Energetic material cutting processing device for multi-axis mechanical test

Abstract

The invention relates to an energetic material cutting machining device for multi-axis mechanical tests, and belongs to the field of cutting machining. The industrial mechanical arm, the feeding rotating modules, the pneumatic clamping devices, the ultrasonic auxiliary device and the overall lifting device are installed on the fixing module, the number of the feeding rotating modules is two, the number of the pneumatic clamping devices is four, the rotating feeding modules are arranged on the periphery of the ultrasonic auxiliary device, the number of the pneumatic clamping devices is two, and the number of the overall lifting device is two. And the wire cutting module is mounted on the industrial mechanical arm. The device has the advantages that the structure is novel, ultrasonic-assisted linear cutting is controlled through the mechanical arm, damage to a solid propellant can be reduced to a very low degree, meanwhile, a sample with low roughness and high coaxiality can be obtained, the force effect of a cutter on the propellant can be reduced through ultrasonic assistance, and safety is improved; through a series of clamping and rotating modules, multiple changes of propellant clamping in multiple cutting processes can be achieved, the machining efficiency is improved, and personnel interference is reduced.

Description

Technical Field

[0001] The invention belongs to the field of cutting and processing, and in particular relates to a cutting and processing device for solid propellant or other energetic materials used for multi-axis mechanical test. Background Art

[0002] The storage life of solid motors mainly depends on the propellant grain, which is mainly made of solid propellant poured and solidified. The material properties of solid propellants are relatively complex and are easily affected by changes in temperature, strain, and pressure. During long storage, they will experience temperature differences and surface corrosion, causing the propellant to expand and contract repeatedly, resulting in cracks, embrittlement, sweating, crystallization, etc., and the mechanical properties will decrease rapidly. Therefore, studying the damage behavior of solid propellants is of great significance for guiding formulation design, grain structure design, and ensuring the normal operation of solid motors.

[0003] Due to the strong oxidant (ammonium perchlorate) inside the HTPB solid propellant, its physical and chemical properties are extremely unstable, and its mechanical sensitivity and thermal sensitivity are very sensitive. It can burn in an oxygen-free environment, and may explode under normal impact or friction. Therefore, in the solid propellant mechanical test, in the design and manufacture of uniaxial specimens, the general method is to first pulp a single material, mold and demold. The model can be a general rectangular block, and then cut with a ceramic knife, or it can be directly used for the corresponding model of the specimen. However, in the design and manufacture of biaxial / triaxial specimens, since the specimen is too complex, the corresponding model cannot be used for demolding, which will make the internal cavity too large and the experimental results invalid. Manual cutting with a tool is also not allowed, because manual cutting cannot ensure the pairwise neutrality of the six axes, which will turn the tensile test into a shear test, affecting the test results.

[0004] Therefore, there is an urgent need to design an automated cutting device with higher safety for manufacturing triaxial specimens for solid propellant mechanical testing. Summary of the invention

[0005] The invention provides an energetic material cutting and processing device for multi-axis mechanical test, so as to solve the problems of processing quality, processing safety and automation rate when processing existing solid propellants or other energetic materials into special-shaped parts.

[0006] The technical solution adopted by the present invention is: it includes an industrial robot arm, a fixed module, a wire cutting module, a feed rotating module, a pneumatic clamping device, an ultrasonic auxiliary device and an integral lifting device, wherein the industrial robot arm, the feed rotating module, the pneumatic clamping device, the ultrasonic auxiliary device and the integral lifting device are respectively installed on the fixed module, the feed rotating module and the pneumatic clamping device are respectively provided with two and four, one rotary feed module corresponds to two pneumatic clamping devices, and the pneumatic clamping device is coaxially installed on the telescopic rod of the feed rotating module, the rotary feed modules are respectively arranged around the ultrasonic auxiliary device, there are two types of pneumatic clamping devices, each type has two, and the wire cutting module is installed on the industrial robot arm.

