present invention;

[0022] Figure 4 This is a schematic structural diagram of the charge propulsion motion unit of the present invention;

[0023] Among them: 1 is the solid rocket engine grain, 2 is the grain loading and removing chuck unit, 3 is the grain lifting motion unit, 4 is the grain propulsion motion unit, 5 is the frame unit, 6 is the chuck, 7 is the bearing seat, 8 is the grain support roller, 9 is the grain lifting frame, 10 is the clamping cylinder connecting plate, 11 is the clamping cylinder, 12 is the grain clamping finger, 13 is the clamping finger pad, 14 is the module drive motor, 15 is the precision planetary reducer, 16 is the coupling, 17 is the screw slider, 18 is the lifting frame, 19 is the grain lifting cylinder, 20 is the screw, 21 is the slide, 22 is the grain lifting flange slider, 23 is the grain lifting guide rail, 24 is the lifting cylinder rod floating joint, 25 is the grain propulsion cylinder, 26 is the grain propulsion guide rail, 27 is the grain propulsion flange slider, 28 is the flange slider right-angle mounting plate, 29 is the propulsion cylinder rod floating joint, and 30 is the propulsion cylinder push plate. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] like Figures 1 to 4 As shown, the present invention includes a power source for loading and removing a chuck of a medicine column, a chuck unit 2 for loading and removing a medicine column, a power source for lifting a medicine column, a medicine column lifting motion unit 3, a power source for advancing a medicine column, a medicine column pushing motion unit 4 and a frame unit 5, wherein the power source for advancing a medicine column is installed on the frame unit 5, and the output end of the power source for advancing a medicine column is connected to the medicine column pushing motion unit 4 which can slide relative to the frame unit 5; the power source for loading and removing a chuck of a medicine column and the power source for lifting a medicine column are respectively installed on the medicine column pushing motion unit 4, and the output end of the power source for lifting a medicine column is connected to the medicine column lifting motion unit 3, and the medicine column 1 is placed on the medicine column lifting motion unit The power source for loading and removing the medicine column into and out of the chuck is connected to the medicine column loading and removing chuck unit 2 through a transmission device, and the medicine column loading and removing chuck unit 2 has a clamping assembly for clamping the medicine column 1; the medicine column propulsion power source drives the medicine column propulsion motion unit 4 to move, so as to realize the freedom of the medicine column 1 to move radially, the medicine column lifting power source drives the medicine column lifting motion unit 3 to move up and down, so as to realize the freedom of the medicine column 1 to move up and down, the medicine column loading and removing chuck power source drives the medicine column loading and removing chuck unit 2 to move, and the clamping assembly clamps the medicine column 1, so as to realize the freedom of the medicine column 1 to be loaded or removed from the chuck along the axial direction. Therefore, the device of the present invention has four degrees of freedom: lifting, moving along the axial direction of the medicine column loading, moving along the radial direction of the medicine column loading, and clamping.

[0026] The charge propulsion power source of this embodiment includes a charge propulsion cylinder 25, a propulsion cylinder rod floating joint 29, and a propulsion cylinder push plate 30. The charge propulsion motion unit 4 of this embodiment includes a lifting frame 18, a charge propulsion guide rail 26, a charge propulsion flange slider 27, and a slider right-angle mounting plate 28. One end of the propulsion cylinder push plate 30 is fixedly connected to the lifting frame 18 of the charge propulsion motion unit 4, and the propulsion cylinder rod floating joint 29 is connected to the other end of the propulsion cylinder push plate 30. The charge propulsion cylinder 25 is fixedly connected to the frame unit 5, and the cylinder extension rod of the charge propulsion cylinder 25 is connected to the propulsion cylinder rod floating joint 29. Two parallel charge propulsion guide rails 26 are fixedly connected to each charge propulsion guide rail 26, and each charge propulsion flange slider 27 is fixedly connected to a slider right-angle mounting plate 28. The two sides of the bottom of the lifting frame 18 are fixedly connected to the two charge propulsion flange sliders 27.

