An automatic processing device for inner holes of energetic columnar materials

Abstract

The present invention discloses an automatic inner hole processing device for energetic columnar materials, which belongs to the technical field of inner hole processing for energetic columnar materials. A clamping tool is installed on a machine tool, and a multi-axis manipulator clamps the energetic columnar material of a material cart assembly and places it on the clamping tool. The clamping tool clamps the energetic columnar material, and the machine tool processes an axial through hole on the energetic columnar material. The clamping tool includes a support seat, and a top plate is arranged on the top of the support seat. The support seat has an installation space, and the installation space is located below the top plate. A through hole is axially opened on the top plate, and a fixed seat is installed on the top and bottom of the top plate, and the two fixed seats are symmetrically arranged, and a number of clamping components are installed in the fixed seat. The beneficial effects of the present invention are: determining the clamping force parameters of the end effector and the clamping tool module, so that the energetic columnar material does not have a relative displacement during the transportation and processing process, while ensuring that the product appearance is not damaged, and ensuring the inner hole processing accuracy and coaxiality.

Description

Technical Field

[0001] The invention relates to the processing of energetic columnar materials, in particular to an automatic processing device for the inner hole of energetic columnar materials. Background Art

[0002] Energetic columnar materials are solid propellants with certain geometric shapes and sizes, which are placed in the combustion chamber of solid rocket engines. The selection of their geometric shapes and sizes is related to the engine's working time, combustion chamber pressure and thrust. Energetic columnar materials need to be machined to achieve the required dimensions, mainly including machining the outer circle, machining the end face, machining the inner hole, etc.

[0003] Patent No. ZL202311043901.4 of Zhejiang River Aerospace Technology Equipment Co., Ltd. discloses an automated grain cutting device and cutting method. This invention reasonably sets the positioning, cutting structure and processing procedures according to the requirements for processing multiple characteristics of the grain, and can realize the automatic processing of the outer circle, side groove and ellipsoidal surface of the grain. Patent No. ZL201811007776.0 of Sichuan Aerospace Chuannan Pyrotechnics Technology Co., Ltd. discloses an automatic processing and detection device for energetic columnar materials for aerospace pyrotechnic devices. This invention proposes the use of automatic processing methods to process and detect the outer circle and end face of energetic columnar materials, thereby improving operational safety. However, none of the above patents have achieved automatic processing of the inner hole of energetic columnar materials. At present, the processing of the inner hole of energetic columnar materials is mainly carried out manually on ordinary lathes, and the main problems are as follows:

[0004] 1) Energetic columnar materials have the characteristics of high energy density and metastability. They are prone to combustion and explosion when exposed to open flames and high temperatures. There are safety risks and occupational health risks during the inner hole processing.

[0005] 2) The main components of energetic columnar materials include adhesives, oxidants, fuel additives, curing agents, plasticizers and a small amount of other functional additives; the adhesive wraps the solid oxides and metal fuel additives in the propellant, and forms a viscoelastic body through curing, with uniform structure, high outer circle precision and soft material. During the clamping process, if the clamping force is too large, it will cause damage to the appearance, or affect the processing quality, resulting in product scrapping; if the clamping force is too small, it will cause the product to slip during processing, affecting the processing quality.

[0006] 3) In order to control the processing quality of the inner hole of the energetic columnar material and take into account the operational safety, the inner hole processing efficiency is not high; at the same time, toxic and harmful gases are easily produced during the inner hole processing of the energetic columnar material, which makes the operator uncomfortable, and the operator's continuous working hours are limited every day, and production operations can only be carried out in shifts. Summary of the invention

[0007] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an automatic processing device for the inner hole of energetic columnar materials.