[0007] The fixed module includes a vertical plate, a temperature sensor, a mounting plate, and a lower mounting platform, wherein an industrial robot arm is arranged on the vertical plate, the mounting plate is fixed on the top of the integral lifting module, a feed rotation module, a pneumatic clamping device, and a temperature sensor are arranged above the mounting plate, a through groove is opened on the mounting plate for the ultrasonic auxiliary device to pass from top to bottom, the lower mounting platform is installed with the integral lifting module, and a through hole is opened for the four racks of the integral lifting module to move from top to bottom, and the temperature sensor is an infrared temperature sensor.

[0008] The wire cutting module also includes a wire taking-up roller, a driving motor, a working guide rod, a cutting line, a mounting plate and a wire paying-off roller. The wire taking-up roller and the wire paying-off roller are respectively fixedly connected to two driving motors, and the two driving motors are respectively fixedly connected to the through holes of the mounting plate. According to the rotation direction of the cutting line, they are divided into a working motor and an auxiliary motor. The working guide rod is fixed on the through hole of the mounting plate, and the horizontal end of the working guide rod is away from the mounting plate. The cutting line is arranged starting from the wire paying-off roller, then passes through the two working guide rods of the cutting part, and finally returns to the wire taking-up roller to end the arrangement.

[0009] The wire cutting module also includes a fixed seat and a retaining frame. The fixed seat is connected to the mounting plate. The mounting axis of the fixed seat is connected to the wrist mounting hole of the industrial robot arm through a thread. There are two retaining frames, which are respectively fixed on the mounting plate and are respectively installed concentrically with the wire retracting roller and the wire pay-off roller.

[0010] The two feeding rotary modules have the same structure, one of which includes a rotary drive motor, a cylinder mechanism, a synchronous belt, a synchronous pulley, a rotary guide rod, a cylinder bracket, a rotary bracket and a ball spline, wherein the cylinder mechanism is a power telescopic mechanism, and there are two cylinder mechanisms in total, a cylinder bracket is symmetrically arranged on the left and right sides of the cylinder mechanism, the cylinder mechanism is mounted on the cylinder bracket through a cylindrical roller bearing, and all are concentrically arranged through the through holes of the cylinder bracket, the cylinder bracket is installed in the same horizontal direction along the mounting plate, the rotary drive motor is mounted on the mounting plate through the motor mounting plate, the rotary drive motor is fixedly arranged in the inner space of the cylinder bracket, the synchronous pulley is mounted on the rotary guide rod, the synchronous belt is mounted between the two synchronous pulleys, the rotary drive motor drives the rotary guide rod to rotate through the synchronous belt, four guide rod brackets are provided with through holes, all are coaxially fixedly mounted on the mounting plate with the rotary guide rod as the reference, the synchronous pulley is mounted on the telescopic rod of the cylinder mechanism through a ball spline, and the height positions of the through holes of the four guide rod brackets of the two feeding rotary modules are inconsistent.

[0011] The cylinder mechanism comprises a cylinder barrel, an upper end cover, a piston, a telescopic rod, a lower end cover, an air inlet and an air outlet, wherein the telescopic rods of the cylinder mechanisms on both sides should be concentrically arranged and installed, the telescopic rods are provided with grooves, the piston is located in the cylinder barrel, the upper end cover and the lower end cover are respectively connected to the two ends of the cylinder barrel, the lower end cover is provided with an air inlet, and the upper end cover is provided with an air outlet.

[0012] The structures of the two sets of the four pneumatic clamping devices facing each other are the same, and one set includes a clamping plate, a connecting plate, a gear sector block, a cylinder top cover, a cylinder shell, a rack block, a cylinder push rod and a cylinder inner block, wherein the clamping plates are arranged on both sides of the cylinder inner block and are respectively connected to the connecting plates, the connecting plates are fixed at the grooves on both sides of the clamping plates, the connecting plates are connected to the gear sector block by bolts, the gear sector block is connected to the rack block, the rack block is fixedly installed on the pneumatic push rod by bolts, and the pneumatic cylinder top cover, the pneumatic cylinder shell and the pneumatic cylinder body are connected together by bolts; In another set of specimens, the clamping plate is replaced by a specimen protection plate, and the protection plate is fixedly connected to the connecting plate.

