Automatic demolding and shaping system for standard test engine

Abstract

An automatic demolding and shaping system for a standard test engine comprises a machining system, a material system and a truss robot. The machining system comprises a transferring mechanism, a shaping mechanism, a nut dismounting mechanism, a small-diameter end cover dismounting mechanism and a core rod pulling mechanism which are arranged on a rack. The transferring mechanism comprises a transferring clamping jaw and a translation driving device; the nut dismounting mechanism and the small-diameter end cover dismounting mechanism are fixed on the rack at the lower end of the transfer mechanism side by side; the nut dismounting mechanism comprises an end cover pulling module, a nut dismounting module and a rotary driving module; the small-diameter end cover dismounting mechanism comprises an end cover dismounting module and a rotary driving module; the core rod pulling mechanism is located on one side of the small-diameter end cover disassembling mechanism and supported above the transferring mechanism through a supporting frame, and the core rod pulling mechanism comprises a clamping mechanism and a pulling mechanism. The shaping mechanism comprises a shaping clamping tool and a shaping body located under the shaping clamping tool. On-site face-to-face operation is reduced, on-site unmanned automatic demolding is achieved, and the potential safety hazard problem of on-site manual operation can be effectively solved.

Description

Technical Field

[0001] The invention belongs to the technical field of engine demoulding equipment, and in particular relates to an automatic demoulding and shaping system for a standard test engine. Background Art

[0002] Demolding and shaping is a crucial step in the manufacturing process of the grain of booster engines used for spacecraft launches and aircraft takeoffs. This process is not only directly related to the physical properties and explosion characteristics of the grain, but also affects safety and production efficiency. At present, during the demolding production process of engine product grains, 1 to 2 operators are required to manually or with the help of simple tools to achieve the demolding of the grains. During the entire operation process, the workers have to operate face to face for a long time, which is labor-intensive and dangerous. During the face-to-face dangerous operation, the demolding of various models of standard test engines and the demolding and shaping of various models of flight engine products are performed manually on-site and at a very close distance, which poses a high risk of personal injury safety.

[0003] In order to solve the above problems, some demoulding and shaping equipment has been designed. However, the existing demoulding and shaping equipment can generally only perform demoulding and shaping on specific types of medicine columns. Different equipment needs to be designed for the production of various types of medicine columns, resulting in excessive production costs. In addition, since the equipment is relatively large, one equipment is designed for each type, and the floor space is relatively large. Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies of the above-mentioned prior art, thereby providing a standard test engine automatic demoulding and shaping system, reducing on-site face-to-face operations, realizing on-site unmanned automatic demoulding, and effectively solving the safety hazards of on-site manual operations.

[0005] An automatic demoulding and shaping system for a standard test engine, including a processing system, a material system and a truss robot for transferring workpieces;

[0006] The processing system includes a transfer mechanism, a shaping mechanism, a nut removal mechanism, a small-diameter end cap removal mechanism, a core rod extraction mechanism and a conveyor belt arranged on the frame;

[0007] The transfer mechanism includes a transfer clamp for clamping the workpiece and a translation drive device for driving the transfer clamp to move horizontally;

[0008] The nut removal mechanism and the small-diameter end cap removal mechanism are fixed side by side on the frame at the lower end of the transfer mechanism;

[0009] The nut removal mechanism comprises an end cover extraction module, a nut removal module and a rotation drive module for driving the end cover extraction module and the nut removal module to rotate together;

[0010] The small-diameter end cap removal mechanism comprises an end cap removal module and a rotation drive module for driving the end cap removal module to rotate and unload materials;

[0011] The core rod pulling mechanism is located on one side of the small diameter end cover removal mechanism and is supported above the transfer mechanism via a support frame. The core rod pulling mechanism includes a clamping mechanism for clamping the outer shell of the workpiece and a drawing mechanism for drawing the core rod;

[0012] The shaping mechanism is located on one side of the nut removal mechanism, and the shaping mechanism includes a shaping clamping tool for clamping the workpiece core rod and a shaping body located directly below the shaping clamping tool for shaping the end surface of the core rod outer charge column;

[0013] The conveyor belt is arranged on the frame machine directly below the shaping mechanism, the nut unloading mechanism, the small diameter end cap removal mechanism, and the core rod pulling mechanism;

[0014] The material system includes three trolleys arranged side by side on one side of the frame for holding workpieces;

[0015] The truss robot comprises a truss manipulator for grasping workpieces and a three-axis driving device for driving the truss manipulator to translate.

[0016] The truss manipulator comprises symmetrical gripper fingers, each gripper finger is connected to a gripper connecting block at the upper end, two gripper connecting blocks are slidably connected to the two ends of two side-by-side gripper linear guide rails on the gripper bottom plate, two gripper connecting blocks are fixedly connected to a rack respectively, the teeth on the two racks are arranged on opposite surfaces, a gripper gear set is arranged on the gripper bottom plate between the two racks, and the gripper gear set is meshed with the two racks; gripper side support plates are symmetrically arranged at the two ends of the gripper bottom plate, and the upper ends of the two gripper side support plates are connected via a gripper cylinder mounting plate, A clamping cylinder is arranged on the lower surface of the clamping cylinder mounting plate, a clamping fisheye joint is arranged on the top of the clamping cylinder telescopic rod, the clamping fisheye joint is connected to the clamping screw mounting plate via the clamping screw, a clamping pressure sensor is arranged on the clamping screw mounting plate, a cylinder telescopic connecting rod is arranged below the clamping pressure sensor, the lower surface of the cylinder telescopic connecting rod is connected to one of the clamping claw connecting blocks, a Z-axis clamping claw mounting plate is arranged on the upper end of the clamping cylinder mounting plate, and the clamping cylinder mounting plate is connected to the Z-axis clamping claw mounting plate via the optical axis;

[0017] A clamping claw telescopic cylinder is arranged on the surface of one of the clamping claw side support plates, and a telescopic rod of the clamping claw telescopic cylinder is extended downward, and a pneumatic finger for clamping the core rod is arranged at the end thereof;

[0018] A clamping wire block and a tension and compression sensor are arranged in sequence from top to bottom between the Z-axis clamping jaw mounting plate and the clamping jaw cylinder mounting plate.

[0019] The three-axis driving device includes an X-axis translation module, a Y-axis translation module and a Z-axis translation module which are connected to each other;

[0020] The X-axis translation module includes two X-axes extending along the X-axis direction, the two X-axes are fixed side by side on four vertically placed columns, two X-axis linear guides are respectively arranged at both ends of the groove on the end surface of each X-axis, an X-axis helical rack is arranged between the two X-axis linear guides, and X-axis sliders are respectively arranged on the X-axis linear guides, and an X-axis bottom plate connected with bolts is arranged on the X-axis sliders;

[0021] The Y-axis translation module includes a Y-axis installed between two X-axis and extending along the Y-axis direction; a Y-axis bottom plate is respectively provided at both ends of the Y-axis, a commutator is respectively provided at both ends of the right side of the Y-axis, the lower surfaces of the two commutators are respectively fixed on an X-axis bottom plate, an output end of the commutator passes through the clearance holes on the X-axis bottom plate and the Y-axis bottom plate in turn, and a gear is installed at the end, the two Y-axis bottom plates are separately installed on the two X-axis bottom plates, and the gears at the output ends of the two commutators are respectively meshed with the corresponding X-axis helical racks; a bidirectional commutator is provided in the middle of the right side of the Y-axis, and the input shaft of the bidirectional commutator is connected to the output shaft of the reducer. The input shaft of the speed machine is connected to the output shaft of the Y-axis motor 1, and the other output shaft of the two commutators at the two ends of the right side of the Y-axis is connected to the two output shafts of the bidirectional commutator in the middle of the right side of the Y-axis by an optical shaft and a coupling; a Y-axis linear guide is provided at each end of the left groove of the Y-axis, a Y-axis helical rack is provided between the two Y-axis linear guides, a Y-axis slider is provided on the Y-axis linear guide, a Y-axis side plate is provided on the Y-axis slider, a Y-axis reducer is provided on the Y-axis side plate, an input end of the Y-axis reducer is connected to the output shaft of the Y-axis motor 2, and a Y-axis gear 3 is installed at the output end, and the Y-axis gear 3 is meshed with the Y-axis helical rack of the Y-axis;

[0022] The Z-axis translation module comprises a Z-axis extending in the Z-axis direction, a linear guide rail 3 is provided on the outer wall of the Z-axis, and a sliding seat is slidably connected thereto, a reducer is provided on one side of the sliding seat, a motor is installed at the input end of the reducer, a gear 3 is installed at the end of the output end after passing through the sliding seat, and a rack 3 meshing with the gear 3 is provided on the outer wall of the Z-axis;

[0023] The sliding seat is a square cylindrical structure formed by the front side plate, rear side plate, left side plate and right side plate of the Z-axis. Three linear guide rails are provided on the left and right rear sides of the Z-axis. Three sliders are respectively provided on the three linear guide rails. The three sliders are connected to the corresponding left side plate, right side plate and rear side plate of the Z-axis. The Y-axis side plate is fixedly connected to the rear side plate of the Z-axis, and a distribution box is installed on the left side plate of the Z-axis.

[0024] The shaping clamping tool comprises shaping tool jaws arranged symmetrically, a driving opening and closing module for driving the shaping tool jaws to open and close, and a driving rotating module for driving the opening and closing driving module and the shaping tool jaws to rotate together;

[0025] The driving opening and closing module comprises an outer frame body welded by two single-layer side plates and two cylinder positioning plates, and a driving body is respectively arranged at two ends of the outer frame body, and each driving body comprises an opening and closing cylinder and a guide rail mounting plate arranged on the inner side of the cylinder positioning plate, and the guide rail mounting plate is provided with two upper and lower side-by-side shaping guide rails facing the cylinder positioning plate, and a shaping slider is arranged at both ends of the two shaping guide rails, and the two shaping sliders at both ends are connected to each other via a cylinder rack connecting seat, and a shaping rack is respectively connected to the two cylinder rack connecting seats, and the two shaping racks are arranged side by side up and down, and a shaping gear set that meshes with the two shaping racks is arranged on the side of the guide rail mounting plate facing the cylinder positioning plate, and the shaping gear set is located between the two shaping racks, and a shaping tooling fisheye joint is provided at the top of the telescopic rod of the opening and closing cylinder, and the shaping tooling fisheye joint is connected to one of the cylinder rack connecting seats with a plug screw, and the cylinder rack connecting seats at both ends of the two driving bodies are connected via side-by-side connecting rods, and the two shaping tooling clamps are separately installed on the two connecting rods;

[0026] The opening and closing cylinder is mounted on a cylinder connecting plate, and the cylinder connecting plate is arranged between the guide rail mounting plate and the cylinder positioning plate;

[0027] The driving rotating module includes a U-shaped shaping base plate installed on the frame, and a rotating bracket is respectively arranged at both ends of the upper surface of the shaping base plate. A rotating cylinder is arranged on the rotating bracket, and a swing cylinder connecting shaft is arranged at the output end of the rotating cylinder, and the swing cylinder connecting shaft is connected to the corresponding cylinder positioning plate.

[0028] The shaping body includes a milling cutter mounted on a cutter bar, a lifting drive module for driving the cutter bar to lift and lower, and a rotation drive device for driving the cutter bar to rotate;

[0029] The lifting drive module comprises a shaping base plate and a lifting base plate. The shaping linear bearings on the four corners of the lifting base plate are sleeved on four shaping optical axes. The four shaping optical axes stand on the shaping base plate. A shaping lead screw is arranged between two adjacent shaping optical axes on both sides. The ball nuts of the two shaping lead screws are fixedly connected to the two ends of the lifting base plate. After the lower ends of the two shaping lead screws pass through the shaping base plate, a synchronous pulley is arranged at the end. A synchronous pulley is arranged on the lower surface of the motor base plate on one side of the shaping base plate. A shaping reducer and a shaping motor are arranged on the motor base plate to drive the synchronous pulley to rotate. The synchronous pulleys at the lower ends of the two shaping lead screws are connected to the synchronous pulley through a synchronous belt.

[0030] A shaping upper plate is provided on the two shaping optical axes and shaping screw rods on the same side, and a load-bearing side plate is provided between the outer sides of the two shaping upper plates and the shaping bottom plate;

[0031] The rotary drive device comprises a pneumatic rotary clamp seat mounting plate symmetrically arranged on both sides of the middle of the upper surface of the lifting base plate, a pneumatic rotary clamp seat and a torque sensor mounting side plate are arranged side by side between the two pneumatic rotary clamp seat mounting plates, a rotary clamp seat synchronous pulley is arranged on the inner side of the pneumatic rotary clamp seat, a torque sensor is installed in the middle of the torque sensor mounting side plate, a torque synchronous pulley 1 is arranged on the upper end of the torque sensor, and the torque synchronous pulley 1 is connected to the rotary clamp seat synchronous pulley with a synchronous belt 2, and a torque synchronous pulley 2 is arranged at the lower end of the torque sensor, a shaping motor fastening plate is arranged on one side of the lifting base plate, a shaping reducer 2 is arranged on the shaping motor fastening plate, and the shaping reducer 2 is connected to the shaping motor 2, a shaping synchronous pulley 4 is arranged at the output end of the shaping reducer 2, and the torque synchronous pulley 2 is connected to the shaping synchronous pulley 4 with a shaping synchronous belt 3; the tool rod is connected to the rotary clamp seat synchronous pulley in the pneumatic rotary clamp seat, and can rotate with the rotary clamp seat synchronous pulley;

[0032] A shaping upper cover plate is arranged at the upper end of the pneumatic rotary clamp mounting plate, shaping material box support plates are arranged on both sides of the upper surface of the shaping upper cover plate, a shaping material box is mounted on the shaping material box support plate, a hole for the knife rod to pass through is arranged in the middle of the shaping material box, a camera is arranged on the outside of the shaping material box, an air pipe mounting seat is arranged on the inside of the shaping material box, and an air pipe is mounted on the inside of the air pipe mounting seat;

[0033] A blowpipe mounting seat is arranged at the middle position of the upper surface of the shaping upper cover plate, and a blowpipe is mounted on the inner side of the blowpipe mounting seat.

[0034] The transfer clamp comprises a transfer clamp group and an opening and closing driving device group for driving the transfer clamp group to open and close. There are two transfer clamp groups, which are arranged side by side up and down. Each transfer clamp group consists of two symmetrical transfer clamp fingers.

[0035] The opening and closing driving device is assembled in the supporting frame, and the supporting frame includes two transfer single-layer side plates standing side by side on two movable connecting plates, a cylinder positioning plate is arranged side by side between the two transfer single-layer side plates, and two hand claw guide plates parallel to the cylinder positioning plate are arranged between the two transfer single-layer side plates;

[0036] The opening and closing drive device group is composed of two opening and closing drive devices that are symmetrical front and back, each opening and closing drive device includes two side-by-side transfer jaw guide rails arranged on the inner side of one of the hand claw guide rail plates, two transfer jaw sliders are slidably connected at both ends of the two transfer jaw guide rails, the two transfer jaw sliders on the left side are connected to each other via a rack connecting seat, and the two transfer jaw sliders on the right side are connected to each other via a cylinder rack connecting seat, a transfer rack is respectively installed on the rack connecting seat and the cylinder rack connecting seat, and the two transfer racks are parallel to each other, a transfer gear is arranged in the middle position of the inner side of the hand claw guide plate, the transfer gear is meshed with the two transfer racks, and the two ends of the transfer jaw fingers are respectively installed between the two cylinder rack connecting seats or between the two rack connecting seats of the opening and closing drive device group;

[0037] The transfer cylinder used to drive the transfer rack is installed on the transfer cylinder connecting plate, which is installed between the transfer single-layer side plate and the hand gripper guide plate. The top of the telescopic rod of the transfer cylinder is equipped with a transfer fisheye joint, which is connected to the cylinder rack connecting seat with a plug screw.

[0038] The translation drive device comprises two transfer guide rails fixed side by side on the frame, and each transfer guide rail is provided with an active bearing seat and a driven bearing seat at both ends, and the active bearing seat and the driven bearing seat are respectively connected with an active synchronous pulley and a driven synchronous pulley, and the two active bearing seats are connected via an active optical axis, and an active reducer and an active motor for driving the active synchronous pulley to rotate are provided on one side of one active bearing seat, and the driven synchronous pulley is connected to the corresponding active synchronous pulley by a transfer synchronous belt;

[0039] The two transfer guide rails are slidably connected with transfer sliders arranged side by side, and the transfer sliders are connected to the transfer synchronous belt on the same side via a movable connecting plate;

[0040] A transfer iron bucket for accommodating a workpiece core rod is arranged on one side of the transfer single-layer side plate, and a transfer sponge is arranged inside the transfer iron bucket.