[0027] The charge lifting unit 3 of this embodiment includes a charge lifting frame 9. The charge lifting power source includes a charge lifting cylinder 19 and a floating joint 24 for the lifting cylinder rod. The charge lifting cylinder 19 is mounted on the lifting frame body 18. The floating joint 24 is connected to the charge lifting frame 9, and the extension rod of the charge lifting cylinder 19 is connected to the floating joint 24. A charge lifting flange slider 22 is fixed to each side of the charge lifting frame 9. Two parallel charge lifting rails 23 are mounted on the lifting frame body 18. Each charge lifting flange slider 22 is slidably connected to a charge lifting rail 23. The charge lifting cylinder 19 drives the charge lifting frame 9 up and down along the charge lifting rails 23. A charge support device is mounted on the charge lifting frame 9, on which the charge 1 is placed. The charge support device can be one or more groups. When there are multiple groups, the charge support devices are evenly mounted on the charge lifting frame 9 along the axial direction of the charge 1. In this embodiment, four groups of charge support devices are arranged on the charge lifting frame 9. Each group of charge support devices includes a charge support roller 8 and two bearing seats 7. The two bearing seats 7 are symmetrically fixed on the charge lifting frame 9. The two ends of the charge support roller 8 are rotatably connected to the two bearing seats 7 respectively; the charge 1 is placed on the charge support roller 8 and is in rolling contact with the charge support roller 8.

[0028] The power source for loading and removing the charge chuck in this embodiment includes a module drive motor 14, a precision planetary reducer 15, a coupling 16, and a slide 21. The slide 21 is mounted on the lifting frame 18, and the precision planetary reducer 15 is fixedly connected to the slide 21. The module drive motor 14 is connected to the input end of the precision planetary reducer 15, and the output end of the precision planetary reducer 15 is connected to the input end of the coupling 16. The transmission device in this embodiment includes a screw 20 and a screw slider 17. The screw 20 is rotatably mounted on the slide 21 and connected to the output end of the coupling 16. The screw slider 17 is threadedly connected to the screw 20, and the charge loading and removing chuck unit 2 is mounted on the screw slider 17.

[0029] The drug column loading and removing chuck unit 2 of this embodiment includes a clamping cylinder connecting plate 10, a clamping cylinder 11 and drug column clamping fingers 12. One end of the clamping cylinder connecting plate 10 is fixedly connected to the screw slider 17, and the other end of the clamping cylinder connecting plate 10 is fixedly connected to the clamping cylinder 11. The protruding ends on both sides of the clamping cylinder 11 are respectively installed with drug column clamping fingers 12 for clamping the drug column 1. The inner side surface of each drug column clamping finger 12 is fixedly connected to a clamping pad 13. The horizontal projection of the drug column clamping finger 12 is rectangular, and the clamping surface of the clamping pad 13 in contact with the drug column 1 is "V" shaped. The clamping surfaces of the clamping pads 13 installed on the two drug column clamping fingers 12 for clamping the drug column 1 are also "V" shaped.

[0030] The chuck 6, module drive motor 14, precision planetary reducer 15, coupling 16, charge lifting cylinder 19, lifting cylinder rod floating joint 24, charge propulsion cylinder 25, and propulsion cylinder rod floating joint 29 of this embodiment are all existing technologies and will not be repeated here.

[0031] like Figure 1 As shown, chuck 6 is located outside the solid rocket motor grain automatic loading and removal chuck device. Grain lifting and lowering units 3 and grain propulsion units 4 center the grain 1 on chuck 6, and grain loading and removal chuck unit 2 clamps the grain into or out of chuck 6.

[0032] The working principle of the present invention is:

[0033] The drug column 1 is placed on the drug column support roller 8 at a position to be processed via an external device. Driven by the extension of the cylinder rod of the drug column propulsion cylinder 25 of the drug column propulsion power source, the drug column propulsion motion unit 4 of the loading and removing chuck device with four degrees of freedom slides radially along the drug column 1 until it is aligned with the central vertical position of the chuck 6. Driven by the extension of the cylinder rod of the drug column lifting cylinder 19 of the drug column lifting power source, the drug column lifting motion unit 3 is lifted and lowered to align with the central horizontal position of the chuck 6. The clamping cylinder 11 is extended, and the module drive motor 14 in the drug column loading and removing chuck power source rotates to drive the precision planetary reducer 15, coupling 16, and screw 20 to rotate, and the drug column loading and removing chuck unit 2 is translated to the clamping position, and the module drive motor 14 stops working. The clamping cylinder 11 retreats to drive the powder column clamping fingers 12 and the clamping finger pads 13 to contact the powder column 1, and positions and clamps the powder column 1 through four points (i.e., each clamping pad 13 has two clamping points, and the two clamping pads 13 have a total of four clamping points). The module drive motor 14 in the power source for loading and removing the medicine column from the chuck rotates again to drive the precision planetary reducer 15, coupling 16, and screw 20 to rotate. The medicine column 1 is clamped and driven by the clamping cylinder 11 and loaded into the chuck 6 under the rolling support of the medicine column support roller 8; after the surface treatment of the medicine column 1 is completed, the module drive motor 14 in the power source for loading and removing the medicine column from the chuck rotates to drive the precision planetary reducer 15, coupling 16, and screw 20 to rotate, and the medicine column loading and removing chuck unit 2 is translated to the clamping position. Under the clamping drive of the clamping cylinder 11 and the rolling support of the medicine column support roller 8, the medicine column 1 is completely removed from the chuck 6, and the medicine column loading and removing chuck process is completed at this time. The clamping cylinder 11 then releases its grip, and the module drive motor 14 in the charge loading and unloading chuck power source rotates in the opposite direction, driving the precision planetary reducer 15, coupling 16, and lead screw 20 to rotate in the opposite direction, thereby translating the charge loading and unloading chuck unit 2 to the standby position. The cylinder rods of the charge lifting cylinder 19 of the charge lifting power source and the charge pushing cylinder 25 of the charge pushing power source retract, and the charge 1 returns to the processing position. After returning to the processing position, the charge 1 awaits the operation of other equipment in the next processing flow, and after the processed charge leaves the processing position, it repeats the new charge loading and unloading chuck process.

[0034] The above description is only an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the scope of protection of the present invention.

Claims

1. A solid rocket motor grain automatic loading and unloading chuck device, characterized by: The invention comprises a medicine column loading and removing chuck power source, a medicine column loading and removing chuck unit (2), a medicine column lifting power source, a medicine column lifting motion unit (3), a medicine column propulsion power source, a medicine column propulsion motion unit (4) and a frame unit (5), wherein the medicine column propulsion power source is installed on the frame unit (5), and the output end of the medicine column propulsion power source is connected to the medicine column propulsion motion unit (4) capable of sliding relative to the frame unit (5); the medicine column loading and removing chuck power source and the medicine column lifting power source are respectively installed on the medicine column propulsion motion unit (4), and the output end of the medicine column lifting power source is connected to the medicine column lifting motion unit (3), and the medicine column (1) is placed on the medicine column lifting motion unit (3). The output end of the power source for loading and removing the medicine column into and out of the chuck is connected to the medicine column loading and removing chuck unit (2) through a transmission device, and the medicine column loading and removing chuck unit (2) has a clamping assembly for clamping the medicine column (1); the medicine column propulsion power source drives the medicine column propulsion motion unit (4) to move, thereby realizing the freedom of the medicine column (1) to move in the radial direction; the medicine column lifting power source drives the medicine column lifting motion unit (3) to move up and down, thereby realizing the freedom of the medicine column (1) to move up and down; the medicine column loading and removing chuck power source drives the medicine column loading and removing chuck unit (2) to move, and the clamping assembly clamps the medicine column (1), thereby realizing the freedom of the medicine column (1) to be loaded into or removed from the chuck in the axial direction.

2. The solid rocket motor grain automatic loading and unloading chuck device according to claim 1, characterized in that: The medicine column lifting motion unit (3) comprises a medicine column lifting frame (9), the medicine column lifting frame (9) is connected to the output end of a medicine column lifting power source, and can be driven by the medicine column lifting power source to lift the motion unit (4) relative to the medicine column; a medicine column supporting device is installed on the medicine column lifting frame (9), and the medicine column (1) is placed on the medicine column supporting device.

3. The solid rocket motor grain automatic loading and unloading chuck device according to claim 2, characterized in that: The medicine column support device is one or more groups. When the medicine column support device is multiple groups, they are evenly installed on the medicine column lifting frame (9) along the axial direction of the medicine column (1); each group of the medicine column support device includes a medicine column support roller (8) and two bearing seats (7), the two bearing seats (7) are symmetrically fixed on the medicine column lifting frame (9), and the two ends of the medicine column support roller (8) are respectively connected to the two bearing seats (7) for rotation; the medicine column (1) is placed on the medicine column support roller (8) and is in rolling contact with the medicine column support roller (8).