[0013] The ultrasonic auxiliary device comprises an ultrasonic tangential transducer, an ultrasonic torsion transducer, an ultrasonic connector, an ultrasonic amplitude transformer, an ultrasonic vibration table, a lower mounting plate, four connecting rods and a zero amplitude point fixture, wherein the upper and lower ends of the four connecting rods are rigidly connected to the ultrasonic vibration table and the lower mounting plate respectively, the ultrasonic vibration table is composed of an external block and an internal block, the internal block is connected to the external block through an axis and a small square, and a through hole is opened in the center of the internal block, which is connected to the ultrasonic amplitude transformer, the lower end of the ultrasonic tangential transducer is connected to the upper end of the lower mounting plate, a threaded hole is opened on the lower mounting plate, the zero amplitude point fixture is fixedly installed with the lower mounting plate through a stud, and the zero amplitude point fixture has the same diameter as the ultrasonic connector and is coaxially installed at the zero amplitude point of the ultrasonic connector.

[0014] The integral lifting module includes a servo motor, four transmission shafts, four racks, eight gears, four mounting seats, a motor bracket, a coupling and an installation box, wherein the servo motor is installed on the installation platform of the fixed module, a rack cooperates with two gears and is installed and fixed in the installation box, the upper ends of the four mounting seats are connected to the connecting plate by bolts, and the lower ends of the mounting seats are installed and fixed on the installation box, three of the four transmission shafts are longer and one is shorter, one side of the shorter transmission shaft is connected to the servo motor through a coupling, and the other side is connected to the mounting seat, and both sides of the three long transmission shafts are connected by the installation box.

[0015] The beneficial effects of the present invention are: novel structure, ultrasonic-assisted wire cutting is manipulated by a robotic arm, which can reduce the damage to the solid propellant to a very low level, and at the same time can obtain samples with lower roughness and higher coaxiality, and ultrasonic assistance can reduce the force of the tool on the propellant, thereby improving safety; through a series of clamping and rotating modules, multiple changes in the clamping of the propellant in multiple cutting processes can be achieved, thereby improving processing efficiency and reducing human interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide further understanding of the present invention and constitute a part of this application. The illustrative examples of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0017] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a structural schematic diagram of a fixing module of the present invention; Figure 3 It is a structural schematic diagram of the wire cutting module of the present invention; Figure 4 It is a structural schematic diagram of the rotary feed module of the present invention; Figure 5 It is a schematic diagram of the cylinder structure in the rotary feed module of the present invention; Figure 6 It is a schematic diagram of the arrangement of two sets of rotary feed modules of the present invention; Figure 7 It is a structural schematic diagram of the first pneumatic clamping device of the present invention; Figure 8 is a cross-sectional view of a first set of pneumatic clamping devices of the present invention; Fig. 9 It is a schematic diagram of the use of the first set of pneumatic clamping devices of the present invention; Fig.10 is a top view of the structure of the second pneumatic clamping device of the present invention; Fig.11 It is a schematic diagram of a protection plate of a second set of pneumatic clamping devices of the present invention; Fig.12 It is a schematic diagram of the ultrasonic tangential transducer, ultrasonic torsional transducer, ultrasonic connector, and ultrasonic horn of the present invention; Fig.13 It is a schematic diagram of the structure of the ultrasound-assisted device of the present invention; Fig.14 It is a schematic diagram of the structure of the ultrasonic vibration table of the present invention; Fig.15 It is a structural schematic diagram of the integral lifting device of the present invention; Fig.16 This is a process diagram of the first stage of the solid propellant cutting process of the present invention; Fig.17 It is a schematic diagram of the first and second clamping ends of the solid propellant cut process of the present invention; Fig.18 It is a schematic diagram of the third and fourth clamping ends of the solid propellant cutting process of the present invention; Fig.19 This is a diagram of the solid propellant sample after the fifth and sixth clamping ends are cut and processed according to the present invention, that is, the solid propellant sample is processed and processed. DETAILED DESCRIPTION