[0041] The end cover extraction module comprises an end cover extraction guide rail seat, the upper end of which is provided with a side-by-side nut removal guide rail, two side-by-side nut removal sliders are slidably connected between the two nut removal guide rails, the two nut removal sliders are provided with end cover removal fingers symmetrically used for clamping the end cover of the workpiece, a pneumatic clamp is fixed on one side of the end cover extraction guide rail seat, and two clamps of the pneumatic clamp are respectively clamped on the two nut removal sliders;

[0042] The two sides of the lower end of the pull-out end cover guide rail seat are respectively connected to a nut unloading cylinder via a floating joint, and the inner sides of the two nut unloading cylinders are respectively provided with a nut unloading optical axis 1, and the upper end of the nut unloading optical axis 1 is connected to the lower surface of the pull-out end cover guide rail seat;

[0043] The nut unloading module includes a motor, a connecting shaft is installed at the rear end of the motor output shaft extending upward, a three-jaw chuck for clamping the nut is installed on the top of the connecting shaft, and an air motor bracket for fixing the motor is installed under the clamping claw connecting plate, and the clamping claw connecting plate is located directly under the guide rail seat of the extraction end cover, and the guide rail seat of the extraction end cover is connected to the clamping claw connecting plate through the nut unloading optical shaft 2 arranged at both ends of the connecting shaft, and the two ends of the nut unloading optical shaft 2 are equipped with nut unloading linear bearings;

[0044] The rotary drive module comprises a U-shaped nut unloading base plate mounted on the frame, nut unloading rotating cylinder brackets are symmetrically arranged at both ends of the nut unloading base plate, a nut unloading rotating cylinder is mounted on the nut unloading rotating cylinder bracket, a swing cylinder connecting plate is mounted on the nut unloading rotating cylinder, an end cover cylinder seat is connected between the two swing cylinder connecting plates, the end cover cylinder seat is located between the end cover guide seat and the clamping claw connecting plate, and linear bearings for guiding the nut unloading optical axis 1 are mounted in the openings at both ends of the end cover cylinder seat;

[0045] There are windows for the motor output shaft on the end cover cylinder seat and the clamping claw connecting plate;

[0046] A tension spring seat 1 is arranged at one end of the clamping jaw connecting plate, a tension spring seat 2 is arranged on the lower surface of the pull-out end cover guide rail seat and on one side of the three-jaw chuck, and a tension spring is arranged between the tension spring seat 1 and the tension spring seat 2.

[0047] The end cap removal module comprises a pneumatic finger cylinder, on which are mounted cylinder fingers symmetrically used to grab the end cap of the workpiece, the pneumatic finger cylinder is mounted on the upper end of the cylinder connecting plate, and the lower end of the cylinder connecting plate is connected to the small-diameter end cap removal cylinder via a small-diameter end cap removal floating joint;

[0048] A small-diameter end-cap removal optical axis is provided at both ends of the small-diameter end-cap removal cylinder, the upper end of the small-diameter end-cap removal optical axis is mounted on an optical axis mounting seat, and the optical axis mounting seat is fixed to the lower end of the cylinder connecting plate;

[0049] The rotary drive module comprises a U-shaped small-diameter end cover base plate mounted on a frame, symmetrical small-diameter pads are arranged at both ends of the small-diameter end cover base plate, symmetrical small-diameter brackets are erected on the two small-diameter pads, symmetrical rotary cylinders are mounted on the two small-diameter brackets, rotary cylinders are mounted on the rotary cylinders, and rotary cylinder support seats are mounted on the rotary cylinders, and cylinder support seats 1 and 2 parallel to the cylinder connection plate are mounted between the two rotary cylinder support seats;

[0050] The cylinder barrel of the small-diameter end-cap removal cylinder is fixed at the lower end of the second cylinder support, and the middle parts of the first cylinder support and the second cylinder support are provided with a through hole for making way for the telescopic rod of the small-diameter end-cap removal cylinder;

[0051] Small-diameter end cap removal linear bearings for allowing the small-diameter end cap removal optical axis to pass through are fixed in corresponding openings at both ends of the cylinder support 1 and the cylinder support 2.

[0052] The clamping mechanism is arranged at the lower end of the lower plate of the H core pulling rod, and the lower plate of the H core pulling rod is fixed to the upper end of the support frame; the clamping mechanism includes a tensile lifting plate and a lifting driving device for driving the tensile lifting plate to lift; the lower plate of the H core pulling rod and the tensile lifting plate have a clearance window in the middle for easing the workpiece;

[0053] Two tensile opening and closing guide rails are arranged side by side on both sides of the yield window on the lower surface of the tensile lifting plate, and two symmetrical V-shaped tensile clamping claws are slid on the two tensile opening and closing guide rails, and a tensile transmission plate is extended outward on one side of the V-shaped tensile clamping claw, and positive and negative screw nuts are respectively arranged at the symmetrical openings of the two tensile transmission plates, and an tensile opening and closing screw rod is arranged between the positive and negative screw rod nuts, and an anti-tensile opening and closing screw rod fixing seat 1 is arranged on one side of the anti-tensile opening and closing screw rod, and the lower surface of the anti-tensile opening and closing screw rod fixing seat 1 is fixed on the V-shaped tensile clamping claw on one side, and the anti-tensile opening and closing screw rod is fixed on the lower surface of the V-shaped tensile clamping claw on the lower surface of the V-shaped tensile clamping claw. The other side is provided with a second anti-tensile opening and closing screw rod fixing seat and a first anti-tensile opening and closing synchronous pulley, the side of the anti-tensile lifting plate is provided with an anti-tensile opening and closing motor connecting plate, the second anti-tensile opening and closing screw rod fixing seat is fixed on the inner side of the anti-tensile opening and closing motor connecting plate, the outer side of the anti-tensile opening and closing motor connecting plate is provided with an anti-tensile opening and closing reducer, one side of the anti-tensile opening and closing reducer is provided with an anti-tensile opening and closing motor, the other side output end of the anti-tensile opening and closing reducer is provided with a second anti-tensile opening and closing synchronous pulley, and the first anti-tensile opening and closing synchronous pulley and the second anti-tensile opening and closing synchronous pulley are connected with an anti-tensile opening and closing synchronous belt;

[0054] The lifting drive device includes a symmetrical tensile lifting ball screw and a transmission device for driving the tensile lifting ball screw to rotate. The middle and upper ends of the tensile lifting ball screw are fixed to the lower plate of the H core pulling rod through the tensile ball screw fixing seat. The tensile lifting ball nut on the tensile lifting ball screw is fixedly connected to the tensile lifting plate. The transmission device includes a tensile lifting synchronous pulley arranged at the upper end of the tensile lifting ball screw. A tensile lifting reducer is arranged on one side of the lower surface of the lower plate of the H core pulling rod. One side of the tensile lifting reducer A tensile lifting motor is provided, and an anti-tensile lifting active synchronous pulley is provided after the output shaft of the anti-tensile lifting reducer is put through the H core pulling rod lower plate, and the H core pulling rod lower plates on both sides of the anti-tensile lifting active synchronous pulley are respectively provided with anti-tensile lifting follower synchronous pulleys, and the H core pulling rod lower plate on one side of the anti-tensile lifting follower synchronous pulley is provided with an anti-tensile lifting tensioning pulley, and the anti-tensile lifting active synchronous pulley, the anti-tensile lifting follower synchronous pulley, the anti-tensile lifting synchronous pulley and the anti-tensile lifting tensioning pulley are connected by an anti-tensile lifting synchronous belt transmission;

[0055] Both ends of the tensile lifting ball screw are provided with tensile lifting optical axes, the upper end of the tensile lifting optical axis is connected to the lower plate of the H core rod through the tensile lifting optical axis fixing seat, the middle part of the tensile lifting optical axis is passed through the tensile lifting linear bearing, and the tensile lifting linear bearing is fixed on the tensile lifting plate;

[0056] The drawing mechanism includes four upper plate optical axes standing on the H core pulling rod lower plate, an H core pulling rod upper plate is fixed above the four upper plate optical axes, a core pulling rod linear bearing is respectively sleeved on the upper plate optical axes, an H core pulling rod middle plate is arranged on the four core pulling rod linear bearings, a tension sensor is arranged on the lower surface of the H core pulling rod middle plate, a core pulling tooling clamping claw is arranged on the lower surface of the tension sensor, the H core pulling rod middle plate is connected with the screw nut on the core pulling rod lifting screw rod, the upper end of the core pulling rod lifting screw rod is passed through the linear bearing in the middle of the H core pulling rod upper plate, and a core pulling rod lifting synchronous pulley 1 is installed, a core pulling rod lifting reducer is arranged on one side of the H core pulling rod upper plate, a core pulling rod lifting motor is arranged on one side of the core pulling rod lifting reducer, a core pulling rod lifting synchronous pulley 2 is arranged on the output shaft of the core pulling rod lifting reducer, and the core pulling rod lifting synchronous pulley 1 and the core pulling rod lifting synchronous pulley 2 are connected by a core pulling rod lifting synchronous belt transmission.

[0057] The trolley includes a trolley frame, fixed wheels are installed at both ends of the front bottom of the trolley frame, universal wheels are installed at both ends of the rear bottom, two positioning wheels are arranged side by side at the lower position on both sides of the trolley frame, a trolley sponge frame is fixed on the upper part of the trolley frame, and sponge pads with four holes, ten holes and twenty holes are respectively arranged on the trolley sponge frames of the three trolleys.

[0058] There are three sets of guide rail assemblies on the ground on one side of the frame for guiding three trolleys; each set of guide rail assemblies includes two side-by-side guide rails that cooperate with the positioning wheels on both sides of the trolley. The two guide rails of each set of guide rail assemblies are connected through the trolley positioning beam close to one side of the frame. A cylinder mounting seat is provided on the trolley positioning beam, and a locking claw is installed on the top of the cylinder mounting seat. After the trolley is in place, the locking claw is clamped on the crossbeam at the bottom of the front end of the trolley.

[0059] The present invention can reduce face-to-face operations on site, realize unmanned automatic demoulding on site, and effectively solve the potential safety hazards of manual operation on site. The assembly line operation mode is adopted, with the truss robot system as the main body and the assembly line operation platform as the auxiliary, so as to improve the overall efficiency and reliability. The present invention proposes to reduce manual intervention, realize fully automated operation, and improve production efficiency.

[0060] The present invention can demould and shape various types of workpieces through the combination of different mechanisms, with a wider range of adaptability and higher utilization, effectively reducing development costs and production costs. One set of equipment can cope with the production of various common workpieces, without the need to set up different equipment for each workpiece, thus improving space utilization.

[0061] The automatic demoulding and shaping system of the present invention has a demoulding efficiency of less than ten minutes per shot for standard workpiece one; a demoulding efficiency of less than ten minutes per shot for standard workpiece two; a demoulding efficiency of less than ten minutes per shot for standard workpiece three, and a demoulding efficiency of less than or equal to ten minutes per group for non-standard workpiece four and workpiece five.

[0062] The size of the truss robot of the present invention is 3500mm x 2500mm x 2200mm, which reduces the floor space; the load is 50KG, which is as light as possible.

[0063] The gripper fingers 2.5.21, shaping tooling gripper fingers 4.2.1.17, transfer gripper fingers 4.3.29 and V-shaped tensile gripper fingers 4.6.32 that are in contact with the workpiece shell are all made of non-flammable materials to reduce safety hazards during the processing process.

[0064] The truss manipulator of the present invention can grasp and transport relatively large parts such as housing positioning rings with a diameter of 130-160 mm, and can also grasp and regularize small diameter parts such as lower positioning rings and core rods, thereby improving the efficiency of the process;

[0065] The shaping milling cutter of the present invention adopts PVD-coated cemented carbide, accurately locates the surface of the medicine column through a camera, and controls the shaping force feed amount in real time by controlling the motor speed, thereby reducing workpiece deformation, improving surface finish, and ensuring processing accuracy. The height error between the shaping surface and the shell after the present invention is less than 0.2mm.

[0066] The transfer clamp of the present invention is opened and closed by driving the gear rack through the cylinder, and can be opened and closed at a fixed angle according to the model of the workpiece, thereby ensuring the stability of the workpiece clamping.

[0067] The core pulling mechanism of the present invention automatically lifts and closes according to the height of the workpiece to provide support for the material during demolding, thereby preventing displacement friction between the material and the clamping claws. The core pulling mechanism adopts an explosion-proof cylinder, which can withstand a large demolding overturning force in conjunction with a linear guide rail while meeting the clamping force and stroke.

[0068] The demoulding mechanism of the present invention has a high-power explosion-proof motor driving the telescopic rod to achieve a maximum output of 5000N demoulding force and a demoulding stroke of 800mm. At the same time, the servo motor can accurately control parameters such as position, speed, and output, thereby improving the safety and reliability of the demoulding work process. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 The structure of the present invention Figure 1 ; Figure 2 The structure of the present invention Figure 2 ; Figure 3 This is the structural diagram of workpiece 1; Figure 4 is a cross-sectional view of workpiece 1; Figure 5 This is the structural diagram of workpiece 2; Figure 6 is a cross-sectional view of workpiece 2; Figure 7 This is the structural diagram of workpiece three;

[0070] Figure 8 is the cross-sectional view of workpiece 3; Fig. 9 This is the structural diagram of workpiece 4; Fig.10 is a cross-sectional view of workpiece 4; Fig.11 This is the structural diagram of workpiece 5; Fig.12 is a cross-sectional view of workpiece 5; Fig.13 This is a side view of the truss robot; Fig.14 It is the structural diagram of X-axis one; Fig.15 It is the structural diagram of X-axis 2; Fig.16 It is the structure diagram of Y axis; Fig.17 It is the rear view of the Y axis; Fig.18 It is the structural diagram of the Z axis; Fig.19 This is the structural diagram of the truss manipulator; Fig. 20 It is a partial cross-sectional structural diagram of the truss manipulator; Fig.21 This is the rear view of the truss manipulator; Fig. 22 is a top view of the guide rail assembly; Fig.23 This is a structural diagram of the car; Fig.24 This is the structural diagram of car 2; Fig.25 This is the three structural diagrams of the car; Fig.26 This is a top view of the shaping tooling jaws; Fig. 27 It is a partial cross-sectional view of the shaping tooling clamping jaws; Fig.28 This is the main structural diagram of the plastic surgery; Fig.29 For shaping the main part Figure 1 ; Fig.30 It is the left view of the plastic surgery subject; Fig.31 It is a partial stereogram of the plastic surgery subject; Fig.32 It is the partial main view of the plastic surgery subject; Fig.33 For shaping the main part Figure 2 ; Fig.34 It is the structural diagram of the transfer mechanism; Fig.35 This is the structural diagram of the transfer clamp; Fig.36 It is a partial cross-sectional view of the transfer clamp; Fig.37 This is the front view of the nut removal mechanism; Fig.38 It is a three-dimensional diagram of the nut removal mechanism; Fig.39 The structural diagram of the end cover removal mechanism for small diameter; Fig.40 It is a partial top view of the core pulling rod mechanism; Fig.41 This is the structural diagram of the core pulling rod mechanism; Fig.42 The local structure of the core rod pulling mechanism Figure 1 ; Fig.43 for Fig.42 Bottom view of Fig.44 The local structure of the core rod pulling mechanism Figure 2 ; Fig.45 The local structure of the core rod pulling mechanism Figure 3 . DETAILED DESCRIPTION

[0071] Figure 1 , Figure 2The present invention is a standard test engine automatic demoulding and shaping system, which is mainly composed of a truss robot 2, a material system 3, and a processing system 4. The processing system 4 is composed of a frame 4.1, a shaping mechanism 4.2, a transfer mechanism 4.3, a nut unloading mechanism 4.4, a small diameter end cap removal mechanism 4.5, a core rod pulling mechanism 4.6, and a conveyor belt 4.7. The transfer mechanism 4.3 is supported above the frame 4.1, the nut unloading mechanism 4.4, the small diameter end cap removal mechanism 4.5, and the core rod pulling mechanism 4.6 are arranged in sequence along the conveying direction of the transfer mechanism 4.3, and the shaping mechanism 4.2 is arranged at the top of the transfer mechanism 4.3 close to the nut unloading mechanism 4.4.