[0008] The object of the present invention is achieved by the following technical solutions: an automatic processing device for inner holes of energetic columnar materials, comprising a feed cart assembly, a multi-axis manipulator and a machine tool, a clamping tool is installed on the machine tool, the multi-axis manipulator clamps the energetic columnar material of the feed cart assembly and places it on the clamping tool, the clamping tool clamps the energetic columnar material, and the machine tool processes an axial through hole on the energetic columnar material;

[0009] The clamping tooling includes a support seat, a top plate is arranged on the top of the support seat, an installation space is provided on the support seat, the installation space is located below the top plate, a through hole is axially opened on the top plate, and a fixed seat is installed on the top and bottom of the top plate, and the two fixed seats are symmetrically arranged, and a plurality of clamping components are installed in the fixed seat, the clamping components include a cylindrical clamp block, a collet and a pressure device for moving the cylindrical clamp block relative to the fixed seat, a first conical guide surface is opened on the inner side wall of the fixed seat away from the top plate, the collet is located on the inner side of the fixed seat, and a second conical guide surface matching the first conical guide surface is opened on the outer side of the bottom of the collet, a cylindrical clamp block is installed on the inner side of the collet of the pressure device, there is a movable gap between the cylindrical clamp blocks of adjacent clamping components, and the cylindrical clamp blocks are distributed on the same circumference, the inner side of the cylindrical clamp block is a circular arc wall, and the circular arc wall matches the diameter of the energetic columnar material.

[0010] Optionally, the collet has an extension portion with a reduced diameter, the extension portion extends toward the top plate, a jacket is installed on one end of the extension portion close to the top plate, and the circumferential diameter of the inner arc wall of the jacket is greater than the diameter of the energetic columnar material.

[0011] Optionally, there are three clamping assemblies, which are evenly distributed on the same circumference.

[0012] Optionally, the material cart assembly includes a feeding cart, which includes a frame, a tilting plate is provided on the top of the frame, the tilting surface of the tilting plate faces the multi-axis manipulator, a plurality of clamping plates are installed on the tilting plate, a plurality of V-shaped grooves are provided on the clamping plate, and a baffle is installed on the bottom surface of the clamping plate located at the bottom of the tilting plate.

[0013] Optionally, the material cart assembly also includes a positioning assembly, which includes a base plate, guide bars are installed in pairs on the base plate, and guide grooves are formed between the two guide bars. A reference plate is installed on the end of the base plate close to the multi-axis manipulator, and a limit block and a distance detector are installed on the end face of the reference plate close to the feeding cart. A number of rolling bearings are also installed at the bottom of the frame, and the diameter of the rolling bearings matches the width of the guide groove.

[0014] Optionally, the entrance of the guide groove is provided with an outwardly turned entrance groove.

[0015] Optionally, the rolling bearing is mounted on the U-shaped frame through a shaft rod, a mounting plate is mounted on the top of the U-shaped frame, and the mounting plate is connected to the top of the frame.

[0016] Optionally, the end effector of the multi-axis manipulator includes a connecting handle, a gripper cylinder and a double-headed gripper, the connecting handle is connected to the connecting end of the multi-axis manipulator, the gripper cylinder is installed on the connecting handle, and the execution end of the gripper cylinder has a double-headed gripper.

[0017] Optionally, the inner side wall of the double-headed clamping jaw is V-shaped, and a rubber block is installed on the inner side wall of the double-headed clamping jaw.

[0018] Optionally, the clamping force of the end effector is 35N-50N, and the clamping force of the clamping tool is 50N-60N.

[0019] The present invention has the following advantages: the automatic inner hole processing device of the energetic columnar material of the present invention determines the clamping force parameters of the end effector and the clamping tooling module, so that the energetic columnar material does not undergo relative displacement during transportation and processing, while ensuring that the product appearance is not damaged and the inner hole processing accuracy and coaxiality are guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention;

[0021] Figure 2 Schematic diagram of the structure of the clamping tooling Figure 1 ;

[0022] Figure 3 Schematic diagram of the structure of the clamping tooling Figure 2 ;

[0023] Figure 4 is a schematic diagram of the opening of the first conical guide surface and the second conical guide surface;

[0024] Figure 5 It is a structural schematic diagram of the material car assembly;

[0025] Figure 6 It is a schematic diagram of the structure of the positioning component;

[0026] Figure 7 is a structural schematic diagram of the end effector;