[0018] See also Figure 1 , including an industrial robot arm 1, a fixed module 2, a wire cutting module 3, a feed rotating module 4, a pneumatic clamping device 5, an ultrasonic auxiliary device 6 and an integral lifting device 7, wherein the industrial robot arm 1, the feed rotating module 4, the pneumatic clamping device 5, the ultrasonic auxiliary device 6 and the integral lifting device 7 are respectively installed on the fixed module 2, the feed rotating module 4 and the pneumatic clamping device 5 are respectively provided with two and four, one rotary feed module 4 corresponds to two pneumatic clamping devices 5, and the pneumatic clamping device 5 is coaxially installed on the telescopic rod of the feed rotating module 4, the rotary feed modules 4 are respectively arranged around the ultrasonic auxiliary device 6, so as to adjust the clamping force, clamping angle and clamping range of the solid propellant, the pneumatic clamping device 5 has two types, each type has two, and the two types of pneumatic clamping devices 5 are respectively used in the first, second and third stages of the solid propellant cutting process; the wire cutting module 3 is installed on the industrial robot arm 1.

[0019] See also Figure 2The fixing module 2 includes a vertical plate 201, a temperature sensor 202, a mounting plate 203, and a lower mounting platform 204, wherein an industrial robot arm 1 is arranged on the vertical plate 201, and the axis of the robot arm chassis is kept horizontal to the ground, and the vertical plate 201 should be thick enough to prevent the industrial robot arm 1 from falling off. The mounting plate 203 is fixed on the top of the integral lifting module 7, and a feed rotation module 4, a pneumatic clamping device 5, and a temperature sensor 202 are arranged above the mounting plate 203. A through groove is opened on the mounting plate 203 for the ultrasonic auxiliary device 6 to pass through from top to bottom. The lower mounting platform 204 is installed with the integral lifting module 7, and a through hole is opened for the four racks 701 of the integral lifting module 7 to move from top to bottom. The temperature sensor 202 is an infrared temperature sensor, which can accurately monitor the temperature of the solid propellant without contact.

[0020] See also Figure 3 The wire cutting module 3 also includes a take-up roller 301, a drive motor 302, a working guide rod 303, a cutting line 304, a mounting plate 305 and a pay-off roller 306. The take-up roller 301 and the pay-off roller 306 are respectively fixedly connected to the two drive motors 302, and the two drive motors are respectively fixedly connected to the through holes of the mounting plate 307. According to the rotation direction of the cutting line 304, they are divided into a working motor and an auxiliary motor. The working motor drives the pay-off roller to rotate, and the auxiliary motor releases the cutting line 304 to assist the working motor in working; the working guide rod 303 is installed and fixed on the through hole of the mounting plate 305, and the horizontal end of the working guide rod is away from the mounting plate. The cutting line 304 is arranged from the pay-off roller 306, then passes through the two working guide rods 303 of the cutting part, and finally returns to the take-up roller 301 to end the arrangement.

[0021] The wire cutting module 3 also includes a fixed seat 307 and a retaining frame 308. The fixed seat 307 is connected to the mounting plate 305. The mounting axis of the fixed seat 307 is connected to the wrist mounting hole of the industrial robot arm 1 through a thread. There are two retaining frames 308, which are respectively fixed on the mounting plate 305 and are respectively installed concentrically with the reel-and-reel roller 301 and the reel-and-reel roller 306.