4. The solid rocket motor grain automatic loading and unloading chuck device according to claim 2, characterized in that: A charge column lifting flange slider (22) is fixedly connected to the charge column lifting frame (9), a charge column lifting guide rail (23) is installed on the charge column propulsion motion unit (4), the charge column lifting flange slider (22) is slidably connected to the charge column lifting guide rail (23), and the charge column lifting power source drives the charge column lifting frame (9) to rise and fall along the charge column lifting guide rail (23).

5. The solid rocket motor grain automatic loading and unloading chuck device according to claim 1, characterized in that: The charge column lifting power source includes a charge column lifting cylinder (19) and a lifting cylinder rod floating joint (24), wherein the charge column lifting cylinder (19) is mounted on the charge column propulsion motion unit (4), the lifting cylinder rod floating joint (24) is connected to the charge column lifting motion unit (3), and the cylinder extension rod of the charge column lifting cylinder (19) is connected to the lifting cylinder rod floating joint (24).

6. The solid rocket motor grain automatic loading and unloading chuck device according to claim 1, characterized in that: The drug column loading and removing chuck unit (2) comprises a clamping cylinder connecting plate (10), a clamping cylinder (11) and a drug column clamping finger (12), one end of the clamping cylinder connecting plate (10) is connected to the output end of the drug column loading and removing chuck power source through a transmission device, the other end of the clamping cylinder connecting plate (10) is fixedly connected to the clamping cylinder (11), and drug column clamping fingers (12) for clamping the drug column (1) are respectively installed at the protruding ends on both sides of the clamping cylinder (11).

7. The solid rocket motor grain automatic loading and unloading chuck device according to claim 6, characterized in that: The inner side surface of each of the medicine column clamp fingers (12) is fixedly connected with a clamping pad (13), the horizontal projection of the medicine column clamp fingers (12) is rectangular, and the clamping surface of the clamping pad (13) in contact with the medicine column (1) is in a "V" shape.

8. The solid rocket motor grain automatic loading and unloading chuck device according to claim 1, characterized in that: The power source for loading and removing the medicine column from the chuck includes a module drive motor (14), a precision planetary reducer (15), a coupling (16) and a slide (21), wherein the slide (21) is mounted on the medicine column advancing motion unit (4), the precision planetary reducer (15) is fixed on the slide (21), the module drive motor (14) is connected to the input end of the precision planetary reducer (15), and the output end of the precision planetary reducer (15) is connected to the input end of the coupling (16); the transmission device includes a screw (20) and a screw slider (17), the screw (20) is rotatably mounted on the slide (21) and connected to the output end of the coupling (16), the screw slider (17) is threadedly connected to the screw (20), and the medicine column loading and removing chuck unit (2) is mounted on the screw slider (17).

9. The solid rocket motor grain automatic loading and unloading chuck device according to claim 1, characterized in that: The charge propulsion power source includes a charge propulsion cylinder (25), a propulsion cylinder rod floating joint (29) and a propulsion cylinder push plate (30), one end of the propulsion cylinder push plate (30) is fixed to the charge propulsion motion unit (4), the propulsion cylinder rod floating joint (29) is connected to the other end of the propulsion cylinder push plate (30), the charge propulsion cylinder (25) is installed on the frame unit (5), and the cylinder extension rod of the charge propulsion cylinder (25) is connected to the propulsion cylinder rod floating joint (29).

10. The solid rocket motor grain automatic loading and unloading chuck device according to claim 1, characterized in that: The drug column propulsion motion unit (4) includes a lifting frame (18), a drug column propulsion guide rail (26), a drug column propulsion flange slider (27) and a slider right-angle mounting plate (28); the frame unit (5) is fixedly connected to the drug column propulsion guide rail (26); the lifting frame (18) is fixedly connected to the drug column propulsion flange slider (27) via the slider right-angle mounting plate (28); the drug column propulsion flange slider (27) is slidably connected to the drug column propulsion guide rail (26); and the output end of the drug column propulsion power source is connected to the lifting frame (18).

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