[0072] Figure 2 In the embodiment, a conveyor belt 4.7 is installed on the frame 4.1, and the conveyor belt is arranged directly below the transfer mechanism 4.3, the nut removal mechanism 4.4, the small diameter end cover removal mechanism 4.5, and the core rod extraction mechanism 4.6.

[0073] Figure 13-21 In the figure, the truss robot 2 is composed of a column 2.1, an X-axis 2.2, a Y-axis 2.3, a Z-axis 2.4, and a truss manipulator 2.5. The X-axis 2.2 is composed of an X-axis 1 2.2.1 and an X-axis 2 2.2.2, which are fixed side by side on four vertically placed columns 2.1, and the grooves on the upper end surfaces of the X-axis 1 2.2.1 and the X-axis 2 2.2.2 are respectively provided with an X-axis linear guide 1 2.2.3 and an X-axis linear guide 2 2.2.4, and the inner sides of the X-axis linear guide 1 2.2.3 and the X-axis linear guide 2 2.2.4 are respectively provided with X-axis helical gears. Rack 1 2.2.5 and X-axis bevel rack 2 2.2.6, X-axis linear guide 1 2.2.3 and X-axis linear guide 2 2.2.4 are respectively provided with X-axis slider 1 2.2.7 and X-axis slider 2 2.2.8, X-axis slider 1 2.2.7 and X-axis slider 2 2.2.8 are provided with X-axis base plate 1 2.2.9 and X-axis base plate 2 2.2.10 connected by bolts, and Y-axis 2.3 is installed between X-axis 1 2.2.1 and X-axis 2 2.2.2.

[0074] Y-axis bottom plate 1 2.3.1 and Y-axis bottom plate 2 2.3.2 are respectively arranged at both ends of the Y-axis 2.3, commutator 1 2.3.3 and commutator 2 2.3.4 are respectively arranged at both ends of the right side of the Y-axis 2.3, the lower surfaces of commutator 1 2.3.3 and commutator 2 2.3.4 are respectively fixed on X-axis bottom plate 1 2.3.5 and X-axis bottom plate 2 2.3.6, one end of commutator 1 2.3.3 and commutator 2 2.3.4 are respectively installed with gear 1 2.3.7 and gear 2 2.3.8, gear 1 2.3.7 and gear 2 2.3.8 are respectively meshed with X-axis helical rack 1 2.2.5 and X-axis helical rack 2 2.2.6. A bidirectional commutator 2.3.9 is arranged in the middle of the right side of the Y-axis 2.3. The input shaft of the bidirectional commutator 2.3.9 is connected to the output shaft of the reducer 2.3.10, the input shaft of the reducer 2.3.10 is connected to the output shaft of the Y-axis motor 1 2.3.11, and the commutator 1 2.3.3 and commutator 2 2.3.4 at both ends of the right side of the Y-axis 2.3 are connected to the two output shafts of the bidirectional commutator 2.3.9 in the middle of the right side of the Y-axis by an optical shaft 2.3.12 and a coupling 2.3.13. A drag chain 2.3.14 is arranged at the groove on the upper surface of the Y-axis 2.3, a Y-axis linear guide 2.3.15 is arranged at the groove on the left side of the Y-axis 2.3, a Y-axis bevel rack 2.3.16 is arranged on the inner side of the Y-axis linear guide 2.3.15, a Y-axis slider 2.3.17 is arranged on the Y-axis linear guide 2.3.15, a Y-axis side plate 2.3.18 connected by bolts is arranged on the Y-axis slider 2.3.17, a reducer mounting plate 2.3.19 is arranged on the Y-axis side plate 2.3.18, a Y-axis reducer 2.3.20 is arranged on the reducer mounting plate 2.3.19, a Y-axis motor 2.3.21 is installed at one end of the Y-axis reducer 2.3.20, and a Y-axis gear 3 2.3.22 is installed at the other end, and the Y-axis gear 3 2.3.22 is meshed with the Y-axis bevel rack 2.3.16 of the Y-axis 2.3.3.

[0075] The front side plate 2.4.1, the rear side plate 2.4.2, the left side plate 2.4.3 and the right side plate 2.4.4 of the Z axis are respectively arranged on the front, rear and left sides of the Z axis 2.4; the linear guide rails 2.4.5 are respectively arranged on the left and right rear sides of the Z axis 2.4; the linear guide rails 2.4.5 are respectively arranged on the sliders 2.4.6; the sliders 2.4.6 are connected to the corresponding left side plate 2.4.3, the right side plate 2.4.4 and the rear side plate 2.4.2 of the Z axis by bolts; the Y axis side plate 2.3.18 is fixedly connected to the rear side plate 2.4.2 of the Z axis; the distribution box 2.4.7 is installed on the left side plate 2.4.3 of the Z axis. A drag chain slot 2.4.8 is installed on the right side plate 2.4.4 of the Z axis, and a drag chain 2.4.9 is installed on the drag chain slot 2.4.8. One end of the drag chain 2.4.9 is connected to the drag chain slot 2.4.8 and the other end is connected to the upper surface of the Z axis 2.4. A rack 3 2.4.10 is installed in front of the Z axis 2.4, and a reducer 2.4.11 is arranged on the front side plate of the Z axis 2.4. One end of the reducer 2.4.11 is installed with a motor 2.4.12 and the other end is installed with a gear 3 2.4.13, and the gear 3 2.4.13 is meshed with the rack 3 2.4.10 of the Z axis 2.4.

[0076] A truss manipulator 2.5 is arranged on the lower surface of the Z-axis 2.4, and the truss manipulator 2.5 comprises a Z-axis clamp mounting plate 2.5.1, a clamp wire harness block 2.5.2 is arranged on the lower surface of the Z-axis clamp mounting plate 2.5.1, a tension and compression sensor 2.5.3 is arranged on the lower surface of the clamp wire harness block 2.5.2, and a clamp cylinder mounting plate 2.5.4 is arranged on the lower surface of the tension and compression sensor 2.5.3, and the clamp cylinder mounting plate 2.5.4 is connected to the Z-axis clamp mounting plate 2.5.1 through a clamp linear bearing 2.5.5, a clamp optical axis 2.5.6, and a clamp optical axis mounting seat 2.5.7, and the clamp optical axis mounting seat 2.5.7 is fixedly connected to the Z-axis clamp mounting plate 2.5.1, and the clamp optical axis 2.5.6 is fixedly connected to the Z-axis clamp mounting plate 2.5.1. 5.6 is fixedly connected to the clamping claw optical axis mounting seat 2.5.7, the clamping claw linear bearing 2.5.5 is fixedly connected to the clamping claw cylinder mounting plate 2.5.4, the clamping claw optical axis 2.5.6 is movably connected to the clamping claw linear bearing 2.5.5, the clamping claw side support plates 2.5.8 are respectively arranged on both sides of the clamping claw cylinder mounting plate 2.5.4, the clamping claw cylinder 2.5.9 is arranged on the lower surface of the clamping claw cylinder mounting plate 2.5.4, the clamping claw cylinder 2.5.9 is arranged with a clamping claw fisheye joint 2.5.10, the other end of the clamping claw fisheye joint 2.5.10 is arranged with a clamping claw plug screw mounting plate 2.5.11, the clamping claw plug screw mounting plate 2.5.11 is arranged with a clamping claw pressure sensor 2.5.12, and the clamping claw pressure sensor 2.5.12 is arranged on the clamping claw screw mounting plate 2.5.12. A cylinder telescopic connecting rod 2.5.13 is arranged below the sensor 2.5.12, a clamping jaw connecting block 2.5.17 is arranged on the lower surface of the cylinder telescopic connecting rod 2.5.13, a clamping jaw rack 2.5.15 is installed on the clamping jaw connecting block 2.5.17, clamping jaw linear guide rails 2.5.16 are arranged on the bottom surfaces of the shoulders on both sides of the clamping jaw connecting block 2.5.17, the clamping jaw connecting block 2.5.17 is slidably connected to the clamping jaw linear guide rail 2.5.16, the other end of the clamping jaw linear guide rail 2.5.16 is movably connected to the clamping jaw connecting block 2.5.14, the upper surface of the clamping jaw connecting block 2.5.14 is provided with a clamping jaw rack 2.5.18, and the lower surface of the clamping jaw linear guide rail 2.5.16 A clamping jaw base plate 2.5.19 is installed, and a clamping jaw gear set 2.5.20 is arranged on the upper surface of the clamping jaw base plate 2.5.19, and the clamping jaw gear set 2.5.20 is meshed with the clamping jaw rack 1 2.5.15 and the clamping jaw rack 2 2.5.18, and the bottoms of the clamping jaw connecting block 1 2.5.17 and the clamping jaw connecting block 2 2.5.14 are respectively installed with clamping jaw fingers 2.5.21, and the lower surface of the clamping jaw base plate 2.5.19 is respectively provided with a telescopic shaft 2.5.22 and a slot-shaped photoelectric 2.5.23 for limiting, and the surface of the clamping jaw side support plate 2.5.8 is provided with a clamping jaw telescopic cylinder 2.5.24, and one end of the clamping jaw telescopic cylinder 2.5.24 is provided with a pneumatic finger 2.5.25 for clamping the core rod.

[0077] Figure 22-Figure 25In the figure, the material system 3 comprises a No. 1 trolley 3.1, a No. 2 trolley 3.2, a No. 3 trolley 3.3 arranged side by side and three sets of guide rail assemblies arranged on the ground at one side of the frame for guiding the three trolleys. The first trolley 3.1, the second trolley 3.2 and the third trolley 3.3 are respectively provided with a first trolley frame 3.1.1, a second trolley frame 3.2.1 and a third trolley frame 3.3.1. The first trolley frame 3.1.1, the second trolley frame 3.2.1 and the third trolley frame 3.3.1 are respectively provided with a first fixed wheel 3.1.3, a second fixed wheel 3.2.3 and a third fixed wheel 3.3.3 on both sides of the bottom front thereof. The first trolley frame 3.1.1, the second trolley frame 3.2.1 and the third trolley frame 3.3.1 are respectively provided with a first universal wheel 3.1.4, a second universal wheel 3.2.4 and a third universal wheel 3.3.4 on both sides of the bottom rear thereof. No. 1 positioning wheel 3.1.5, No. 2 positioning wheel 3.2.5 and No. 3 positioning wheel 3.3.5 are respectively arranged at the lower sides of the No. 1 trolley frame 3.1.1, No. 2 trolley frame 3.2.1 and No. 3 trolley frame 3.3.1, and No. 1 trolley sponge frame 3.1.6, No. 2 trolley sponge frame 3.2.6 and No. 3 trolley sponge frame 3.3.6 are arranged on the upper part of the No. 1 trolley frame 3.1.1, No. 2 trolley frame 3.2.1 and No. 3 trolley frame 3.3.1. Sponge pads with four holes, ten holes and twenty holes are respectively arranged on the No. 1 trolley sponge frame 3.1.6, No. 2 trolley sponge frame 3.2.6 and No. 3 trolley sponge frame 3.3.6. The No. 1 guide rail assembly is composed of two parallel No. 1 SBR guide rails 3.1.7 corresponding to the No. 1 positioning wheels 3.1.5 on both sides of the No. 1 trolley frame 3.1.1, and a trolley positioning beam 3.1.2 is provided between the two No. 1 SBR guide rails 3.1.7 close to the frame side; the No. 2 guide rail assembly is composed of two parallel No. 2 SBR guide rails 3.2.7 corresponding to the No. 2 positioning wheels 3.2.5 on both sides of the No. 2 trolley frame 3.2.1, and a trolley positioning beam 3.2.2 is provided between the two No. 2 SBR guide rails 3.2.7 close to the frame side; the No. 3 guide rail assembly is composed of two parallel No. 2 SBR guide rails 3.2.7 corresponding to the No. 2 positioning wheels 3.2.5 on both sides of the No. 3 trolley frame 3.3.1, and a trolley positioning beam 3.2.2 is provided between the two No. 2 SBR guide rails 3.2.7 close to the frame side; It is composed of two parallel No. 3 SBR guide rails 3.3.7, and a trolley three positioning beam 3.3.2 is provided between the two No. 3 SBR guide rails 3.3.7 close to the frame side. No. 1 cylinder mounting seat 3.1.8, No. 2 cylinder mounting seat 3.2.8 and No. 3 cylinder mounting seat 3.3.8 are respectively provided on the trolley one positioning beam 3.1.2, the trolley two positioning beam 3.2.2 and the trolley three positioning beam 3.3.2. A locking claw is installed on the top of the No. 1 cylinder mounting seat 3.1.8, the No. 2 cylinder mounting seat 3.2.8 and the No. 3 cylinder mounting seat 3.3.8. When the trolley is in place, the locking claw is clamped on the crossbeam at the bottom of the front end of the trolley to prevent the trolley from shifting.

[0078] Figure 2 , Fig.26 , Fig. 27 In the embodiment, a shaping mechanism 4.2 is arranged at the front end of the frame 4.1, and the shaping mechanism 4.2 includes a shaping clamping tool and a shaping body located directly below the shaping clamping tool. The shaping clamping tool includes a U-shaped shaping bottom plate 4.2.1.2, and the shaping bottom plate 4.2.1.2 is installed on the frame 4.1. Rotating brackets 4.2.1.3 are arranged at both ends of the upper surface of the shaping bottom plate 4.2.1.2, and a rotating cylinder 4.2.1.4 is arranged on the rotating bracket 4.2.1.3. The output end of the rotating cylinder 4.2.1.4 is provided with a swing cylinder connecting shaft 4.2.1.5, and the other end of the swing cylinder connecting shaft 4.2.1.5 is provided with a cylinder positioning plate 4.2.1.6. The two ends of the two cylinder positioning plates 4.2.1.6 are respectively connected by a single-layer side plate. 4.2.1.7 is connected, and a driving body is respectively arranged on the opposite sides of the two cylinder positioning plates 4.2.1.6, each driving body comprises an opening and closing cylinder 4.2.1.10 and a guide rail mounting plate 4.2.1.8 arranged on the inner side of the cylinder positioning plate 4.2.1.6, and a cylinder connecting plate 4.2.1.9 is respectively arranged between the guide rail mounting plate 4.2.1.8 and the cylinder positioning plate 4.2.1.6, and an opening and closing cylinder 4.2.1.10 is respectively arranged on the upper surface of the cylinder connecting plate 4.2.1.9, and two shaping guide rails 4.2.1.11 are arranged side by side on the side of the guide rail mounting plate 4.2.1.8 close to the cylinder positioning plate 4.2.1.6, and a shaping slider 4.2.1.12 is slidably connected at both ends of the two shaping guide rails 4.2.1.11. The two shaping slide blocks 4.2.1.12 on both sides are connected to each other through a cylinder rack connection seat 4.2.1.13. A shaping rack 4.2.1.14 is respectively arranged on the two cylinder rack connection seats 4.2.1.13. The teeth of the two shaping racks 4.2.1.14 are arranged on opposite surfaces. A shaping gear set 4.2.1.15 is arranged in the middle of the guide rail mounting plate 4.2.1.8 near the cylinder positioning plate 4.2.1.6. The shaping gear set 4.2.1.1 5 is meshed with the upper and lower shaping racks 4.2.1.14, and one end of the opening and closing cylinder 4.2.1.10 is respectively provided with a shaping tool fisheye joint 4.2.1.16, and the shaping tool fisheye joint 4.2.1.16 is connected to one of the cylinder rack connection seats 4.2.1.13 with a plug screw, and the cylinder rack connection seats 4.2.1.13 on the same side of the two driving bodies are connected through a connecting rod, and one side of the two connecting rods is respectively provided with a shaping tool clamping claw 4.2.1.17. There is a long strip notch on the guide rail mounting plate 4.2.1.8 to allow the connecting rod to move.