[0022] See also Figure 4 , 6The two feeding rotating modules 4 have the same structure, one of which includes a rotating driving motor 401, a cylinder mechanism 402, a synchronous belt 403, a synchronous pulley 404, a rotating guide rod 405, a cylinder bracket 406, a rotating bracket 407 and a ball spline 408, wherein the cylinder mechanism 402 is a power telescopic mechanism, and there are two cylinder mechanisms 402 in total, and a cylinder bracket 406 is symmetrically arranged on the left and right sides of the cylinder mechanism 402. The cylinder mechanism 402 is installed on the cylinder bracket 406 through a cylindrical roller bearing, and is concentrically arranged through the through hole of the cylinder bracket 406. The cylinder bracket 406 is installed in the same horizontal direction along the mounting plate 203, and the rotating driving motor 401 It is installed on the mounting plate 203 through the motor mounting plate, the rotary drive motor is fixedly arranged in the inner space of the cylinder bracket 406, the synchronous pulley 404 is installed on the rotating guide rod 405, the synchronous belt 403 is installed between the two synchronous pulleys, the rotary drive motor 401 drives the rotating guide rod 405 to rotate through the synchronous belt, and the four guide rod brackets 407 are provided with through holes, which are all coaxially fixed on the mounting plate 203 with the rotating guide rod 405 as the reference, and the synchronous pulley is installed on the telescopic rod 40204 of the cylinder mechanism 402 through the ball spline 408. The height positions of the through holes of the four guide rod brackets 407 of the two feed rotating modules 4 are inconsistent.

[0023] See also Figure 5 The cylinder mechanism 402 includes a cylinder barrel 40201, an upper end cover 40202, a piston 40203, a telescopic rod 40204, a lower end cover 40205, an air inlet 40206 and an air outlet 40207, wherein the telescopic rods 40204 of the cylinder mechanisms 402 on both sides should be concentrically arranged and installed, the telescopic rods 40204 are provided with grooves, the piston 40203 is located in the cylinder barrel 40201, the upper end cover 40202 and the lower end cover 40205 are respectively connected to the two ends of the cylinder barrel 40201, the lower end cover 40205 is provided with an air inlet 40206, and the upper end cover 40202 is provided with an air outlet 40207.

[0024] See also Figure 7 , 8 9. The structures of the two sets of the four pneumatic clamping devices 5 that are opposite to each other are the same, and one set includes a clamping plate 501, a connecting plate 502, a gear sector block 503, a cylinder top cover 504, a cylinder shell 505, a rack block 506, a cylinder push rod 507 and a cylinder internal block 508, wherein the clamping plates 501 are arranged on both sides of the cylinder internal block 508 and are respectively connected to the connecting plates 502, the connecting plates 502 are fixed to the grooves on both sides of the clamping plate 501, the connecting plates 502 are connected to the gear sector block 503 by bolts, the gear sector block is connected to the rack block 506, the rack block is fixedly mounted on the pneumatic push rod 507 by bolts, and the pneumatic cylinder top cover 504, the pneumatic cylinder shell 505, and the pneumatic cylinder body 508 are connected together by bolts; See also Fig.10 , 11 In another set of samples, the clamping plate 501 is replaced by a sample protection plate 509 , and the protection plate 509 is fixedly connected to the connecting plate 502 .

[0025] See also Fig.12 , 13 , 14, the ultrasonic auxiliary device 6 includes an ultrasonic tangential transducer 601, an ultrasonic torsion converter 602, an ultrasonic connector 603, an ultrasonic amplitude transformer 604, an ultrasonic vibration table 605, a lower mounting plate 606, four connecting rods 607 and a zero amplitude point fixture 608, wherein the upper and lower ends of the four connecting rods 607 are rigidly connected to the ultrasonic vibration table 605 and the lower mounting plate 606 respectively, the ultrasonic vibration table 605 is composed of an external block and an internal block, the internal block is connected to the external block through an axis and a small square, and a through hole is opened in the center of the internal block, which is connected to the ultrasonic amplitude transformer 604, the lower end of the ultrasonic tangential transducer 601 is connected to the upper end of the lower mounting plate 606, and a threaded hole is opened on the lower mounting plate 606, the zero amplitude point fixture 608 is fixedly installed with the lower mounting plate 606 through a stud, and the zero amplitude point fixture 608 has the same diameter as the ultrasonic connector 603 and is coaxially installed at the zero amplitude point of the ultrasonic connector 603.