[0027] In the figure, 100- material cart assembly, 200- multi-axis manipulator, 300- machine tool, 400- clamping tool, 10- feeding cart, 11- tilting plate, 12- clamping plate, 13- V-shaped groove, 14- baffle, 15- frame, 16- mounting plate, 17- U-shaped frame, 18- rolling bearing, 20- positioning assembly, 21- guide strip, 22- guide groove, 23- entrance groove, 24- bottom plate, 25- reference plate, 26- distance detector, 27- limit block, 30- end effector, 31- connecting handle, 32- clamping cylinder, 33- double-headed clamping jaw, 34- rubber block, 40- clamping assembly, 41- cylindrical clamping block, 42- collet, 43- fixed seat, 44- jacket, 45- support seat, 46- first conical guide surface, 47- second conical guide surface, 48- top plate. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0031] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0032] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use, or the positions or positional relationships commonly understood by those skilled in the art, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] like Figure 1 As shown, an automatic processing device for inner holes of energetic columnar materials comprises a feed cart assembly 100, a multi-axis manipulator 200 and a machine tool 300. A clamping fixture 400 is installed on the machine tool 300. The multi-axis manipulator 200 clamps the energetic columnar material of the feed cart assembly 100 and places it on the clamping fixture 400. The clamping fixture 400 clamps the energetic columnar material, and the machine tool 300 processes an axial through hole on the energetic columnar material.

[0035] In this embodiment, if Figure 5As shown, the material cart assembly 100 includes a feeder cart 10, and the feeder cart 10 includes a frame 15. An inclined plate 11 is arranged on the top of the frame 15, and the inclined surface of the inclined plate 11 faces the multi-axis manipulator 200. A plurality of spaced clamping plates 12 are installed on the inclined plate 11, and a plurality of spaced V-shaped grooves 13 are opened on the clamping plate 12. A baffle 14 is installed on the bottom surface of the clamping plate 12 located at the bottom of the inclined plate 11; in this embodiment, the angle between the inclined plate 11 and the horizontal plane is 30°, with an error of ±0.5°, the opening of the V-shaped groove 13 is 120°, with an error of ±1°, and the angle along the central axis is 120°. It is said that the baffle 14 is perpendicular to the central axis of the V-shaped groove 13, and the verticality is not greater than 0.01mm. Since the material in this embodiment is an energetic columnar material, when the energetic columnar material is placed in the V-shaped groove 13, the V-shaped groove 13 can make the energetic columnar material be placed along the central axis, and since the inclined plate 11 is inclined, after the energetic columnar material is placed, the energetic columnar material can be aligned with the baffle 14 under the action of gravity, thereby ensuring the accuracy of the initial position of the energetic columnar material, and then ensuring the accuracy of the grasping of the multi-axis manipulator 200, and then ensuring the accuracy of the loading position.

[0036] In this embodiment, if Figure 5 As shown, the skip assembly 100 also includes a positioning assembly 20, such as Figure 6 As shown, the positioning assembly 20 includes a bottom plate 24, on which guide bars 21 are installed in pairs, and a guide groove 22 is formed between the two guide bars 21. A reference plate 25 is installed on one end of the bottom plate 24 close to the multi-axis manipulator 200, and a limit block 27 and a distance detector 26 are installed on the end surface of the reference plate 25 close to the feeding vehicle 10. A plurality of rolling bearings 18 are also installed at the bottom of the frame 15. The diameter of the rolling bearing 18 matches the width of the guide groove 22. In this embodiment, as shown in FIG. Figure 5As shown, the bottom of the frame 15 is provided with a universal roller, and the frame 15 is also provided with a handrail, so that the rods of energetic columnar materials can be manually transported. The bottom plate 24 is fixedly installed on the horizontal plane by embedded bolts, and the reference plate 25 is vertically installed, and its reference surface is perpendicular to the horizontal plane. Furthermore, the entrance of the guide groove 22 is provided with an outward-turned entrance groove 23. When the frame 15 moves to the vicinity of the positioning assembly 20, the rolling bearing 18 is aligned with the entrance groove 23, and then the frame 15 is pushed, so that the rolling bearing 18 enters the guide groove 22 from the entrance groove 23. Since the diameter of the rolling bearing 18 is the same as that of the guide groove 22 is matched with the width of the frame 15, so the rolling bearing 18 can correct the position of the frame 15 during the movement from the entrance groove 23 to the guide groove 22, so that the forward direction of the frame 15 is perpendicular to the reference surface of the reference plate 25. Preferably, there are two rolling bearings 18, and they are arranged at intervals. When the frame 15 contacts the limit block 27, the frame 15 moves into place at this time, and then it is detected by the distance detector 26 to determine whether the frame 15 has moved into place. If the distance detected by the distance detector 26 meets the requirements, the signal is fed back to the multi-axis manipulator 200, and the multi-axis manipulator 200 starts to grab the material.