[0079] Figure 28-Figure 33In the shaping body, a shaping bottom plate 4.2.2.1 is provided with a motor bottom plate 4.2.2.2 on the lower surface of the shaping bottom plate 4.2.2.1, a synchronous pulley 4.2.2.3 is provided on the lower surface of the motor bottom plate 4.2.2.2, a shaping reducer 4.2.2.4 is provided on the upper surface of the motor bottom plate 4.2.2.2, and the shaping reducer 4.2.2.4 is connected to the shaping motor 4.2.2.5, and load-bearing side plates 4.2.2.6 are provided on both sides of the upper surface of the shaping bottom plate 4.2.2.1, a lifting bottom plate 4.2.2.7 is provided between the two load-bearing side plates 4.2.2.6, and a shaping upper plate 4.2.2.8 is provided between the two load-bearing side plates 4.2.2.6, and the shaping upper plate 4.2.2. 8 and the shaping base plate 4.2.2.1 are provided with shaping optical axis 4.2.2.9, shaping screw 1 4.2.2.10 and shaping screw 2 4.2.2.11 respectively between the two sides and in the middle, the shaping optical axis 4.2.2.9 is fixed with shaping linear bearing in the middle and lower part, the shaping screw 1 4.2.2.10 and shaping screw 2 4.2.2.11 are fixed with ball nut 4.2.2.13 in the middle and lower part, the shaping linear bearing is embedded in the lifting base plate 4.2.2.7, the ball nut 4.2.2.13 is fixed in the middle of the lifting base plate 4.2.2.7, the shaping screw 1 4.2.2.10 and shaping screw 2 4.2.2.11 are provided with synchronous pulley 2 4.2.2.14 and synchronous pulley 3 4.2.2. 15, synchronous pulley 2 4.2.2.14, synchronous pulley 3 4.2.2.15 are connected to synchronous pulley 1 4.2.2.3 through synchronous belt 1 4.2.2.16, a shaping motor fastening plate 4.2.2.17 is arranged on one side of the upper surface of the lifting base plate 4.2.2.7, a shaping reducer 2 4.2.2.18 is arranged on the upper surface of the shaping motor fastening plate 4.2.2.17, and the shaping reducer 2 4.2.2.18 is connected to the shaping motor 2 4.2.2.19, and a shaping synchronous pulley 4 4.2.2.20 is arranged on the output end of the shaping reducer 2 4.2.2.18, and pneumatic rotary clamp seat mounting plates 4.2.2.21 are arranged on both sides of the middle of the upper surface of the lifting base plate 4.2.2.7, and the pneumatic rotary clamp seat mounting plates 4.2.2.21 are arranged on both sides of the middle of the upper surface of the lifting base plate 4.2.2.7. A pneumatic rotary clamp seat 4.2.2.22 is arranged on one side in the middle of the seat mounting plate 4.2.2.21, a rotary clamp seat synchronous pulley 4.2.2.23 is arranged on the inner side of the pneumatic rotary clamp seat 4.2.2.22, a torque sensor mounting side plate 4.2.2.24 is arranged on the other side in the middle of the pneumatic rotary clamp seat mounting plate 4.2.2.21, a torque sensor 4.2.2.25 is installed in the middle of the torque sensor mounting side plate 4.2.2.24, a torque synchronous pulley 4.2.2.28 is arranged on the upper end of the torque sensor 4.2.2.25, the torque synchronous pulley 4.2.2.28 is connected to the rotary clamp seat synchronous pulley 4.2.2.23 by a synchronous belt 4.2.2.27, and the torque sensor 4.2.2.A torque synchronous pulley 2 4.2.2.26 is arranged at the lower end of 25, and the torque synchronous pulley 2 4.2.2.26 is connected to the shaping synchronous pulley 4 4.2.2.20 by a shaping synchronous belt 3 4.2.2.29, and a shaping upper cover plate 4.2.2.30 is arranged at the upper end of the pneumatic rotary clamp mounting plate 4.2.2.21, and shaping material box support plates 4.2.2.31 are arranged on both sides of the upper surface of the shaping upper cover plate 4.2.2.30, and a shaping material box 4.2.2.32 is installed on the shaping material box support plate 4.2.2.31, and a camera 4.2.2.33 is installed on one side wall of the shaping material box 4.2.2.32, and the lens of the camera 4.2.2.33 faces the inside of the shaping material box 4.2.2.32, and a shaping material box 4.2.2.32 is arranged inside There is an air pipe mounting seat 4.2.2.34, an air pipe 4.2.2.35 is installed inside the air pipe mounting seat 4.2.2.34, a blowpipe mounting seat 4.2.2.36 is arranged at the middle position of the shaping upper cover plate 4.2.2.30 near the pneumatic rotating clamp seat 4.2.2.22, a blowpipe 4.2.2.37 for blowing the milling cutter is installed inside the blowpipe mounting seat 4.2.2.36, a tool rod 4.2.2.38 is installed on the upper end of the pneumatic rotating clamp seat 4.2.2.22, and a milling cutter is installed on the tool rod 4.2.2.38, a waste box 4.2.2.40 is arranged on one side of the bottom of the shaping box 4.2.2.32, and the waste box 4.2.2.40 is connected to the bottom of the shaping box 4.2.2.32, and is used to collect the cut debris.

[0080] Figure 2 and Figure 34-36In the embodiment, a transfer mechanism 4.3 is arranged at the upper end of the frame 4.1, and the transfer mechanism 4.3 comprises two transfer guide rails 4.3.1, and the two transfer guide rails 4.3.1 are fixed side by side on the frame 4.1, and one end of the two transfer guide rails 4.3.1 is respectively provided with a driven bearing seat 4.3.2, and the upper part of the two driven bearing seats 4.3.2 is respectively provided with a driven synchronous pulley 4.3.3, and the driven bearing seat 4.3.2 and the driven synchronous pulley 4.3.3 are connected with a driven optical axis 4.3.4, and the other end of the two transfer guide rails 4.3.1 is respectively provided with an active bearing seat 1 4.3.5 and an active bearing seat 2 4.3.6, and the upper part of the active bearing seat 1 4.3.5 and the active bearing seat 2 4.3.6 is respectively provided with an active synchronous pulley 1 4.3.7, active synchronous pulley 2 4.3.8, one side of active bearing seat 1 4.3.5 is connected to active bearing seat 2 4.3.6 by active optical axis 4.3.9, the other side of active bearing seat 1 4.3.5 is provided with active motor bracket 4.3.10, inside of active motor bracket 4.3.10 is provided with transfer coupling 4.3.11, one side of active motor bracket 4.3.10 is provided with active reducer 4.3.12, transfer coupling 4.3.11 is used to connect active synchronous pulley and active reducer 4.3.12, one side of active reducer 4.3.12 is connected to active motor 4.3.13, two transfer guide rails 4.3.1 are respectively installed with transfer sliders 4.3.14, two transfer sliders 4. 3.14 are respectively provided with a mobile connecting plate 4.3.15, the mobile connecting plate 4.3.15 is fixed on the transfer synchronous belt 4.3.16 by bolts, and the driven synchronous pulley 4.3.3, the active synchronous pulley 1 4.3.7, and the active synchronous pulley 2 4.3.8 are connected by the transfer synchronous belt 4.3.16. A transfer clamp 4.3.17 is arranged above the mobile connecting plate 4.3.15, and the transfer clamp 4.3.17 includes a transfer clamp group, an opening and closing driving device group for driving the transfer clamp group to open and close, and two side-by-side transfer single-layer side plates 4.3.18 fixed on the mobile connecting plate 4.3.15. Cylinder positioning plates 4.3.19 are respectively installed at the upper and lower ends between the two transfer single-layer side plates 4.3.18, and two Hand claw guide plates 4.3.20 are respectively arranged between the transfer single-layer side plates 4.3.18 and on both sides parallel to the cylinder positioning plate 4.3.19, transfer cylinder connecting plates 4.3.21 are respectively installed between the transfer single-layer side plates 4.3.18 and the hand claw guide plates 4.3.20, transfer cylinders 4.3.22 are respectively installed on the transfer cylinder connecting plates 4.3.21, and a transfer fisheye joint 4.3.23 is arranged at one end of the transfer cylinder 4.3.22. There are two transfer claw groups, which are arranged side by side up and down, and each group of transfer claw groups consists of two symmetrical transfer claw fingers 4.3.29. The opening and closing drive device group consists of two opening and closing drive devices that are symmetrical in front and back, and each opening and closing drive device includes a hand claw guide plate 4.3.20, two side-by-side transfer jaw guide rails on the inner side, a transfer jaw slider 4.3.24 is respectively arranged on the two ends of the two transfer jaw guide rails, the two transfer jaw sliders 4.3.24 on the left side are connected together through a rack connecting seat 4.3.25, and the two transfer jaw sliders 4.3.24 on the right side are connected together through a cylinder rack connecting seat 4.3.26, the rack connecting seat 4.3.25 is connected to the left end of the transfer rack 4.3.27 at the lower end, and the cylinder rack connecting seat 4.3.26 is connected to the right end of the transfer rack 4.3.27 at the upper end, and the middle position of the inner side of the hand gripper guide plate 4.3.20 is provided with The transfer gear 4.3.28 is meshed with the transfer rack 4.3.27, the cylinder rack connection seat 4.3.26 is connected with the transfer fisheye joint 4.3.23 by plug screws, the left transfer clamp finger 4.3.29 is installed between the two rack connection seats 4.3.25 of the opening and closing drive device group, and the right transfer clamp finger 4.3.29 is installed between the two cylinder rack connection seats 4.3.26 of the opening and closing drive device group. A transfer iron barrel 4.3.30 is set on one side of the transfer clamp 4.3.17, and a transfer sponge 4.3.31 is set inside the transfer iron barrel 4.3.30.

[0081] Figure 2 , Fig.37 , Fig.38In the embodiment, a nut unloading mechanism 4.4 is arranged below the transfer mechanism 4.3, a U-shaped nut unloading base plate 4.4.1 at the lower part of the nut unloading mechanism 4.4 is installed on the frame 4.1, nut unloading rotating cylinder brackets 4.4.2 are arranged on both sides of the upper surface of the nut unloading base plate 4.4.1, nut unloading rotating cylinder brackets 4.4.3 are arranged on one side of the nut unloading rotating cylinder brackets 4.4.2, a swing cylinder connecting plate 4.4.4 is arranged on the nut unloading rotating cylinder 4.4.3, an end cover pulling cylinder seat 4.4.5 is arranged between the two swing cylinder connecting plates 4.4.4, nut unloading cylinder 4.4.6 are arranged on both sides of the lower surface of the end cover pulling cylinder seat 4.4.5, and straight line cylinders are arranged in the openings at both ends of the end cover pulling cylinder seat 4.4.5. Bearing, a floating joint 4.4.8 is arranged at the upper end of the telescopic rod of the nut removal cylinder 4.4.6, and a pull-out cover guide seat 4.4.9 is installed on the upper surface of the floating joint 4.4.8, and a nut removal optical axis 1 4.4.10 is arranged on both sides of the lower surface of the pull-out cover guide seat 4.4.9, and the nut removal optical axis 1 4.4.10 cooperates with the linear bearings 4.4.7 in the openings at both ends of the pull-out cover cylinder seat 4.4.5 to achieve guidance, and a nut removal optical axis 2 4.4.11 is arranged on the inner side of the lower surface of the pull-out cover guide seat 4.4.9, and a nut removal linear bearing 4.4.7 is movably installed below the nut removal optical axis 2 4.4.11, and a clamping claw connecting plate 4.4.12 is installed below the nut removal linear bearing 4.4.7, A tension spring seat 4.4.13 is provided at one end of the clamping jaw connecting plate 4.4.12, a pneumatic motor bracket 4.4.14 is installed on the lower surface of the clamping jaw connecting plate 4.4.12, a motor 4.4.15 is provided below the pneumatic motor bracket 4.4.14, the motor 4.4.15 passes through the clamping jaw connecting plate 4.4.12 and is connected to the connecting shaft 4.4.16 through a coupling, a three-jaw chuck 4.4.17 is provided at the top of the connecting shaft 4.4.16, a tension spring seat 4.4.18 is provided on the lower surface of the pull-out end cover guide rail seat 4.4.9 and on one side of the three-jaw chuck 4.4.17, a tension spring 4.4.19 is provided between the tension spring seat 4.4.13 and the tension spring seat 4.4.18, and a groove is provided on one side of the tension spring seat 2 Type photoelectric 4.4.20, the outermost side of the upper surface of the end cover guide seat 4.4.9 is provided with a pneumatic clamp 4.4.21, and the two sides of the upper surface of the end cover guide seat 4.4.9 are respectively provided with nut unloading guide rails 4.4.22, and the nut unloading guide rails 4.4.22 are respectively provided with two side-by-side nut unloading sliders 4.4.23, and the upper parts of the nut unloading sliders 4.4.23 are respectively provided with symmetrical end cover removal finger seats 4.4.24, and the end cover removal finger seats 4.4.24 and the end cover removal finger seats 4.4.24 are provided with end cover removal fingers 4.4.25, and the jaws of the pneumatic clamp 4.4.21 are clamped on the right sides of the two nut unloading sliders 4.4.23, driving the end cover removal fingers 4.4.25 to open and close.

[0082] Figure 2 , Fig.39 In the embodiment, a small-diameter end cover removal mechanism 4.5 is arranged on one side of the nut removal mechanism 4.4, a U-shaped small-diameter end cover removal bottom plate of the small-diameter end cover removal mechanism 4.5 is installed on a crossbeam 4.1.2 under the frame, small-diameter pads 4.5.1 are symmetrically arranged at both ends of the upper surface of the U-shaped small-diameter end cover removal bottom plate, small-diameter brackets 4.5.2 are arranged on the upper surfaces of the small-diameter pads 4.5.1, and a rotating cylinder is arranged in the middle of the small-diameter brackets 4.5.2. 4.5.3, one end of the rotary cylinder 4.5.3 is respectively provided with a rotary cylinder support seat 4.5.4, and a parallel cylinder support seat 1 4.5.5 and a cylinder support seat 2 4.5.6 are fixedly installed between the two rotary cylinder support seats 4.5.4, and the upper and lower sides of the cylinder support seats 1 4.5.5 and the cylinder support seat 2 4.5.6 correspond to openings, and a small diameter end cover removal optical axis 4.5.7 is passed through the opening, and the upper surface of the small diameter end cover removal optical axis 4.5.7 An optical axis mounting seat 4.5.8 is provided, and small diameter end cover removal linear bearings 4.5.9 which can guide the small diameter end cover removal optical axis 4.5.7 are installed in the openings on both sides of the cylinder support 1 4.5.5 and the cylinder support 2 4.5.6. A small diameter end cover removal cylinder is provided on the lower surface of the cylinder support 1 4.5.6, and a through hole for making way for the telescopic rod of the small diameter end cover removal cylinder is provided in the middle of the cylinder support 1 4.5.5 and the cylinder support 2 4.5.6. After the telescopic rod of the cover cylinder passes through the clearance hole, a small-diameter end cover removal floating joint 4.5.11 is arranged on the top, and a cylinder connecting plate 4.5.12 is arranged above the optical axis mounting seat 4.5.8 and the small-diameter end cover removal floating joint 4.5.11. A pneumatic finger cylinder 4.5.10 is arranged in the middle of the upper surface of the cylinder connecting plate 4.5.12, and a cylinder finger 4.5.13 symmetrically used for grabbing the end cover of the workpiece is installed on the pneumatic finger cylinder 4.5.10.