[0026] See also Fig.15 The integral lifting module 7 includes a servo motor 701, four transmission shafts 702, four racks 703, eight gears 704, four mounting seats 705, a motor bracket 706, a coupling 707 and an installation box 708, wherein the servo motor 701 is installed on the installation platform 204 of the fixed module 2, a rack 703 cooperates with two gears 704 and is installed and fixed in the installation box 708, the upper ends of the four mounting seats 705 are connected to the connecting plate 203 by bolts, and the lower ends of the mounting seats are installed and fixed on the installation box 708, three of the four transmission shafts 702 are longer and one is shorter, one side of the shorter transmission shaft is connected to the servo motor 701 through a coupling 707, and the other side is connected to the mounting seat 705, and both sides of the three long transmission shafts are connected by the installation box.

[0027] Working principle: The method for cutting the solid propellant raw material block 8 comprises the following steps: The solid propellant raw material block 8 is a hydroxyl-terminated polybutadiene propellant, which is a composite propellant composed of hydroxyl-terminated polybutadiene as a binder, an inorganic oxidant, an energy additive, an isocyanate curing agent and a bonding agent, etc. It can also be a composite propellant composed of other high polymers as a binder or other energetic materials with lower strength and toughness and higher danger; (1) Use a zirconium oxide blade to cut the material blank to be tested into uniform solid propellant raw material blocks 8, and place the raw material blocks 8 in the central area of ​​the ultrasonic vibration table 605, turn on the industrial robot arm 1 and the temperature sensor 202, monitor the force and temperature, and energize the drive motor 302, the rotation drive motor 401, the cylinder mechanism 402, the cylinder clamping module 5, the ultrasonic auxiliary module 6, and the servo motor 701 to prepare for start-up; (2) According to the size of the raw material block 8, gas is introduced into a set of pneumatic clamping devices 5 with clamping plates 501 to adjust the spacing of the clamping plates 501 to a suitable level, gas is introduced into the cylinder 40201 of the feed rotating module 4, and the telescopic rod 40204 moves toward the raw material block until the connecting block 502 contacts the wall of the raw material block 8, and then the clamping block 501 is adjusted to clamp the raw material block 8. Fig.16 ; (3) The ultrasonic auxiliary module 6 is powered on to perform ultrasonic vibration on the ultrasonic vibration table 605, the drive motor 302 is powered on, and the industrial robot arm 1 cooperates with the wire cutting module 3 to cut and process the first clamping end of the mechanical test specimen; (4) The servo motor 701 of the integral lifting module 7 is powered on and rotates forward, the mounting seat 705 of the lifting mechanism 7 rises, driving the rotary feed module 4 and the pneumatic clamping device 5, and the raw material block 8 rises as a whole. The rotary drive motor 401 is started, driving the synchronous belt 403, the synchronous pulley 404, and the rotary guide rod 405 to rotate, and the telescopic rod 40204 and the cylinder mechanism are driven to rotate through the ball spline 408, thereby driving the processed raw material block 8 to rotate. After rotating 180 degrees, the rotary drive motor 401 stops working, the servo motor 701 reverses, and the mechanism descends as a whole. The first clamping end of the raw material block 8 descends to the center notch of the center block of the ultrasonic vibration table 605 until the raw material block 8 at the clamping area is close to the upper end of the ultrasonic vibration table 602, and stops working. Then, according to the method of step (1), a second clamping end symmetrical to the first clamping end of the mechanical test specimen is processed, as shown in FIG. Fig.17 ; (5) Reverse gas is introduced into the cylinder 40201 of the rotating feed module 4 to make the clamping plate 501 retreat a certain distance. According to steps (3) and (4), the third and fourth clamping ends of the mechanical test specimen are cut and processed respectively. Fig.18 ; (6) The above-mentioned rotary feed module 4 and pneumatic clamping device 5 are retracted and no longer used. Another set of rotary feed module 4 and pneumatic clamping device 5 is used. The third and fourth clamping ends of the sample pass through the through holes of the sample protection plate 509 of the pneumatic clamping device 5 until the surface of the protection plate 509 contacts the processed wall surface of the sample. According to steps (3) and (4), the fifth and sixth clamping ends of the mechanical test sample are cut and processed respectively; see Fig.19 ; (7) The other set of rotary feed module 4 and pneumatic clamping device 5 in step (6) is retracted, all power supplies are turned off, and the cutting process is completed.

