A cutting device for energetic material used in multi-axial mechanical test

Abstract

The present application relates to a kind of energetic material cutting processing device for multi-axis mechanical test test, belong to cutting processing field.Industrial robot, feed rotary module, pneumatic clamping device, ultrasonic auxiliary device and integral lifting device are respectively installed on fixed module, feed rotary module and pneumatic clamping device are respectively provided with two and four, rotary feed module is respectively arranged around ultrasonic auxiliary device, there are two types of pneumatic clamping device, and wire cutting module is installed on industrial robot.The advantages are novel structure, through the ultrasonic auxiliary wire cutting of mechanical arm control, can make the destruction of solid propellant to be very low, can obtain the sample with lower roughness and higher coaxiality, through ultrasonic auxiliary, can make the force of tool to propellant reduce, improve safety;Through a series of clamping rotary module, multiple changes of propellant clamping in multiple cutting processes can be realized, processing efficiency is improved, and personnel intervention is reduced.

Description

Technical Field

[0001] This invention belongs to the field of cutting and processing, and particularly relates to a cutting and processing device for solid propellants or other energetic materials used in multi-axis mechanical testing. Background Technology

[0002] The storage life of a solid rocket motor primarily depends on the propellant grain, which is mainly formed by casting and solidifying solid propellant. Solid propellant materials have complex properties and are highly susceptible to changes in temperature, strain, and pressure. During long-term storage, they undergo temperature fluctuations and surface corrosion, causing repeated expansion and contraction, leading to phenomena such as cracking, embrittlement, segregation, and crystallization, resulting in a rapid decline in mechanical properties. Therefore, studying the damage behavior of solid propellants is of great significance for guiding formulation design, propellant grain structure design, and ensuring the normal operation of solid rocket motors.

[0003] Due to the strong oxidizer (ammonium perchlorate) inside HTPB solid propellant, its physicochemical properties are extremely unstable, and it is highly sensitive to mechanical and thermal sensitivities. It can burn in an oxygen-free environment and may explode under ordinary impact or friction. Therefore, in solid propellant mechanical testing, in the design and manufacture of uniaxial specimens, the general approach is to first prepare a single material slurry, then mold and demold it. The mold can be a simple cuboid, which is then cut with a ceramic cutter, or a model corresponding to the specimen can be directly used for fabrication. However, in the design and manufacture of biaxial / triaxial specimens, due to the complexity of the specimens, it is not possible to use a corresponding model for demolding, as this would result in excessively large internal voids, invalidating the experimental results. Manual cutting with a cutting tool is also not recommended, as it cannot guarantee the pairwise alignment of the six axes, turning a tensile test into a shear test and affecting the experimental results.

[0004] Therefore, there is an urgent need to design a highly safe automated cutting device for manufacturing triaxial specimens for mechanical testing of solid propellants. Summary of the Invention

[0005] This invention provides an energetic material cutting and processing device for multiaxial mechanical testing, in order to solve the problems of processing quality, processing safety and automation rate in the processing of solid propellants or other energetic materials into irregular parts.

[0006] The technical solution adopted in this invention is as follows: it includes an industrial robotic arm, a fixed module, a wire cutting module, a feed rotation module, a pneumatic clamping device, an ultrasonic auxiliary device, and an overall lifting device. The industrial robotic arm, the feed rotation module, the pneumatic clamping device, the ultrasonic auxiliary device, and the overall lifting device are respectively installed on the fixed module. There are two feed rotation modules and four pneumatic clamping devices, with one rotating feed module corresponding to two pneumatic clamping devices. The pneumatic clamping devices are coaxially installed on the telescopic rod of the feed rotation module. The rotating feed modules are arranged around the ultrasonic auxiliary device. There are two types of pneumatic clamping devices, with two of each type. The wire cutting module is installed on the industrial robotic arm.

[0007] The fixed module includes a vertical plate, a temperature sensor, a mounting plate, and a lower mounting platform. An industrial robotic arm is mounted on the vertical plate. The mounting plate is fixed to the top of the overall lifting module. A feed rotation module, a pneumatic clamping device, and a temperature sensor are arranged above the mounting plate. The mounting plate has a through slot for the ultrasonic auxiliary device to pass through from top to bottom. The lower mounting platform mounts the overall lifting module and has through holes for the four racks of the overall lifting module to move from top to bottom. The temperature sensor is an infrared temperature sensor.

[0008] The wire cutting module also includes a take-up roller, a drive motor, a working guide bar, a cutting wire, a mounting plate, and a pay-off roller. The take-up roller and pay-off roller are fixedly connected to two drive motors, which are respectively fixedly connected to through holes in the mounting plate. The two drive motors are divided into a working motor and an auxiliary motor according to the rotation direction of the cutting wire. The working guide bar is installed and fixed in the through hole of the mounting plate, with its horizontal end away from the mounting plate. The cutting wire starts to be arranged from the pay-off roller, passes through the two working guide bars in the cutting section, and finally returns to the take-up roller to finish its arrangement.

[0009] The wire cutting module also includes a fixed base and a retainer. The fixed base is connected to the mounting plate, and the mounting shaft of the fixed base is connected to the wrist mounting hole of the industrial robotic arm by a thread. There are two retainers, which are respectively fixed on the mounting plate and concentrically mounted with the take-up roller and the pay-off roller.