[0083] Figure 2 , Figure 40-45In the embodiment, a core pulling rod mechanism 4.6 is arranged on one side of the small diameter end cover removal mechanism 4.5, and the core pulling rod mechanism 4.6 includes a support frame, and the support frame includes an H-type connecting plate 1 4.6.1 and an H-type connecting plate 2 4.6.2 arranged side by side, and the H-type connecting plate 1 4.6.1 and the H-type connecting plate 2 4.6.2 are connected to each other via two side-by-side drafting cross beams 4.6.3, and the upper surfaces of the H-type connecting plate 1 4.6.1 and the H-type connecting plate 2 4.6.2 are respectively provided with a welding platform bottom plate 1 4.6.4 and a welding platform bottom plate 2 4.6.5, and a welding platform frame 4.6.6 is arranged above the welding platform bottom plate 1 4.6.4 and the welding platform bottom plate 2 4.6.5, and a drag chain support plate is arranged on one side of the upper surface of the welding platform bottom plate 2 4.6.5 The metal 4.6.7 is provided with a core pulling rod lifting chain 4.6.8 inside the drag chain support sheet metal 4.6.7. An H core pulling rod lower plate 4.6.9 is provided between the upper surfaces of the welding platform bottom plate 1 4.6.4 and the welding platform bottom plate 2 4.6.5. A tensile optical axis fixing seat 1 4.6.10, a tensile optical axis fixing seat 2 4.6.14 and a tensile ball screw fixing seat 1 4.6.12 are installed on one side of the lower surface of the H core pulling rod lower plate 4.6.9. A tensile lifting optical axis fixing seat 3 4.6.13, a tensile lifting optical axis fixing seat 4 4.6.11 and a tensile lifting ball screw fixing seat 2 4.6.15 are installed on the other side of the lower surface of the H core pulling rod lower plate 4.6.9. The anti-tensile lifting optical axis 1 4.6.16, the anti-tensile lifting optical axis 2 4.6.23, and the anti-tensile lifting ball screw 1 4.6.18 are fixed below the second seat 4.6.14 and the anti-tensile lifting ball screw fixing seat 1 4.6.12. The anti-tensile lifting optical axis 1 4.6.16, the anti-tensile lifting optical axis 2 4.6.23, and the anti-tensile lifting ball screw 1 4.6.18 are movably connected in the middle with the anti-tensile lifting linear bearing 1 4.6.20, the anti-tensile lifting linear bearing 2 4.6.19, and the anti-tensile lifting ball nut 1 4.2.21. The anti-tensile lifting optical axis fixing seat 3 4.6.13, the anti-tensile lifting optical axis fixing seat 4 4.6.11 and the anti-tensile lifting ball screw fixing seat 2 4.615 are fixed with the anti-tensile lifting optical axis 3 4.6.22, the anti-tensile lifting The optical axis 4.6.17, the anti-tension lifting ball screw 2 4.6.24, the optical axis 3 4.6.22, the optical axis 4.6.17, the anti-tension lifting ball screw 2 4.6.24 are movably connected with the anti-tension lifting linear bearing 3 4.6.25, the anti-tension lifting linear bearing 4 4.6.26, the anti-tension lifting ball nut 2 4.6.27, the upper ends of the anti-tension lifting ball screw 1 4.6.18 and the anti-tension lifting ball screw 2 4.6.24 extend out of the upper surface of the H core rod lower plate 4.6.9, and the anti-tension lifting synchronous pulley 4.6.28 is installed, the anti-tension lifting optical axis 1 4.6.16, the anti-tension lifting optical axis 2 4.6.23, the anti-tension lifting ball screw 1 4.6.18 and the anti-tension lifting optical axis 3 4.6.22. A tensile lifting plate 4.6.29 is fixedly connected between the tensile lifting optical axis 4.6.17 and the tensile lifting ball screw 2 4.6.24. The tensile lifting plate 4.6.29 is above the tensile lifting linear bearing 1 4.6.19, the tensile lifting linear bearing 2 4.6.20, the tensile lifting ball nut 1 4.2.21, the tensile lifting linear bearing 3 4.6.25, the tensile lifting linear bearing 4 4.6.26, and the tensile lifting ball nut 2 4.6.27. The lower surface of the tensile lifting plate 4.6.29 is provided with a tensile opening and closing guide rail 1 4.6.30 and a tensile opening and closing guide rail 2 4.6.31 on both sides. A V-shaped anti-tensile clamping jaw 4.6.32 is movably installed on one side of the V-shaped anti-tensile clamping jaw 4.6.32, and an anti-tensile transmission plate 4.6.33 is respectively provided on the anti-tensile transmission plate 4.6.33, and positive and negative screw nuts 4.6.34 are respectively provided on the anti-tensile transmission plate 4.6.33. An anti-tensile opening and closing screw rod 4.6.35 is provided between the positive and negative screw nuts 4.6.34, and an anti-tensile opening and closing screw rod fixing seat 1 4.6.36 is provided on one side of the anti-tensile opening and closing screw rod 4.6.35. The lower surface of the anti-tensile opening and closing screw rod fixing seat 1 4.6.36 is fixed on one side of the V-shaped anti-tensile clamping jaw 4.6.32, and an anti-tensile opening and closing screw rod fixing seat 2 4.6.37 and an anti-tensile opening and closing synchronous pulley 1 4.6.38 are provided on the other side of the anti-tensile opening and closing screw rod. The anti-tensile lifting plate 4.6.34 is provided with a V-shaped anti-tensile clamping jaw 4.6.32, and an anti-tensile opening and closing screw rod fixing seat 2 4.6.37 and an anti-tensile opening and closing synchronous pulley 1 4.6.38 are provided on the other side of the anti-tensile opening and closing screw rod. The side of 6.29 is provided with a tensile opening and closing motor connecting plate 4.6.39, the tensile opening and closing screw rod fixing seat 2 4.6.37 is fixed on the inner side of the tensile opening and closing motor connecting plate 4.6.39, the outer side of the tensile opening and closing motor connecting plate 4.6.39 is provided with a tensile opening and closing reducer 4.6.40, one side of the tensile opening and closing reducer 4.6.40 is provided with a tensile opening and closing motor 4.6.41, and the other side of the tensile opening and closing reducer 4.6.40 is provided with a tensile opening and closing synchronous pulley 2 4.6.42, and the tensile opening and closing synchronous pulley 1 4.6.38 is connected to the tensile opening and closing synchronous pulley 2 4.6.42 with a tensile opening and closing synchronous belt 4.6.43, and one side of the lower surface of the H core pulling rod lower plate 4.6.9 is provided with an anti-tension opening and closing reducer 4.6.40. A tensile lifting reducer 4.6.44 is provided with a tensile lifting motor 4.6.45 on one side of the tensile lifting reducer 4.6.44, and a tensile lifting active synchronous pulley 4.6.46 is provided on the other side of the tensile lifting reducer 4.6.45. Both sides of the tensile lifting active synchronous pulley 4.6.46 are provided with tensile lifting follower synchronous pulleys 4.6.47, and one side of the tensile lifting follower synchronous pulley 4.6.47 is provided with a tensile lifting tensioning pulley 4.6.48. The tensile lifting active synchronous pulley 4.6.46 is connected with the tensile lifting follower synchronous pulley 4.6.47, the tensile lifting synchronous pulley 4.6.28 and the tensile lifting tensioning pulley 4.6.48 by an tensile lifting synchronous belt 4.6.49.

[0084] A lifting sensor 4.6.50 is arranged on one side of the upper surface of the H core pulling rod lower plate 4.6.9, upper plate optical axes 4.6.51 are arranged on both sides of the upper surface of the H core pulling rod lower plate 4.6.9, an H core pulling rod upper plate 4.6.52 is arranged above the H core pulling rod lower plate 4.6.9, a lifting sensor 2 4.6.53 is arranged on one side of the upper surface of the H core pulling rod upper plate 4.6.52, and core pulling rod linear bearings 4.6.5 are arranged on the upper plate optical axis 4.6.51. 4. An H core pulling rod middle plate 4.6.55 is arranged on the core pulling rod linear bearing 4.6.54, a core pulling rod lifting and dragging chain connecting frame 4.6.56 is arranged on one side of the H core pulling rod middle plate 4.6.55, the core pulling rod lifting and dragging chain connecting frame 4.6.56 is connected to the core pulling rod lifting and dragging chain 4.6.8, a tension sensor 4.6.57 is arranged on the lower surface of the H core pulling rod middle plate 4.6.55, and a core pulling tooling clamp 4.6.57 is arranged on the lower surface of the tension sensor 4.6.57. 6.58, the core pulling tooling clamping claw 4.6.58 is a pneumatic finger, the H core pulling rod middle plate 4.6.55 is fixed with the screw nut of the core pulling rod lifting screw rod 4.6.59, the H core pulling rod upper plate 4.6.52 is arranged above the upper plate optical axis 4.6.51, and a linear bearing is arranged in the middle of the H core pulling rod upper plate 4.6.52. The upper end of the core pulling rod lifting screw rod 4.6.59 passes through the linear bearing and is equipped with a core pulling rod lifting synchronous pulley 4.6.60 at the top, H A core pulling rod lifting reducer 4.6.61 is provided on one side of the core pulling rod upper plate 4.6.52, a core pulling rod lifting motor 4.6.62 is provided on one side of the core pulling rod lifting reducer 4.6.61, a core pulling rod lifting synchronous pulley 2 4.6.63 is provided on the other side of the core pulling rod lifting reducer 4.6.61, and a core pulling rod lifting synchronous pulley 1 4.6.60 and a core pulling rod lifting synchronous pulley 2 4.6.63 are connected by a core pulling rod lifting synchronous belt 4.6.64.

[0085] The motors and cylinders of the truss robot 2, the transfer mechanism 4.3, the shaping mechanism 4.2, the nut removal mechanism 4.4, the small diameter end cover removal mechanism 4.5, the core rod extraction mechanism 4.6, the conveyor belt 4.7 and the material system 3 are all controlled by the PLC controller. This is the prior art and will not be described in detail in this embodiment.

[0086] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0087] Example 1

[0088] Figure 3 , Figure 4 In the embodiment, workpiece 1 is composed of core rod 1.1.1, shell 1.1.2, interface 1.1.3, base 1.1.4 and powder column 1.1.5.

[0089] Put ten workpieces on the No. 2 trolley 3.2 with ten-hole sponge, push the No. 2 trolley 3.2 to the No. 2 station and lock it under the action of the No. 2 cylinder 3.2.8, and push the empty No. 1 trolley 3.1 and No. 3 trolley 3.3 to the station one and station three and lock them. The X-axis 2.2, Y-axis 2.3 and Z-axis 2.4 of the truss robot 2 cooperate with the truss manipulator 2.5 to move to the No. 1 loading position of the No. 2 trolley 3.2 to clamp the workpiece, then the truss manipulator 2.5 clamps the workpiece, the truss robot 2 transfers it to the transfer mechanism 4.3 and is clamped by the transfer clamp finger 4.3.29, at the same time, the truss manipulator 2.5 releases the workpiece and moves it to a safe position, then the transfer clamp 4.3.17 of the transfer mechanism 4.3 clamps the workpiece and transfers it to the small diameter end cover removal mechanism 4.5 to remove the end cover. First, the small diameter end cover removal cylinder 4.5.10 extends to the working position, then the cylinder finger 4.5.13 closes and buckles the base 1.1.4, then After that, the small-diameter end cap removal cylinder 4.5.10 contracts to remove the base 1.1.4, and then the rotary cylinder 4.5.3 moves to rotate the small-diameter end cap removal mechanism 4.5 to the state of lowering the end cap, and the cylinder fingers 4.5.13 open to place the base 1.1.4 on the conveyor belt 4.7, and then the rotary cylinder 4.5.3 moves in the opposite direction to restore the small-diameter end cap removal mechanism 4.5 to its original working position, and then the transfer jaw 4.3.17 of the transfer mechanism 4.3 clamps the workpiece and transfers it to the core pulling rod mechanism 4.6, and the V-shaped tensile jaw 4.6.32 is driven by the tensile opening and closing motor 4.6.41 and the tensile lifting motor 4.6.45 to move downward to press the upper end surface edge of the workpiece. Then, the core pulling tooling clamping jaw 4.6.58 is driven by the core pulling rod lifting motor 4.6.62 to descend to the core pulling rod position, and the core pulling tooling clamping jaw 4.6.58 is closed to clamp the interface 1.1.3, and then the core pulling rod lifting motor 4.6.62 drives the core pulling tooling clamping jaw 4.6.58 to rise, and pulls the core rod 1.1.1 to a safe position, and then the transfer clamping jaw 4.3.17 of the transfer mechanism 4.3 moves to the core rod placing position, which is directly below the core pulling rod mechanism, and driven by the core pulling rod lifting motor 4.6.62, the core pulling tooling clamping jaw 4.6.58 descends to the core rod placing position, and the core pulling tooling clamping jaw 4.6.58 opens to put the core rod 1.1.1 Place it in the transfer sponge 4.3.31, then the transfer gripper 4.3.17 of the transfer mechanism 4.3 moves to the unloading station, the truss robot 2 moves to the unloading station, the truss manipulator 2.5 closes, clamps the shell 1.1.2, and the transfer gripper finger 4.3.29 opens. Then the truss robot 2 moves to the No. 1 loading position of the No. 2 trolley 3.2, the truss manipulator 2.5 opens, and places the shell 1.1.2 at the No. 1 loading position of the No. 2 trolley 3.2. Then the truss robot 2 moves to the No. 2 loading position of the No. 2 trolley 3.2, the truss manipulator 2.5 closes, clamps another workpiece 1, and the truss robot 2 transfers it to the transfer mechanism 4.3 and is transferred by the transfer gripper finger 4.3.29 clamps, and at the same time, the truss manipulator 2.5 releases the workpiece 1, and the truss robot 2 moves to a safe position, and then the truss robot 2 moves to the core rod removal station, the clamping claw telescopic cylinder 2.5.24 extends, and the pneumatic finger 2.5.25 closes, clamping the core rod 1.1.1, and then the clamping claw telescopic cylinder 2.5.24 shrinks, and the truss robot 2 moves to the No. 1 core rod placement of the No. 3 trolley 3.3, the clamping claw telescopic cylinder 2.5.24 extends, and the pneumatic finger 2.5.25 opens, releasing the core rod 1.1.1, and then the truss robot 2 returns to the safe position to wait, and the transfer clamp 4.3.17 of the transfer mechanism 4.3 clamps the workpiece 1 and transfers it to the small diameter end cover removal mechanism 4.5 for end cover removal, and repeats all the above actions after end cover removal to complete the processing of the next workpiece. .

[0090] Example 2

[0091] Figure 5 , Figure 6 In the figure, the workpiece 2 1.2 is composed of a core rod 2 1.2.1, a shell 2 1.2.2, an interface 2 1.2.3, a base 2 1.2.4, a pressure ring 1.2.5, a nut 2 1.2.6, and a powder column 2 1.2.7.

[0092] Put ten workpieces on the No. 2 trolley 3.2 with ten-hole sponge, push the No. 2 trolley 3.2 to the No. 2 station and lock it under the action of the No. 2 cylinder 3.2.8, and push the empty No. 1 trolley 3.1 and No. 3 trolley 3.3 to the station one and station three and lock them. The X-axis 2.2, Y-axis 2.3 and Z-axis 2.4 of the truss robot 2 cooperate with the truss manipulator 2.5 to move to the No. 1 loading position of the No. 2 trolley 3.2 to clamp the workpiece 2, then the truss manipulator 2.5 clamps the workpiece 2, the truss robot 2 transfers it to the transfer mechanism 4.3 and is clamped by the transfer clamp finger 4.3.29, at the same time, the truss manipulator 2.5 releases the workpiece 2 and moves it to a safe position, then the transfer clamp 4.3.17 of the transfer mechanism 4.3 clamps the workpiece 2 and transfers it to the nut unloading mechanism 4.4, the nut unloading cylinder 4.4.6 extends to the working position, the pneumatic clamp 4.4.21 closes to clamp the pressure ring 1.2.5, and the three-jaw chuck 4.417 closes to clamp the nut 2 1.2.6, then the three-jaw chuck 4.4.17 rotates to remove the nut 1.2.6, then the nut removal cylinder 4.4.6 contracts to remove the pressure ring 1.2.5, the nut removal rotating cylinder 4.4.3 rotates to the end cover placement state, first the pneumatic clamp 4.4.21 opens, and the pressure ring 1.2.5 is placed on the conveyor belt 4.7, the conveyor belt 4.7 moves to the next station, the three-jaw chuck 4.4.17 opens, and the nut 1.2.5 is placed on the conveyor belt 4.7, then the nut removal rotating cylinder 4.4.3 rotates to the initial state, then the truss robot 2 moves to the specified position, the truss manipulator 2.5 clamps the workpiece 2, and the transfer clamp fingers 4.3.29 open. Robot 2 drives the truss manipulator 2.5 to descend, and the transfer clamp finger 4.3.29 closes and clamps the workpiece 2 again. The truss manipulator 2.5 releases the workpiece 2 and moves it to a safe position. Then the transfer clamp 4.3.17 of the transfer mechanism 4.3 clamps the workpiece 2 and transfers it to the core pulling rod mechanism 4.6. The V-shaped tensile clamp 4.6.32 is driven by the tensile opening and closing motor 4.6.41 and the tensile lifting motor 4.6.45 to move down and press the upper end surface edge of the workpiece 2. Then the core pulling tooling clamp 4.6.58 is driven by the core pulling rod lifting motor 4.6.62 to descend to the core pulling rod position. The core pulling tooling clamp 4.6.58 closes and clamps the interface 2 1.2.3, and then the core is pulled. The rod lifting motor 4.6.62 drives the core pulling tooling clamp 4.6.58 to rise, pulls out the core rod 1.2.1 to a safe position, and then the transfer clamp 4.3.17 of the transfer mechanism 4.3 moves to the core rod placing position. Driven by the core rod lifting motor 4.6.62, the core pulling tooling clamp 4.6.58 descends to the core rod placing position, and the core pulling tooling clamp 4.6.58 opens to place the core rod 1.2.1 into the transfer sponge 4.3.31. Then the transfer clamp 4.3.17 of the transfer mechanism 4.3 moves to the unloading position, the truss robot 2 moves to the unloading position, the truss manipulator 2.5 closes, clamps the shell 1.2.2, and the transfer clamp finger 4.3.29 opens, then the truss robot 2 moves to the No. 1 loading position of the No. 2 trolley 3.2, the truss manipulator 2.5 opens, places the shell 2 1.2.2 on the No. 1 loading position of the No. 2 trolley 3.2, then the truss robot 2 moves to the No. 2 loading position of the No. 2 trolley 3.2, the truss manipulator 2.5 closes, and clamps another workpiece 2., the truss robot 2 is transferred to the transfer mechanism 4.3 and clamped by the transfer gripper finger 4.3.29, at the same time the truss manipulator 2.5 releases the workpiece 2, the truss robot 2 moves to a safe position, then the truss robot 2 moves to the core rod station, the gripper retracts the cylinder 2.5.24 extends, pneumatic fingers 2.5.25 close, clamping core rod 2 1.2.1, then the gripper telescopic cylinder 2.5.24 shrinks, the truss robot 2 moves to the place where the No. 1 core rod is placed on the No. 3 trolley 3.3, the gripper telescopic cylinder 2.5.24 extends, the pneumatic fingers 2.5.25 open, and release the core rod 2 1.2.1, then the truss robot 2 returns to the safe position to wait, the transfer gripper 4.3.17 of the transfer mechanism 4.3 clamps the workpiece 2 and transfers it to the nut unloading mechanism 4.4 for nut unloading, and repeats all the above actions after nut unloading to complete the processing of the next workpiece. .