[0028] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made to the present invention shall be included in the protection scope of the present invention.

Claims

1. An energetic material cutting and processing device for multi-axis mechanical testing, characterized in that: It includes an industrial robot arm, a fixed module, a wire cutting module, a feed rotating module, a pneumatic clamping device, an ultrasonic auxiliary device and an integral lifting device, wherein the industrial robot arm, the feed rotating module, the pneumatic clamping device, the ultrasonic auxiliary device and the integral lifting device are respectively installed on the fixed module, the feed rotating module and the pneumatic clamping device are respectively provided with two and four, one rotary feed module corresponds to two pneumatic clamping devices, and the pneumatic clamping devices are coaxially installed on the telescopic rod of the feed rotating module, the rotary feed modules are respectively arranged around the ultrasonic auxiliary device, there are two types of pneumatic clamping devices, each type has two, and the wire cutting module is installed on the industrial robot arm.

2. The energetic material cutting and processing device for multi-axis mechanical testing according to claim 1, characterized in that: The fixed module includes a vertical plate, a temperature sensor, a mounting plate, and a lower mounting platform, wherein an industrial robot arm is arranged on the vertical plate, the mounting plate is fixed on the top of the integral lifting module, a feed rotation module, a pneumatic clamping device, and a temperature sensor are arranged above the mounting plate, a through groove is opened on the mounting plate for the ultrasonic auxiliary device to pass from top to bottom, the lower mounting platform is installed with the integral lifting module, and a through hole is opened for the four racks of the integral lifting module to move from top to bottom, and the temperature sensor is an infrared temperature sensor.

3. The energetic material cutting and processing device for multi-axis mechanical testing according to claim 1, characterized in that: The wire cutting module also includes a wire taking-up roller, a driving motor, a working guide rod, a cutting line, a mounting plate and a wire paying-off roller. The wire taking-up roller and the wire paying-off roller are respectively fixedly connected to two driving motors, and the two driving motors are respectively fixedly connected to the through holes of the mounting plate. According to the rotation direction of the cutting line, they are divided into a working motor and an auxiliary motor. The working guide rod is fixed on the through hole of the mounting plate, and the horizontal end of the working guide rod is away from the mounting plate. The cutting line is arranged starting from the wire paying-off roller, then passes through the two working guide rods of the cutting part, and finally returns to the wire taking-up roller to end the arrangement.

4. The energetic material cutting and processing device for multi-axis mechanical testing according to claim 3, characterized in that: The wire cutting module also includes a fixed seat and a retaining frame. The fixed seat is connected to the mounting plate. The mounting axis of the fixed seat is connected to the wrist mounting hole of the industrial robot arm through a thread. There are two retaining frames, which are respectively fixed on the mounting plate and are respectively installed concentrically with the wire retracting roller and the wire pay-off roller.