[0037] In this embodiment, if Figure 5 As shown, there are two inclined plates 11 on the frame 15, one of the inclined plates 11 is used to place the energetic columnar material to be processed, and the other inclined plate 11 is used to place the energetic columnar material with an inner hole that has been processed. Of course, there can also be two feed cart assemblies 100, one of the feed cart assemblies 100 is used to place the energetic columnar material to be processed, and the other feed cart assembly 100 is used to place the energetic columnar material with an inner hole that has been processed.

[0038] In this embodiment, if Figure 6 As shown, the rolling bearing 18 is installed on the U-shaped frame 17 through the shaft rod, and a mounting plate 16 is installed on the top of the U-shaped frame 17. The mounting plate 16 is connected to the top of the frame 15. When the U-shaped frame 17 and the mounting plate 16 are installed, there is a space between the U-shaped frame 17 and the mounting plate 16. After the shaft rod is installed on the U-shaped frame 17, the shaft rod is a screw rod, and a locking nut is installed on the top of the screw rod. The locking nut is located in the space. When the rolling bearing 18 is damaged, the shaft rod and the rolling bearing 18 can be disassembled by removing the locking nut.

[0039] In this embodiment, if Figure 7As shown, the end effector 30 of the multi-axis manipulator 200 includes a connecting handle 31, a clamping cylinder 32 and a double-headed clamping claw 33. The connecting handle 31 is connected to the connecting end of the multi-axis manipulator 200, the clamping claw cylinder 32 is installed on the connecting handle 31, and the executing end of the clamping claw cylinder 32 has a double-headed clamping claw 33. In this embodiment, the multi-axis manipulator 200 is a commercially available product. Preferably, the multi-axis manipulator 200 is a six-axis manipulator. When the clamping claw cylinder 32 is working, the double-headed clamping claw 33 moves toward or away from each other, thereby clamping or releasing the energetic columnar material. In this embodiment, the energetic columnar material mainly includes an adhesive, an oxidant, a fuel additive, a curing agent, a plasticizer and a small amount of other functional additives; the adhesive wraps The solid oxides and metal fuel additives in the propellant form a viscoelastic body through solidification, which has a uniform structure, high outer circle accuracy, and a soft material. Therefore, during the clamping process of the energetic columnar material, the clamping force requirement is relatively high, and the outer circle accuracy of the energetic columnar material cannot be damaged. Therefore, in this embodiment, the inner side wall of the double-headed clamp 33 is V-shaped, and a rubber block 34 is installed on the inner side wall of the double-headed clamp 33. The rubber block 34 contacts the energetic columnar material, thereby avoiding rigid contact between the energetic columnar material and the double-headed clamp 33. In addition, the clamping force of the end effector 30 is 35N-50N, thereby ensuring the clamping of the energetic columnar material while ensuring the outer circle accuracy of the energetic columnar material.