[0093] Example 3

[0094] Figure 7 , Figure 8 In the figure, workpiece three is composed of core rod three 1.3.1, shell three 1.3.2, interface three 1.3.3, base three 1.3.4, upper end cover three 1.3.5, and powder column three 1.3.6.

[0095] First, manually remove the upper end cover 3 1.3.5 of workpiece 3, then put ten workpieces 3 on the No. 2 trolley 3.2 with a ten-hole sponge, push the No. 2 trolley 3.2 to the No. 2 station and lock it under the action of the No. 2 cylinder 3.2.8, and push the empty No. 1 trolley 3.1 and No. 3 trolley 3.3 to the No. 1 and No. 3 stations and lock them. The X-axis 2.2, Y-axis 2.3 and Z-axis 2.4 of the truss robot 2 cooperate with the truss manipulator 2.5 to move to the No. 1 loading position of the No. 2 trolley 3.2 to clamp workpiece 3, then the truss manipulator 2.5 clamps workpiece 3, and the truss robot 2 transfers it to the transfer mechanism 4.3 and is clamped by the transfer claw finger 4.3.29. At the same time, the truss manipulator 2.5 releases workpiece 3 and moves it to a safe position, and then the transfer mechanism Structure 4.3 clamps workpiece three and transfers it to core pulling rod mechanism 4.6. V-shaped tensile clamping jaw 4.6.32, driven by tensile opening and closing motor 4.6.41 and tensile lifting motor 4.6.45, moves down to press the upper end edge of workpiece three. Then, core pulling tooling clamping jaw 4.6.58, driven by core pulling rod lifting motor 4.6.62, descends to the core pulling rod position. Core pulling tooling clamping jaw 4.6.58 closes and clamps interface three 1.3.3. Then, core pulling rod lifting motor 4.6.62 drives core pulling tooling clamping jaw 4.6.58 to rise and pull core rod three 1.3.1 to a safe position. Then, transfer mechanism 4.3 moves to core rod placing position. Driven by core pulling rod lifting motor 4.6.62, core pulling tooling clamping jaw 4.6.58 descends. It is lowered to the position for placing the core rod, the core pulling tooling clamping jaws 4.6.58 are opened, and the core rod three 1.3.1 is placed in the transfer sponge 4.3.31, and then the transfer mechanism 4.3 moves to the unloading station, the truss robot 2 moves to the unloading station, the truss manipulator 2.5 is closed, clamps the shell three 1.3.2, and the transfer clamping jaws fingers 4.3.29 are opened, and then the truss robot 2 moves to the No. 1 loading position of the No. 2 trolley 3.2, the truss manipulator 2.5 is opened, and the shell two 1.2.2 is placed on the No. 1 loading position of the No. 2 trolley 3.2, and then the truss robot 2 moves to the No. 2 loading position of the No. 2 trolley 3.2, the truss manipulator 2.5 is closed, and the workpiece three is transferred to the transfer mechanism 4.3 by the transfer clamping jaws fingers 4.3. .29 clamps, and at the same time, the truss manipulator 2.5 releases workpiece three, the truss robot 2 moves to a safe position, and then the truss robot 2 moves to the core rod removal station, the gripper telescopic cylinder 2.5.24 extends, and the pneumatic fingers 2.5.25 close to clamp core rod three 1.3.1, and then the gripper telescopic cylinder 2.5.24 contracts, and the truss robot 2 moves to the No. 1 core rod placement position of the No. 3 trolley 3.3, the gripper telescopic cylinder 2.5.24 extends, and the pneumatic fingers 2.5.25 open to release core rod three 1.3.1, and then the truss robot 2 returns to the safe position to wait, and the transfer mechanism 4.3 clamps workpiece three and transfers it to the core rod pulling mechanism 4.6 to pull the core rod, and repeats all the above actions after core rod pulling to complete the processing of the next workpiece.

[0096] Example 4

[0097] Fig. 9 , Fig.10 In the embodiment, the workpiece 4 is composed of a core rod 4 1.4.1, a shell 4 1.4.2, an interface 4 1.4.3, a positioning ring 4 1.4.4, and a charge 4 1.4.5.

[0098] Put ten workpieces 4 on the No. 2 trolley 3.2 with a ten-hole sponge, push the No. 2 trolley 3.2 to the No. 2 station and lock it under the action of the No. 2 cylinder 3.2.8, and push the empty No. 1 trolley 3.1 and No. 3 trolley 3.3 to the No. 1 and No. 3 stations and lock them. The X-axis 2.2, Y-axis 2.3 and Z-axis 2.4 of the truss robot 2 cooperate with the truss manipulator 2.5 to move to the No. 1 loading position of the No. 2 trolley 3.2 to clamp the workpiece 4, then the truss manipulator 2.5 clamps the workpiece 4, the truss robot 2 transfers it to the transfer mechanism 4.3 and is clamped by the transfer claw finger 4.3.29, at the same time, the truss manipulator 2.5 releases the workpiece 4 and moves it to a safe position, then the transfer mechanism 4.3 clamps the workpiece 4 and transfers it to the core pulling rod mechanism 4.6, the V-type anti- Driven by the tensile opening and closing motor 4.6.41 and the tensile lifting motor 4.6.45, the pulling jaw 4.6.32 moves down to press the upper end surface edge of the positioning ring 4 1.4.4, and then the core pulling tooling jaw 4.6.58 is driven by the core pulling rod lifting motor 4.6.62 to descend to the core pulling rod position, and the core pulling tooling jaw 4.6.58 is closed to clamp the interface 4 1.4.3, and then the core pulling rod lifting motor 4.6.62 drives the core pulling tooling jaw 4.6.58 to rise, and pulls the core rod 4 1.4.1 to a safe position, and then the transfer mechanism 4.3 moves to the core rod placing position, and driven by the core pulling rod lifting motor 4.6.62, the core pulling tooling jaw 4.6.58 descends to the core rod placing position, and the core pulling tooling jaw 4.6.58 opens Open, place the core rod four 1.4.1 into the transfer sponge 4.3.31, then the transfer mechanism 4.3 moves to the positioning ring removal station, the truss robot 2 moves to the positioning ring station, the truss manipulator 2.5 closes, clamps the positioning ring four 1.4.4, the truss robot 2 drives the truss manipulator 2.5 to rise and remove the positioning ring four 1.4.4, then move to the No. 1 unloading position of the No. 1 trolley 3.1, the truss manipulator 2.5 opens, and places the positioning ring four 1.4.4 on the No. 1 unloading position of the No. 1 trolley 3.1, then the transfer mechanism 4.3 moves to the unloading station, the truss robot 2 moves to the unloading station, the truss manipulator 2.5 closes, clamps the shell four 1.4.2, the transfer claw fingers 4.3.29 open, and then the truss robot 2 moves to the No. 1 loading position of the No. 2 trolley 3.2, the truss manipulator 2.5 opens, and places the shell 2 1.2.2 at the No. 1 loading position of the No. 2 trolley 3.2. Then the truss robot 2 moves to the No. 2 loading position of the No. 2 trolley 3.2, the truss manipulator 2.5 closes, clamps the workpiece 4, and the truss robot 2 transfers it to the transfer mechanism 4.3 and is clamped by the transfer gripper finger 4.3.29. At the same time, the truss manipulator 2.5 releases the workpiece 4, and the truss robot 2 moves to a safe position. Then the truss robot 2 moves to the core rod removal position, the gripper telescopic cylinder 2.5.24 extends, and the pneumatic finger 2.5.25 closes to clamp the core rod 4 1.4.1. Then the gripper telescopic cylinder 2.5.24 contracts, and the truss robot 2 moves to the No. 3 trolley 3.At the place where the No. 1 core rod is placed, the gripper telescopic cylinder 2.5.24 extends, the pneumatic finger 2.5.25 opens, and the core rod 4 1.4.1 is released. Then the truss robot 2 returns to the safe position to wait, and the transfer mechanism 4.3 grabs the workpiece 4 1.4 and transfers it to the core rod pulling mechanism 4.6 for core rod pulling, and repeats all the above actions after core rod pulling to complete the processing of the next workpiece.

[0099] After the workpiece is demoulded through the above process, it is shaped. The truss robot 2 moves to the No. 2 trolley to clamp the demoulded workpiece 4. After that, the truss robot 2 moves to the shaping mechanism 4.2. The shaping tooling clamping claw 4.2.1.17 of the shaping clamping tooling 4.2.1.1 clamps the workpiece 4. Then the shaping clamping tooling 4.2.1.1 is reversed 180 degrees, so that the surface to be processed of the medicine column 4 1.4.5 faces the tool. After the camera 4.2.2.33 measures the reference surface, the milling cutter on the milling device shank 4.2.2.38 at the bottom of the shaping body is fed and milling is performed. During the processing, the blowpipe 4.2.2.37 blows the milling cutter, and the shaping box 4.2.2.32 collects waste. After the shaping is completed, the shaping clamping fixture 4.2.1.1 rotates 180° forward, the jaw telescopic cylinder 2.5.24 extends, the pneumatic finger 2.5.25 clamps the shell four 1.4.2, the shaping fixture jaw 4.2.1.17 releases the shell four 1.4.2, and the truss robot 2 moves to the second trolley 3.2 to place the workpiece, completing the shaping of the workpiece after demolding.

[0100] Example 5

[0101] Fig.11 , Fig.12 In the figure, the workpiece five is composed of a core rod five 1.5.1, a shell five 1.5.2, an interface five 1.5.3, a base five 1.5.4, a positioning ring five 1.5.5, a positioning plate five 1.5.6, a limit ring five 1.5.7, a nut five 1.5.8, and a powder column five 1.5.9.

[0102] Put ten workpieces 5 on the No. 2 trolley 3.2 with a ten-hole sponge, push the No. 2 trolley 3.2 to the No. 2 station and lock it under the action of the No. 2 cylinder 3.2.8, and push the empty No. 1 trolley 3.1 and No. 3 trolley 3.3 to the No. 1 and No. 3 stations and lock them. The X-axis 2.2, Y-axis 2.3 and Z-axis 2.4 of the truss robot 2 cooperate with the truss manipulator 2.5 to move to the No. 1 loading position of the No. 2 trolley 3.2 to clamp the workpiece 5, then the truss manipulator 2.5 clamps the workpiece 5, the truss robot 2 transfers it to the transfer mechanism 4.3 and is clamped by the transfer claw finger 4.3.29, at the same time, the truss manipulator 2.5 releases the workpiece 5 and moves it to a safe position, then the transfer mechanism 4.3 clamps the workpiece 5 and transfers it to the nut unloading mechanism 4.4, and the nut unloading air Cylinder 4.4.6 extends to the working position, pneumatic clamp 4.4.21 closes and clamps base five 1.5.4, three-jaw chuck 4.4.17 closes and clamps nut five 1.5.8, then truss robot 2 moves to the position for taking positioning ring and positioning plate, truss manipulator 2.5 closes and clamps limit ring five 1.5.7 and positioning plate five 1.5.6, truss robot 2 drives truss manipulator 2.5 to rise, remove limit ring five 1.5.7 and positioning plate five 1.5.6, then moves to the No. 1 unloading position of No. 1 trolley 3.1, truss manipulator 2.5 opens, places limit ring five 1.5.7 and positioning plate five 1.5.6 on the No. 1 unloading position of No. 1 trolley 3.1, then three-jaw chuck 4.4.17 rotates, removes nut five 1.5.7 and positioning plate five 1.5.6. .5.8, then the nut unloading cylinder 4.4.6 contracts, the base five 1.5.4 is removed, the nut unloading rotating cylinder 4.4.3 rotates to the end cover placement state, first the pneumatic clamp 4.4.21 opens, the base five 1.5.4 is placed on the conveyor belt 4.7, the conveyor belt 4.7 moves to the next grid station, the three-jaw chuck 4.4.17 opens, the nut five 1.5.8 is placed on the conveyor belt 4.7, then the nut unloading rotating cylinder 4.4.3 rotates to the initial state, then the truss robot 2 moves to the specified position, the truss manipulator 2.5 clamps the workpiece five, the transfer clamp fingers 4.3.29 opens, the truss robot 2 drives the truss manipulator 2.5 to descend, the transfer clamp fingers 4.3.29 close again to clamp the workpiece five 1.5, the truss manipulator 2.5 Release the workpiece 5 and move it to a safe position. Then the transfer mechanism 4.3 clamps the workpiece 5 and transfers it to the core pulling rod mechanism 4.6. The V-shaped tensile clamping jaw 4.6.32 is driven by the tensile opening and closing motor 4.6.41 and the tensile lifting motor 4.6.45 to move down and press the upper end surface edge of the workpiece 5 1.5. Then the core pulling tooling clamping jaw 4.6.58 is driven by the core pulling rod lifting motor 4.6.62 to descend to the core pulling rod position. The core pulling tooling clamping jaw 4.6.58 is closed to clamp the interface 5 1.5.3. Then the core pulling rod lifting motor 4.6.62 drives the core pulling tooling clamping jaw 4.6.58 to rise and pull the core rod 5 1.5.1 to a safe position. Then the transfer mechanism 4.3 moves to the core rod placing position. At the core pulling rod lifting motor 4.6.62, the core pulling tooling clamping jaws 4.6.58 are lowered to the core rod placing position, the core pulling tooling clamping jaws 4.6.58 are opened, and the core rod five 1.5.1 is placed in the transfer sponge 4.3.31, and then the transfer mechanism 4.3 moves to the unloading station, the truss robot 2 moves to the unloading station, the truss manipulator 2.5 is closed, clamps the shell five 1.5.2, and the transfer clamping jaws 4.3.29 are opened, and then the truss robot 2 moves to the No. 1 loading position of the No. 2 trolley 3.2, the truss manipulator 2.5 is opened, and the shell five 1.5.2 is placed on the No. 1 loading position of the No. 2 trolley 3.2, and then the truss robot 2 moves to the No. 2 loading position of the No. 2 trolley 3.2, the truss manipulator 2.5 is closed, and the shell five 1.5.2 is clamped, and the truss robot 2 is transferred to the transfer mechanism 4.3 and the transfer clamp The claw finger 4.3.29 clamps, and at the same time, the truss manipulator 2.5 releases the shell five 1.5.2, and the truss robot 2 moves to a safe position. Then the truss robot 2 moves to the core rod removal station, the claw telescopic cylinder 2.5.24 extends, and the pneumatic finger 2.5.25 closes, clamping the core rod five 1.5.1, and then the claw telescopic cylinder 2.5.24 shrinks, and the truss robot 2 moves to the No. 1 core rod placement of the No. 3 trolley 3.3, the claw telescopic cylinder 2.5.24 extends, and the pneumatic finger 2.5.25 opens, releasing the core rod five 1.5.1, and then the truss robot 2 returns to the safe position to wait, and the transfer mechanism 4.3 clamps the shell five 1.5.2 and transfers it to the nut unloading mechanism 4.4 for nut unloading, and repeats all the above actions after nut unloading to complete the processing of the next workpiece. .