5. The energetic material cutting and processing device for multi-axis mechanical testing according to claim 1, characterized in that: The two feeding rotary modules have the same structure, one of which includes a rotary drive motor, a cylinder mechanism, a synchronous belt, a synchronous pulley, a rotary guide rod, a cylinder bracket, a rotary bracket and a ball spline, wherein the cylinder mechanism is a power telescopic mechanism, and there are two cylinder mechanisms in total, a cylinder bracket is symmetrically arranged on the left and right sides of the cylinder mechanism, the cylinder mechanism is mounted on the cylinder bracket through a cylindrical roller bearing, and all are concentrically arranged through the through holes of the cylinder bracket, the cylinder bracket is installed in the same horizontal direction along the mounting plate, the rotary drive motor is mounted on the mounting plate through the motor mounting plate, the rotary drive motor is fixedly arranged in the inner space of the cylinder bracket, the synchronous pulley is mounted on the rotary guide rod, the synchronous belt is mounted between the two synchronous pulleys, the rotary drive motor drives the rotary guide rod to rotate through the synchronous belt, four guide rod brackets are provided with through holes, all are coaxially fixedly mounted on the mounting plate with the rotary guide rod as the reference, the synchronous pulley is mounted on the telescopic rod of the cylinder mechanism through a ball spline, and the height positions of the through holes of the four guide rod brackets of the two feeding rotary modules are inconsistent.

6. The energetic material cutting and processing device for multi-axis mechanical testing according to claim 5, characterized in that: The cylinder mechanism comprises a cylinder barrel, an upper end cover, a piston, a telescopic rod, a lower end cover, an air inlet and an air outlet, wherein the telescopic rods of the cylinder mechanisms on both sides should be concentrically arranged and installed, the telescopic rods are provided with grooves, the piston is located in the cylinder barrel, the upper end cover and the lower end cover are respectively connected to the two ends of the cylinder barrel, the lower end cover is provided with an air inlet, and the upper end cover is provided with an air outlet.

7. The energetic material cutting and processing device for multi-axis mechanical testing according to claim 1, characterized in that: The structures of the two sets of the four pneumatic clamping devices facing each other are the same, and one set includes a clamping plate, a connecting plate, a gear sector block, a cylinder top cover, a cylinder shell, a rack block, a cylinder push rod and a cylinder inner block, wherein the clamping plates are arranged on both sides of the cylinder inner block and are respectively connected to the connecting plates, the connecting plates are fixed at the grooves on both sides of the clamping plates, the connecting plates are connected to the gear sector block by bolts, the gear sector block is connected to the rack block, the rack block is fixedly installed on the pneumatic push rod by bolts, and the pneumatic cylinder top cover, the pneumatic cylinder shell and the pneumatic cylinder body are connected together by bolts; In another set of specimens, the clamping plate is replaced by a specimen protection plate, and the protection plate is fixedly connected to the connecting plate.

8. The energetic material cutting and processing device for multi-axis mechanical testing according to claim 1, characterized in that: The ultrasonic auxiliary device comprises an ultrasonic tangential transducer, an ultrasonic torsion transducer, an ultrasonic connector, an ultrasonic amplitude transformer, an ultrasonic vibration table, a lower mounting plate, four connecting rods and a zero amplitude point fixture, wherein the upper and lower ends of the four connecting rods are rigidly connected to the ultrasonic vibration table and the lower mounting plate respectively, the ultrasonic vibration table is composed of an external block and an internal block, the internal block is connected to the external block through an axis and a small square, and a through hole is opened in the center of the internal block, which is connected to the ultrasonic amplitude transformer, the lower end of the ultrasonic tangential transducer is connected to the upper end of the lower mounting plate, a threaded hole is opened on the lower mounting plate, the zero amplitude point fixture is fixedly installed with the lower mounting plate through a stud, and the zero amplitude point fixture has the same diameter as the ultrasonic connector and is coaxially installed at the zero amplitude point of the ultrasonic connector.

9. The energetic material cutting and processing device for multi-axis mechanical testing according to claim 1, characterized in that: The integral lifting module includes a servo motor, four transmission shafts, four racks, eight gears, four mounting seats, a motor bracket, a coupling and an installation box, wherein the servo motor is installed on the installation platform of the fixed module, a rack cooperates with two gears and is installed and fixed in the installation box, the upper ends of the four mounting seats are connected to the connecting plate by bolts, and the lower ends of the mounting seats are installed and fixed on the installation box, three of the four transmission shafts are longer and one is shorter, one side of the shorter transmission shaft is connected to the servo motor through a coupling, and the other side is connected to the mounting seat, and both sides of the three long transmission shafts are connected by the installation box.

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