[0040] In this embodiment, if Figure 2 and Figure 3 As shown, the clamping fixture 400 includes a support seat 45, a top plate 48 is arranged on the top of the support seat 45, and an installation space is provided on the support seat 45, and the installation space is located below the top plate 48. A through hole is axially opened on the top plate 48, and a fixing seat 43 is installed on the top and bottom of the top plate 48, and the two fixing seats 43 are symmetrically arranged. A plurality of clamping assemblies 40 are installed in the fixing seat 43. Preferably, there are three clamping assemblies 40, which are evenly distributed on the same circumference. The clamping assembly 40 includes a cylindrical clamping block 41, a collet 42 and a pressure device for moving the cylindrical clamping block relative to the fixing seat 43, as shown in FIG. Figure 4 As shown, a first conical guide surface 46 is provided on the inner side wall of the fixing seat 43 away from the top plate 48, the collet 42 is located on the inner side of the fixing seat 43, and a second conical guide surface 47 matching the first conical guide surface 46 is provided on the outer side of the bottom of the collet 42. Figure 2 and Figure 3As shown, a cylindrical clamping block 41 is installed on the inner side of the collet 42, and there is a movable gap between the cylindrical clamping blocks 41 of adjacent clamping assemblies 40, and the cylindrical clamping blocks 41 are distributed on the same circumference, and the inner side of the cylindrical clamping block 41 is an arc wall, and the arc wall matches the diameter of the energetic columnar material. In this embodiment, the pressure-applying device applies pressure to the collet 42, so that the collet 42 is close to the top plate 48, so that the cylindrical clamping block 41 contracts inwardly, thereby clamping the energetic columnar material. In this embodiment, the energetic columnar material is soft in texture, so the clamping force on it is small. The requirements are relatively high. If the clamping force is too large, it will cause damage to the appearance, or affect the processing quality, resulting in product scrapping; if the clamping force is too small, it will cause the product to slide during the processing, affecting the processing quality, and then causing the product to be scrapped. Therefore, the clamping force of the clamping tool 400 is 50N-60N. Preferably, the pressure-applying device is a cylinder pressure-applying device, which applies pressure by air pressure, and its pressure is easy to control. The pressure-applying device that makes the collet 42 and the fixed seat 43 move relative to each other belongs to the prior art, and the specific structure of the applying device will not be repeated.

[0041] In this embodiment, if Figure 2 As shown, the collet 42 has an extension portion with a reduced diameter, which extends toward the top plate 48. A jacket 44 is installed on one end of the extension portion close to the top plate 48. The circumferential diameter of the inner arc wall of the jacket 44 is larger than the diameter of the energetic columnar material. In the present embodiment, the jacket 44 can play an auxiliary clamping role, and can also play a certain role in the axial accuracy of the energetic columnar material during the clamping process; and in the present embodiment, the upper and lower ends of the energetic columnar material are clamped by the cylindrical clamping block 41, thereby ensuring the axial accuracy of the energetic columnar material during the clamping process, as well as ensuring the clamping force of the energetic columnar material, avoiding axial movement of the energetic columnar material, and thereby ensuring the processing quality of the energetic columnar material.

[0042] In this embodiment, the method for automatically processing the inner hole of an energetic columnar material comprises the following steps:

[0043] (1) Pre-processing preparation: Establish a process parameter database on the machine tool 300. The database stores the codes of different types of energetic columnar materials and their corresponding process parameters. The process parameters mainly include spindle speed, feed speed, one-time feed depth, number of tools, water cooling flow rate and alarm temperature, etc.;

[0044] (2) According to the process parameters in step (1), the energetic columnar material is prepared for processing; the corresponding tool is stored in the tool magazine of the machine tool 300, and a suitable cylindrical clamping block 41 is selected and installed on the collet 42 to facilitate the clamping of the energetic columnar material. In this embodiment, the machine tool 300 is a commercially available product. According to the requirements of product processing, preferably, the machine tool 300 is a machining center;

[0045] (3) Place the energetic columnar material on the V-shaped block in the feed cart, and make its end face close to the baffle 14, push the feed cart 10 into the positioning groove, and position it through the reference plate 25, the distance detector 26 and the limit block 27;

[0046] (4) After receiving the information feedback from the distance detector 26, the multi-axis manipulator 200 clamps the energetic columnar material in the V-shaped groove 13 on the material cart assembly 100 at a position near the middle, and sends it to the clamping fixture 400 installed in the machine tool 300; the clamping fixture 400 clamps the energetic columnar material, and the multi-axis manipulator 200 moves vertically upward to a suitable position to clamp the energetic columnar material, and then the clamping fixture 400 is released, and the multi-axis manipulator 200 clamps the energetic columnar material and moves downward to a specified position; the clamping fixture 400 clamps the energetic columnar material, and the multi-axis manipulator 200 is released, exits the machine tool 300, and the door of the machine tool 300 is closed;

[0047] (5) The machine tool 300 automatically operates, and according to the process parameters in step (1), firstly, a guide hole is drilled using a tool, then a deep hole processing tool is replaced to expand the hole, and finally, the tool is replaced to complete the inner hole forming process; during the processing, water cooling is performed and temperature monitoring is performed;

[0048] (6) After the processing is completed, the machine tool 300 stops running, the door of the machine tool 300 opens, the multi-axis manipulator 200 moves to the machine tool 300 and clamps the energetic columnar material, the clamping fixture 400 is released, the multi-axis manipulator 200 clamps the energetic columnar material and moves up and out of the clamping fixture 400, and exits the machine tool 300, and puts the energetic columnar material back into the material cart assembly 100;

[0049] (7) Repeat steps (4) to (6) until the batch processing of energetic columnar materials is completed.