[0103] After the workpiece is demoulded through the above process, it is shaped. The truss robot 2 moves to the No. 2 trolley to clamp the demoulded workpiece 5. After that, the truss robot 2 moves to the shaping mechanism 4.2. The shaping tooling clamping claw 4.2.1.17 of the shaping clamping tooling 4.2.1.1 clamps the shell 5 1.5.2. Then the shaping clamping tooling 4.2.1.1 is reversed 180 degrees, so that the processing surface of the medicine column 5 1.5.9 faces the tool. After the camera 4.2.2.33 measures the reference surface, the milling cutter on the milling device shank 4.2.2.38 at the bottom of the shaping body is fed and milling is performed. During the processing, the blowpipe 4.2.2.37 blows the milling cutter, and the shaping box 4.2.2.32 collects waste. After the shaping is completed, the shaping tooling clamping jaw 4.2.1.17 rotates 180° forward, the clamping jaw telescopic cylinder 2.5.24 extends, the pneumatic finger 2.5.25 clamps the shell five 1.5.2, the shaping tooling clamping jaw 4.2.1.17 releases the shell five 1.5.2, and the truss robot 2 moves to the second trolley 3.2 to place the workpiece, completing the shaping of the workpiece after demolding.

Claims

1. A standard test engine automatic demoulding and shaping system, Features: It includes a processing system (4), a material system (3) and a truss robot (2) for transferring workpieces; The processing system (4) comprises a transfer mechanism (4.3), a shaping mechanism (4.2), a nut removal mechanism (4.4), a small diameter end cover removal mechanism (4.5), a core rod extraction mechanism (4.6) and a conveyor belt (4.7) arranged on a frame (4.1); The transfer mechanism (4.3) comprises a transfer clamp (4.3.17) for clamping a workpiece and a translation drive device for driving the transfer clamp (4.3.17) to move horizontally; The nut removal mechanism (4.4) and the small-diameter end cover removal mechanism (4.5) are fixed side by side on the frame at the lower end of the transfer mechanism (4.3); The nut removal mechanism (4.4) comprises an end cover extraction module, a nut removal module and a rotation drive module for driving the end cover extraction module and the nut removal module to rotate together; The small-diameter end cap removal mechanism (4.5) comprises an end cap removal module and a rotary drive module for driving the end cap removal module to rotate and unload materials; The core rod pulling mechanism (4.6) is located on one side of the small diameter end cover removal mechanism (4.5) and is supported above the transfer mechanism (4.3) via a support frame. The core rod pulling mechanism (4.6) comprises a clamping mechanism for clamping the outer shell of the workpiece and a drawing mechanism for drawing the core rod; The conveyor belt (4.7) is arranged on a frame machine (4.1) at the lower end of a shaping mechanism (4.2), a nut unloading mechanism (4.4), a small diameter end cover removal mechanism (4.5), and a core rod pulling mechanism (4.6); The shaping mechanism (4.2) is located on one side of the nut removal mechanism (4.4), and the shaping mechanism (4.2) comprises a shaping clamping tool for clamping the workpiece core rod and a shaping body located directly below the shaping clamping tool for shaping the end surface of the core rod outer powder column; The material system (3) comprises three trolleys arranged side by side on one side of the frame for holding workpieces; The truss robot (2) comprises a truss manipulator (2.5) for grasping a workpiece and a three-axis driving device for driving the truss manipulator (2.5) to translate.

2. A standard test engine automatic demoulding and shaping system according to claim 1, Features: The truss manipulator (2.5) comprises symmetrical gripper fingers (2.5.21), the upper end of each gripper finger (2.5.21) is respectively connected to a gripper connection block, the two gripper connection blocks are slidably connected to the two ends of two side-by-side gripper linear guide rails (2.5.16) on the gripper base plate (2.5.19), the two gripper connection blocks are respectively fixedly connected to a rack, the teeth on the two racks are arranged on opposite surfaces, a gripper gear set (2.5.20) is provided on the gripper base plate (2.5.19) between the two racks, and the gripper gear set (2.5.20) is meshed with the two racks; gripper side support plates (2.5.8) are symmetrically erected at both ends of the gripper base plate (2.5.19), the upper ends of the two gripper side support plates (2.5.8) are connected via a gripper cylinder mounting plate 2.5.4, and the gripper cylinder mounting plate (2.

5. 4) is provided with a jaw cylinder (2.5.9) on its lower surface, a jaw fisheye joint (2.5.10) is provided on the top of the telescopic rod of the jaw cylinder (2.5.9), the jaw fisheye joint (2.5.10) is connected to the jaw plug screw mounting plate (2.5.11) via the jaw plug screw, a jaw pressure sensor (2.5.12) is provided on the jaw plug screw mounting plate (2.5.11), a cylinder telescopic connecting rod (2.5.13) is provided below the jaw pressure sensor (2.5.12), the lower surface of the cylinder telescopic connecting rod (2.5.13) is connected to one of the jaw connecting blocks, a Z-axis jaw mounting plate (2.5.1) is provided at the upper end of the jaw cylinder mounting plate (2.5.4), and the jaw cylinder mounting plate (2.5.4) is connected to the Z-axis jaw mounting plate (2.5.1) via an optical axis; A clamping jaw telescopic cylinder (2.5.24) is arranged on the surface of one of the clamping jaw side support plates (2.5.8), and a pneumatic finger (2.5.25) for clamping a core rod is arranged at the end of the telescopic rod of the clamping jaw telescopic cylinder (2.5.24) after the telescopic rod is extended downward; A clamping jaw harness block (2.5.2) and a tension and compression sensor (2.5.3) are arranged in sequence from top to bottom between the Z-axis clamping jaw mounting plate (2.5.1) and the clamping jaw cylinder mounting plate (2.5.4).

3. A standard test engine automatic demoulding and shaping system according to claim 1 or 2, Features: The three-axis driving device includes an X-axis translation module, a Y-axis translation module and a Z-axis translation module which are connected to each other; The X-axis translation module comprises two X-axes extending in the X-axis direction, the two X-axes are fixed side by side on four vertically placed columns (2.1), two X-axis linear guides are arranged at both ends of the groove on the end surface of each X-axis, an X-axis helical rack is arranged between the two X-axis linear guides, and X-axis sliders are arranged on the X-axis linear guides respectively, and an X-axis base plate connected with bolts is arranged on the X-axis sliders; The Y-axis translation module comprises a Y-axis (2.3) installed between two X-axis and extending in the Y-axis direction; a Y-axis base plate is respectively provided at both ends of the Y-axis (2.3); a commutator is respectively provided at both ends of the right side of the Y-axis (2.3); the lower surfaces of the two commutators are respectively fixed on an X-axis base plate; an output end of the commutator passes through the clearance holes on the X-axis base plate and the Y-axis base plate in sequence, and a gear is installed at the end; the two Y-axis base plates are separately installed on the two X-axis base plates, and the gears at the output ends of the two commutators are respectively meshed with the corresponding X-axis helical racks; a bidirectional commutator (2.3.9) is provided in the middle of the right side of the Y-axis (2.3); the input shaft of the bidirectional commutator (2.3.9) is connected to the output shaft of the reducer (2.3.10), the input shaft of the reducer (2.3.10) is connected to the output shaft of the Y-axis motor (2.3.11), and the other output shafts of the two commutators at both ends of the right side of the Y-axis (2.3) are connected to the right side of the Y-axis The two output shafts of the middle bidirectional commutator (2.3.9) are connected by an optical shaft (2.3.12) and a coupling (2.3.13); a Y-axis linear guide (2.3.15) is provided at both ends of the left groove of the Y-axis (2.3); a Y-axis helical rack (2.3.16) is provided between the two Y-axis linear guides (2.3.15); a Y-axis slider (2.3.17) is provided on the Y-axis linear guide (2.3.15); The block (2.3.17) is provided with a Y-axis side plate (2.3.18), and a Y-axis reducer (2.3.20) is arranged on the Y-axis side plate (2.3.18). The input end of the Y-axis reducer (2.3.20) is connected to the output shaft of the Y-axis motor 2 (2.3.21), and the output end is provided with a Y-axis gear 3 (2.3.22), and the Y-axis gear 3 (2.3.22) is meshed with the Y-axis helical rack (2.3.16) of the Y-axis (2.3); The Z-axis translation module comprises a Z-axis (2.4) extending in the Z-axis direction, a linear guide rail (2.4.5) is provided on the outer wall of the Z-axis (2.4) and is slidably connected to a sliding seat, a reducer (2.4.11) is provided on one side of the sliding seat, a motor (2.4.12) is installed at the input end of the reducer (2.4.11), a gear (2.4.13) is installed at the end of the output end after passing through the sliding seat, and a rack (2.4.10) meshing with the gear (2.4.13) is provided on the outer wall of the Z-axis (2.4); The sliding seat is a square cylindrical structure formed by a Z-axis front side plate (2.4.1), a Z-axis rear side plate (2.4.2), a Z-axis left side plate (2.4.3) and a Z-axis right side plate (2.4.4). A linear guide rail three (2.4.5) is provided on the left and right rear sides of the Z-axis (2.4). A slider three (2.4.6) is provided on the linear guide rail three (2.4.5). The slider three (2.4.6) is connected to the corresponding Z-axis left side plate (2.4.3), the Z-axis right side plate (2.4.4) and the Z-axis rear side plate (2.4.2). The Y-axis side plate (2.3.18) is fixedly connected to the Z-axis rear side plate (2.4.2). A distribution box (2.4.7) is installed on the Z-axis left side plate (2.4.3).

4. A standard test engine automatic demoulding and shaping system according to claim 1, Features: The shaping clamping tool comprises shaping tool clamping jaws (4.2.1.17) arranged symmetrically, a driving opening and closing module for driving the shaping tool clamping jaws (4.2.1.17) to open and close, and a driving rotating module for driving the opening and closing driving module and the shaping tool clamping jaws (4.2.1.17) to rotate together; The driving opening and closing module comprises an outer frame body welded by two single-layer side plates (4.2.1.7) and two cylinder positioning plates (4.2.1.6), and a driving body is arranged at both ends of the outer frame body, each driving body comprises an opening and closing cylinder (4.2.1.10) and a guide rail mounting plate (4.2.1.8) arranged on the inner side of the cylinder positioning plate (4.2.1.6), and the guide rail mounting plate (4.2.1.8) faces the cylinder positioning plate ( Two shaping guide rails (4.2.1.11) are arranged side by side, and two shaping slide blocks (4.2.1.12) are arranged at both ends of the two shaping guide rails (4.2.1.11). The two shaping slide blocks (4.2.1.12) at both ends are connected to each other through a cylinder rack connecting seat (4.2.1.13). A shaping rack is connected to each of the two cylinder rack connecting seats (4.2.1.13). (4.2.1.14), two shaped racks (4.2.1.14) are arranged side by side, and a shaped gear set (4.2.1.15) meshing with the two shaped racks (4.2.1.14) is arranged on the side of the guide rail mounting plate (4.2.1.8) facing the cylinder positioning plate (4.2.1.6), and the shaped gear set (4.2.1.15) is located between the two shaped racks (4.2.1.14), and the opening and closing cylinder ( The top of the telescopic rod of the driving device 4.2.1.10 is provided with a shaping tool fisheye joint (4.2.1.16), the shaping tool fisheye joint (4.2.1.16) is connected to one of the cylinder rack connecting seats (4.2.1.13) by a plug screw, the cylinder rack connecting seats (4.2.1.13) at both ends of the two driving bodies are connected by a side-by-side connecting rod, and the two shaping tool clamping claws (4.2.1.17) are separately installed on the two connecting rods; The opening and closing cylinder (4.2.1.10) is mounted on the cylinder connecting plate (4.2.1.9), and the cylinder connecting plate (4.2.1.9) is arranged between the guide rail mounting plate (4.2.1.8) and the cylinder positioning plate (4.2.1.6); The driving rotating module comprises a U-shaped shaping base plate (4.2.1.2) mounted on a frame (4.1), a rotating bracket (4.2.1.3) is respectively arranged at both ends of the upper surface of the shaping base plate (4.2.1.2), a rotating cylinder (4.2.1.4) is arranged on the rotating bracket (4.2.1.3), a swing cylinder connecting shaft (4.2.1.5) is arranged at the output end of the rotating cylinder (4.2.1.4), and the swing cylinder connecting shaft (4.2.1.5) is connected to the corresponding cylinder positioning plate (4.2.1.6).

5. A standard test engine automatic demoulding and shaping system according to claim 1 or 4, Features: The shaping body comprises a milling cutter mounted on a cutter bar (4.2.2.38), a lifting drive module for driving the cutter bar (4.2.2.38) to lift and lower, and a rotation drive device for driving the cutter bar (4.2.2.38) to rotate; The lifting drive module comprises a shaping base plate (4.2.2.1) and a lifting base plate (4.2.2.7). The shaping linear bearings on the four corners of the lifting base plate (4.2.2.7) are mounted on four shaping optical axes (4.2.2.9). The four shaping optical axes (4.2.2.9) stand on the shaping base plate (4.2.2.1). A shaping lead screw is arranged between two adjacent shaping optical axes (4.2.2.9) on both sides. The ball nuts (4.2.2.13) of the two shaping lead screws are fixedly connected to the two ends of the lifting base plate (4.2.2.7). After the end passes through the shaping base plate (4.2.2.1), a synchronous pulley is arranged at the end, a synchronous pulley (4.2.2.3) is arranged on the lower surface of the motor base plate (4.2.2.2) on one side of the shaping base plate (4.2.2.1), a shaping reducer (4.2.2.4) and a shaping motor (4.2.2.5) are arranged on the motor base plate (4.2.2.2) for driving the synchronous pulley (4.2.2.3) to rotate, and the synchronous pulleys at the lower ends of the two shaping screw rods are connected to the synchronous pulley (4.2.2.3) through a synchronous belt (4.2.2.16); A shaping upper plate (4.2.2.8) is provided on the two shaping optical axes (4.2.2.9) and the shaping screw rod on the same side, and a load-bearing side plate (4.2.2.6) is provided between the outer sides of the two shaping upper plates (4.2.2.8) and the shaping bottom plate (4.2.2.1); The rotary drive device comprises pneumatic rotary clamp seat mounting plates (4.2.2.21) symmetrically arranged on both sides of the middle of the upper surface of the lifting base plate (4.2.2.7), a pneumatic rotary clamp seat (4.2.2.22) and a torque sensor mounting side plate (4.2.2.24) are arranged side by side between the two pneumatic rotary clamp seat mounting plates (4.2.2.21), and a rotary clamp seat synchronous pulley (4.2.2 .23), a torque sensor (4.2.2.25) is installed in the middle of the torque sensor mounting side plate (4.2.2.24), a torque synchronous pulley 1 (4.2.2.28) is arranged on the upper end of the torque sensor (4.2.2.25), the torque synchronous pulley 1 (4.2.2.28) is connected to the rotating clamp seat synchronous pulley (4.2.2.23) by a synchronous belt 2 (4.2.2.27), and the torque sensor (4.2.2.25 ) is provided with a torque synchronous pulley 2 (4.2.2.26) at the lower end, a shaping motor fastening plate (4.2.2.17) is provided on one side of the lifting bottom plate (4.2.2.7), a shaping reducer 2 (4.2.2.18) is provided on the shaping motor fastening plate (4.2.2.17), the shaping reducer 2 (4.2.2.18) is connected to the shaping motor 2 (4.2.2.19), and the output end of the shaping reducer 2 (4.2.2.18) is provided A shaping synchronous pulley four (4.2.2.20) is arranged, and a torque synchronous pulley two (4.2.2.26) is connected to the shaping synchronous pulley four (4.2.2.20) by a shaping synchronous belt three (4.2.2.29); a knife bar (4.2.2.38) is connected to a rotating clamp seat synchronous pulley (4.2.2.23) in a pneumatic rotating clamp seat (4.2.2.22) and can rotate together with the rotating clamp seat synchronous pulley (4.2.2.23); A shaping upper cover plate (4.2.2.30) is arranged at the upper end of the pneumatic rotating clamp seat mounting plate (4.2.2.21), shaping material box support plates (4.2.2.31) are arranged on both sides of the upper surface of the shaping upper cover plate (4.2.2.30), a shaping material box (4.2.2.32) is installed on the shaping material box support plate (4.2.2.31), a hole for a knife rod (4.2.2.38) to pass through is arranged in the middle of the shaping material box (4.2.2.32), a camera (4.2.2.33) is arranged on the outer side of the shaping material box (4.2.2.32), an air pipe mounting seat (4.2.2.34) is arranged on the inner side of the shaping material box (4.2.2.32), and an air pipe (4.2.2.35) is installed on the inner side of the air pipe mounting seat (4.2.2.34); A blowpipe mounting seat (4.2.2.36) is arranged at the middle position of the upper surface of the shaped upper cover plate (4.2.2.30), and a blowpipe (4.2.2.37) is installed on the inner side of the blowpipe mounting seat (4.2.2.36).