[0050] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic processing device for inner holes of energetic columnar materials, characterized in that: It comprises a material cart assembly, a multi-axis manipulator and a machine tool, wherein a clamping tool is installed on the machine tool, the multi-axis manipulator clamps the energetic columnar material of the material cart assembly and places it on the clamping tool, the clamping tool clamps the energetic columnar material, and the machine tool processes an axial through hole on the energetic columnar material; The clamping tooling includes a support seat, a top plate is arranged on the top of the support seat, an installation space is provided on the support seat, the installation space is located below the top plate, a through hole is axially opened on the top plate, and a fixing seat is installed on the top and bottom of the top plate, and the two fixing seats are symmetrically arranged, and a plurality of clamping components are installed in the fixing seat, the clamping components include a cylindrical clamping block, a collet and a pressure device for moving the cylindrical clamping block relative to the fixing seat, a first conical guide surface is opened on the inner side wall of the fixing seat away from the top plate, the collet is located on the inner side of the fixing seat, and the The outer side of the bottom of the collet is provided with a second conical guide surface matching the first conical guide surface, the inner side of the collet is provided with the cylindrical clamp block, there is a movable gap between the cylindrical clamp blocks of the adjacent clamping assemblies, and the cylindrical clamp blocks are distributed on the same circumference, the inner side of the cylindrical clamp block is an arc wall, and the arc wall matches the diameter of the energetic columnar material; the collet has a reduced diameter extension portion, the extension portion extends toward the top plate, a jacket is installed on one end of the extension portion close to the top plate, and the circumferential diameter of the inner arc wall of the jacket is greater than the diameter of the energetic columnar material; The pressure applying device applies pressure to the collet, thereby causing the collet to approach the top plate, thereby causing the cylindrical clamp block to contract inwardly, thereby clamping the energetic columnar material; The end effector of the multi-axis manipulator includes a connecting handle, a gripper cylinder and a double-headed gripper, wherein the connecting handle is connected to the connecting end of the multi-axis manipulator, the gripper cylinder is mounted on the connecting handle, and the execution end of the gripper cylinder has the double-headed gripper; the inner side wall of the double-headed gripper is V-shaped, and a rubber block is mounted on the inner side wall of the double-headed gripper, the clamping force of the end effector is 35N-50N, and the clamping force of the clamping tooling is 50N-60N.

2. The automatic inner hole processing device of energetic columnar material according to claim 1 is characterized by: There are three clamping components, which are evenly distributed on the same circumference.

3. The automatic inner hole processing device of energetic columnar material according to claim 1 or 2, characterized in that: The material cart assembly includes a feeding cart, and the feeding cart includes a frame. An inclined plate is arranged on the top of the frame, and the inclined surface of the inclined plate faces the multi-axis manipulator. A plurality of clamping plates are installed on the inclined plate, and a plurality of V-shaped grooves are opened on the clamping plate. A baffle is installed on the bottom surface of the clamping plate located at the bottom of the inclined plate.

4. The automatic inner hole processing device of energetic columnar material according to claim 3 is characterized in that: The material cart assembly also includes a positioning assembly, which includes a base plate, guide bars are installed in pairs on the base plate, and a guide groove is formed between the two guide bars. A reference plate is installed on the end of the base plate close to the multi-axis manipulator, and a limit block and a distance detector are installed on the end face of the reference plate close to the feeding cart. A plurality of rolling bearings are also installed at the bottom of the frame, and the diameter of the rolling bearings matches the width of the guide groove.

5. The automatic inner hole processing device of energetic columnar material according to claim 4 is characterized in that: The entrance of the guide groove is provided with an outward-turned entrance groove.

6. The automatic inner hole processing device of energetic columnar material according to claim 4 is characterized in that: The rolling bearing is installed on the U-shaped frame through a shaft rod, and a mounting plate is installed on the top of the U-shaped frame, and the mounting plate is connected to the top of the frame.

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