6. A standard test engine automatic demoulding and shaping system according to claim 1, Features: The transfer clamp (4.3.17) comprises a transfer clamp group and an opening and closing driving device group for driving the transfer clamp group to open and close. There are two transfer clamp groups, which are arranged side by side up and down. Each transfer clamp group consists of two symmetrical transfer clamp fingers (4.3.29). The opening and closing drive device is assembled in a supporting frame, and the supporting frame includes two transfer single-layer side plates (4.3.18) standing side by side on two movable connecting plates (4.3.15), a cylinder positioning plate (4.3.19) is arranged side by side between the two transfer single-layer side plates (4.3.18), and two hand claw guide plates (4.3.20) parallel to the cylinder positioning plate (4.3.19) are arranged between the two transfer single-layer side plates (4.3.18); The opening and closing drive device group is composed of two opening and closing drive devices that are symmetrical in front and back, each opening and closing drive device includes two side-by-side transfer clamping claw guide rails arranged on the inner side of one of the hand claw guide rail plates (4.3.20), two transfer clamping claw sliders (4.3.24) are slidably connected at both ends of the two transfer clamping claw guide rails, the two left transfer clamping claw sliders (4.3.24) are connected to each other via a rack connecting seat (4.3.25), and the two right transfer clamping claw sliders (4.3.24) are connected to each other via a cylinder rack connecting seat (4.3.26), and the rack connecting seat (4.3.25) is connected to the cylinder rack connecting seat (4.3.26). ) and a cylinder rack connecting seat (4.3.26) are respectively provided with a transfer rack (4.3.27), the two transfer racks (4.3.27) are parallel to each other, a transfer gear (4.3.28) is provided at the middle position inside the hand claw guide plate (4.3.20), the transfer gear (4.3.28) is meshed with the two transfer racks (4.3.27), and the two ends of the transfer gripper finger (4.3.29) are respectively installed between the two cylinder rack connecting seats (4.3.26) of the opening and closing drive device group or between the two rack connecting seats (4.3.25); A transfer cylinder (4.3.22) for driving the transfer rack (4.3.27) is mounted on a transfer cylinder connecting plate (4.3.21), the transfer cylinder connecting plate (4.3.21) is mounted between the transfer single-layer side plate (4.3.18) and the hand claw guide plate (4.3.20), a transfer fisheye joint (4.3.23) is mounted on the top of the telescopic rod of the transfer cylinder (4.3.22), and the transfer fisheye joint (4.3.23) is connected to the cylinder rack connecting seat (4.3.26) by plug screws; The translation drive device comprises two transfer guide rails (4.3.1) fixed side by side on the frame (4.1), each transfer guide rail (4.3.1) is provided with a driving bearing seat and a driven bearing seat (4.3.2) at both ends, the driving bearing seat and the driven bearing seat (4.3.2) are respectively connected with a driving synchronous pulley and a driven synchronous pulley (4.3.3), the two driving bearing seats are connected via a driving optical axis, one side of one of the driving bearing seats is provided with a driving reducer (4.3.12) and a driving motor (4.3.13) for driving the driving synchronous pulley to rotate, and the driven synchronous pulley (4.3.3) is connected to the corresponding driving synchronous pulley by a transfer synchronous belt (4.3.16); The two transfer guide rails (4.3.1) are slidably connected with transfer sliders (4.3.14) arranged side by side, and the transfer sliders (4.3.14) are connected to the transfer synchronous belts (4.3.16) on the same side via the movable connecting plates (4.3.15); A transfer iron bucket (4.3.30) for accommodating a workpiece core rod is arranged on one side of the transfer single-layer side plate (4.3.18), and a transfer sponge (4.3.31) is arranged inside the transfer iron bucket (4.3.30).

7. A standard test engine automatic demoulding and shaping system according to claim 1, Features: The end cover extraction module comprises an end cover extraction guide rail seat (4.4.9), the upper end of the end cover extraction guide rail seat (4.4.9) is provided with parallel nut removal guide rails (4.4.22), two parallel nut removal sliders (4.4.23) are slidably connected between the two nut removal guide rails (4.4.22), the two nut removal sliders (4.4.23) are provided with end cover removal fingers (4.4.25) symmetrically used for clamping the end cover of the workpiece, and the pneumatic clamp (4.4.21) is fixed on one side of the end cover extraction guide rail seat (4.4.9), and the two clamps of the pneumatic clamp (4.4.21) are respectively clamped on the two nut removal sliders (4.4.23); The two sides of the lower end of the end cover guide rail seat (4.4.9) are connected to a nut unloading cylinder (4.4.6) via a floating joint (4.4.8), and the inner sides of the two nut unloading cylinders (4.4.6) are respectively provided with a nut unloading optical axis 1 (4.4.10), and the upper end of the nut unloading optical axis 1 (4.4.10) is connected to the lower surface of the end cover guide rail seat (4.4.9); The nut removal module comprises a motor (4.4.15), the output shaft of the motor (4.4.15) extends upward and a connecting shaft (4.4.16) is installed at the rear end, a three-jaw chuck (4.4.17) for clamping the nut is installed at the top of the connecting shaft (4.4.16), and a pneumatic motor bracket (4.4.14) for fixing the motor (4.4.15) is installed below the clamping claw connecting plate (4.4.12), and the clamping claw connecting plate (4.4.12) is located directly below the extraction end cover guide rail seat (4.4.9), and the extraction end cover guide rail seat (4.4.9) and the clamping claw connecting plate (4.4.12) are connected via the nut removal optical axis 2 (4.4.11) arranged at both ends of the connecting shaft (4.4.16), and the two ends of the nut removal optical axis 2 (4.4.11) are provided with nut removal linear bearings (4.4.7); The rotary drive module comprises a U-shaped nut unloading base plate (4.4.1) mounted on a frame (4.1), nut unloading rotating cylinder brackets (4.4.2) symmetrically arranged at both ends of the nut unloading base plate (4.4.1), a nut unloading rotating cylinder (4.4.3) mounted on the nut unloading rotating cylinder bracket (4.4.2), a sway cylinder connecting plate (4.4.4) mounted on the nut unloading rotating cylinder (4.4.3), an end cover extraction cylinder seat (4.4.5) connected between the two sway cylinder connecting plates (4.4.4), the end cover extraction cylinder seat (4.4.5) being located between the end cover extraction guide rail seat (4.4.9) and the clamping claw connecting plate (4.4.12), and linear bearings for guiding the nut unloading optical axis 1 (4.4.10) being mounted in openings at both ends of the end cover extraction cylinder seat (4.4.5); There are windows for making way for the motor output shaft on the end cover cylinder seat (4.4.5) and the clamping jaw connecting plate (4.4.12); A tension spring seat 1 (4.4.13) is arranged at one end of the clamping jaw connecting plate (4.4.12), a tension spring seat 2 (4.4.18) is arranged on the lower surface of the pull-out end cover guide rail seat (4.4.9) and on one side of the three-jaw chuck (4.4.17), and a tension spring (4.4.19) is arranged between the tension spring seat 1 (4.4.13) and the tension spring seat 2 (4.4.18).

8. The standard test engine automatic demoulding and shaping system according to claim 1, Features: The end cover removal module comprises a pneumatic finger cylinder (4.5.10), on which are mounted cylinder fingers (4.5.13) symmetrically used for grabbing the end cover of a workpiece, the pneumatic finger cylinder (4.5.10) being mounted on the upper end of a cylinder connecting plate (4.5.12), and the lower end of the cylinder connecting plate (4.5.12) being connected to the small-diameter end cover removal cylinder via a small-diameter end cover removal floating joint (4.5.11); A small-diameter end-cap removal optical axis (4.5.7) is provided at both ends of the small-diameter end-cap removal optical axis (4.5.7), the upper end of the small-diameter end-cap removal optical axis (4.5.7) is mounted on an optical axis mounting seat (4.5.8), and the optical axis mounting seat (4.5.8) is fixed to the lower end of the cylinder connecting plate (4.5.12); The rotary drive module comprises a U-shaped small-diameter end cover base plate mounted on a frame (4.1), symmetrical small-diameter pads (4.5.1) are arranged at both ends of the small-diameter end cover base plate, symmetrical small-diameter brackets (4.5.2) are erected on the two small-diameter pads (4.5.1), symmetrical rotary cylinders (4.5.3) are mounted on the two small-diameter brackets (4.5.2), rotary cylinders (4.5.3) are mounted on the rotary cylinders (4.5.4), and a cylinder support seat 1 (4.5.5) and a cylinder support seat 2 (4.5.6) parallel to the cylinder connecting plate (4.5.12) are mounted between the two rotary cylinder support seats (4.5.4); The cylinder barrel of the small-diameter end cover removal cylinder is fixed at the lower end of the cylinder support 2 (4.5.6), and the middle of the cylinder support 1 (4.5.5) and the cylinder support 2 (4.5.6) is provided with a through hole for making way for the telescopic rod of the small-diameter end cover removal cylinder; Small-diameter end cap removal linear bearings (4.5.9) through which a small-diameter end cap removal optical axis (4.5.7) can pass are fixed in corresponding openings at both ends of the cylinder support 1 (4.5.5) and the cylinder support 2 (4.5.6).

9. A standard test engine automatic demoulding and shaping system according to claim 1, Features: The clamping mechanism is arranged at the lower end of the H core pulling rod lower plate (4.6.9), and the H core pulling rod lower plate (4.6.9) is fixed to the upper end of the support frame; the clamping mechanism comprises a tensile lifting plate (4.6.29) and a lifting drive device for driving the tensile lifting plate (4.6.29) to lift and lower; the middle parts of the H core pulling rod lower plate (4.6.9) and the tensile lifting plate (4.6.29) are provided with a clearance window for vacating the workpiece; Two tension-resistant opening and closing guide rails are arranged side by side on both sides of the yield window on the lower surface of the tension-resistant lifting plate (4.6.29), and two symmetrical V-shaped tension-resistant clamping claws (4.6.32) are slidably arranged on the two tension-resistant opening and closing guide rails. A tension-resistant transmission plate (4.6.33) is extended outwardly from one side of the V-shaped tension-resistant clamping claw (4.6.32), and positive and negative screw nuts (4.6.33) are respectively arranged at the symmetrical openings of the two tension-resistant transmission plates (4.6.33). 6.34), a tensile opening and closing screw rod (4.6.35) is arranged between the positive and negative screw rod nuts (4.6.34), a tensile opening and closing screw rod fixing seat 1 (4.6.36) is arranged on one side of the tensile opening and closing screw rod (4.6.35), the lower surface of the tensile opening and closing screw rod fixing seat 1 (4.6.36) is fixed on the V-shaped tensile clamping claw (4.6.32) on one side, and a tensile opening and closing screw rod is arranged on the other side of the tensile opening and closing screw rod The second fixing seat (4.6.37) and the first anti-tension opening and closing synchronous pulley (4.6.38), the side of the anti-tension lifting plate (4.6.29) is provided with an anti-tension opening and closing motor connecting plate (4.6.39), the second anti-tension opening and closing screw fixing seat (4.6.37) is fixed on the inner side of the anti-tension opening and closing motor connecting plate (4.6.39), and the outer side of the anti-tension opening and closing motor connecting plate (4.6.39) is provided with an anti-tension opening and closing reducer (4 .6.40), a tensile opening and closing motor (4.6.41) is arranged on one side of the tensile opening and closing reducer (4.6.40), a tensile opening and closing synchronous pulley 2 (4.6.42) is arranged on the output end of the other side of the tensile opening and closing reducer (4.6.40), and the tensile opening and closing synchronous pulley 1 (4.6.38) and the tensile opening and closing synchronous pulley 2 (4.6.42) are connected by an tensile opening and closing synchronous belt (4.6.43); The lifting drive device comprises a symmetrical tensile lifting ball screw and a transmission device for driving the tensile lifting ball screw to rotate. The middle and upper ends of the tensile lifting ball screw are fixed on the H core drawing rod lower plate (4.6.9) through the tensile lifting ball screw fixing seat. The tensile lifting ball nut on the tensile lifting ball screw is fixedly connected to the tensile lifting plate (4.6.29); the transmission device comprises a tensile lifting synchronous pulley (4.6.28) arranged at the upper end of the tensile lifting ball screw, a tensile lifting reducer (4.6.44) is arranged on one side of the lower surface of the H core drawing rod lower plate (4.6.9), a tensile lifting motor (4.6.45) is arranged on one side of the tensile lifting reducer (4.6.44), and the output of the tensile lifting reducer (4.6.45) is arranged on the output of the tensile lifting reducer (4.6.45). After the output shaft is put through the H core pulling rod lower plate (4.6.9), an anti-tensile lifting active synchronous belt wheel (4.6.46) is arranged, and the H core pulling rod lower plates (4.6.9) on both sides of the anti-tensile lifting active synchronous belt wheel (4.6.46) are respectively provided with anti-tensile lifting follower synchronous belt wheels (4.6.47), and an anti-tensile lifting tensioning wheel (4.6.48) is arranged on the H core pulling rod lower plate (4.6.9) on one side of the anti-tensile lifting follower synchronous belt wheel (4.6.47). The anti-tensile lifting active synchronous belt wheel (4.6.46), the anti-tensile lifting follower synchronous belt wheel (4.6.47), the anti-tensile lifting synchronous belt wheel (4.6.28) and the anti-tensile lifting tensioning wheel (4.6.48) are connected by an anti-tensile lifting synchronous belt (4.6.49); The two ends of the tensile lifting ball screw are provided with tensile lifting optical axes, the upper end of the tensile lifting optical axis is connected to the H core rod lower plate (4.6.9) through the tensile lifting optical axis fixing seat, the middle part of the tensile lifting optical axis is passed through the tensile lifting linear bearing, and the tensile lifting linear bearing is fixed on the tensile lifting plate (4.6.29); The drawing mechanism comprises four upper plate optical axes (4.6.51) standing on the H core pulling rod lower plate (4.6.9), an H core pulling rod upper plate (4.6.52) is fixed above the four upper plate optical axes (4.6.51), a core pulling rod linear bearing (4.6.54) is respectively sleeved on the upper plate optical axes (4.6.51), an H core pulling rod middle plate (4.6.55) is arranged on the four core pulling rod linear bearings (4.6.54), a tension sensor (4.6.57) is arranged on the lower surface of the H core pulling rod middle plate (4.6.55), a core pulling tooling clamping claw (4.6.58) is arranged on the lower surface of the tension sensor (4.6.57), and the H core pulling rod middle plate (4.6.55) and the core pulling rod lifting screw (4.6.59) are connected to each other. The upper end of the core pulling rod lifting screw rod (4.6.59) is passed through the linear bearing in the middle of the H core pulling rod upper plate (4.6.52) and is equipped with a core pulling rod lifting synchronous pulley 1 (4.6.60). One side of the H core pulling rod upper plate (4.6.52) is provided with a core pulling rod lifting reducer (4.6.61), one side of the core pulling rod lifting reducer (4.6.61) is provided with a core pulling rod lifting motor (4.6.62), the output shaft of the core pulling rod lifting reducer (4.6.61) is provided with a core pulling rod lifting synchronous pulley 2 (4.6.63), and the core pulling rod lifting synchronous pulley 1 (4.6.60) and the core pulling rod lifting synchronous pulley 2 (4.6.63) are connected by a core pulling rod lifting synchronous belt 4.6.64 for transmission.

10. The standard test engine automatic demoulding and shaping system according to claim 1, Features: The trolley comprises a trolley frame, fixed wheels are arranged at both ends of the bottom of the front side of the trolley frame, universal wheels are arranged at both ends of the bottom of the rear side, two positioning wheels are arranged side by side at the lower position of both sides of the trolley frame, a trolley sponge frame is fixed on the upper part of the trolley frame, and sponge pads with four holes, ten holes and twenty holes are arranged on the trolley sponge frames of the three trolleys respectively, and three groups of guide rail assemblies for guiding the three trolleys are arranged on the ground on one side of the frame (4.1); each group of guide rail assemblies comprises two guide rails arranged side by side and cooperating with the positioning wheels on both sides of the trolley, and the two guide rails of each group of guide rail assemblies are connected by a trolley positioning beam near one side of the frame (4.1), and a cylinder mounting seat is arranged on the trolley positioning beam, and a locking claw is arranged on the top of the cylinder mounting seat, and when the trolley is in place, the locking claw is clamped on the crossbeam at the bottom of the front end of the trolley.

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