[0010] The two feed rotary modules have identical structures. One of them 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 ball splines. The cylinder mechanism is a power telescopic mechanism with two cylinder mechanisms. One cylinder bracket is symmetrically arranged on each of the left and right sides of the cylinder mechanism. The cylinder mechanisms are mounted on the cylinder brackets via cylindrical roller bearings and are concentrically arranged through the through holes of the cylinder brackets. The cylinder brackets are installed horizontally along the mounting plate. The rotary drive motor is mounted on the mounting plate via a motor mounting plate and is fixedly arranged in the internal space of the cylinder brackets. The synchronous pulley is mounted on the rotary guide rod, and the synchronous belt is installed between the two synchronous pulleys. The rotary drive motor drives the rotary guide rod to rotate via the synchronous belt. The four guide rod brackets have through holes and are all fixedly mounted on the mounting plate coaxially with the rotary guide rod as a reference. The synchronous pulleys are mounted on the telescopic rod of the cylinder mechanism via ball splines. The height positions of the through holes of the four guide rod brackets of the two feed rotary modules are different.

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

[0012] Of the four pneumatic clamping devices, two sets of opposite devices have the same structure. One set includes a clamping plate, a connecting plate, a toothed sector block, a cylinder top cover, a cylinder outer shell, a rack block, a cylinder push rod, and a cylinder inner block. The clamping plate is arranged on both sides of the cylinder inner block and is connected to the connecting plate. The connecting plate is fixed to the slots on both sides of the clamping plate. The connecting plate is connected to the toothed sector block by bolts. The toothed sector block is connected to the rack block. The rack block is fixedly installed on the pneumatic push rod by bolts. The pneumatic cylinder top cover, the pneumatic cylinder outer shell, and the pneumatic cylinder body are connected together by bolts.

[0013] Another set of samples had the clamping plate replaced with a sample protection plate, which was fixedly connected to the connecting plate.

[0014] The ultrasonic auxiliary device includes an ultrasonic tangential transducer, an ultrasonic torsional transducer, an ultrasonic connector, an ultrasonic amplitude transformer, an ultrasonic vibration table, a lower mounting plate, four connecting rods, and a zero-amplitude point clamp. 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 consists of an outer block and an inner block. The inner block is connected to the outer block via a shaft and a small square block. A through hole is opened in the center of the inner 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 clamp is fixedly installed to the lower mounting plate via a stud. The zero-amplitude point clamp has the same diameter as the ultrasonic connector and is coaxially installed at the zero-amplitude point of the ultrasonic connector.

[0015] The overall lifting module includes a servo motor, four drive shafts, four racks, eight gears, four mounting seats, a motor bracket, couplings, and a mounting box. The servo motor is mounted on the mounting platform of the fixed module. One rack engages with two gears and is fixed in the mounting 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 fixed to the mounting box. Three of the four drive shafts are longer and one is shorter. One side of the shorter drive shaft is connected to the servo motor via a coupling, and the other side is connected to the mounting seat. Both sides of the three longer drive shafts are connected by the mounting box.

[0016] The beneficial effects of this invention are: novel structure; ultrasonic-assisted wire cutting operated by a robotic arm can minimize damage to solid propellants while obtaining samples with low roughness and high coaxiality; ultrasonic assistance can reduce the force exerted by the tool on the propellant, improving safety; and a series of clamping and rotating modules can achieve multiple changes in propellant clamping during multiple cutting processes, improving processing efficiency and reducing human intervention. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate the invention and are used to explain it, but do not constitute an undue limitation of the invention.

[0018] Figure 1 This is a schematic diagram of the structure of the present invention;

[0019] Figure 2 This is a structural schematic diagram of the fixing module of the present invention;

[0020] Figure 3 This is a schematic diagram of the wire cutting module of the present invention;

[0021] Figure 4 This is a schematic diagram of the rotary feed module of the present invention;

[0022] Figure 5 This is a schematic diagram of the cylinder structure within the rotary feed module of the present invention;

[0023] Figure 6 This is a schematic diagram showing the arrangement of the two sets of rotary feed modules of the present invention;

[0024] Figure 7 This is a schematic diagram of the structure of the first pneumatic clamping device of the present invention;

[0025] Figure 8 This is a cross-sectional view of the first pneumatic clamping device of the present invention;

[0026] Figure 9This is a schematic diagram of the use of the first pneumatic clamping device of the present invention;

[0027] Figure 10 This is a top view of the structure of the second pneumatic clamping device of the present invention;

[0028] Figure 11 This is a schematic diagram of the protective plate of the second pneumatic clamping device of the present invention;

[0029] Figure 12 This is a schematic diagram of the ultrasonic tangential transducer, ultrasonic torsional transducer, ultrasonic connector, and ultrasonic amplitude transformer of the present invention.

[0030] Figure 13 This is a schematic diagram of the ultrasonic-assisted device of the present invention;

[0031] Figure 14 This is a schematic diagram of the ultrasonic vibration table of the present invention;

[0032] Figure 15 This is a schematic diagram of the overall lifting device of the present invention;

[0033] Figure 16 This is a process diagram of the first stage of solid propellant cutting and processing according to the present invention;

[0034] Figure 17 This is a schematic diagram of the first and second clamping ends after the solid propellant cutting and processing of the present invention is completed;

[0035] Figure 18 This is a schematic diagram of the third and fourth clamping ends after the solid propellant cutting process of the present invention is completed;

[0036] Figure 19 This is a diagram of the solid propellant sample after the fifth and sixth clamping ends of the solid propellant cutting process of the present invention have been completed. Detailed Implementation

[0037] See Figure 1The system includes an industrial robotic arm 1, a fixed module 2, a wire cutting module 3, a feed rotation module 4, a pneumatic clamping device 5, an ultrasonic auxiliary device 6, and an overall lifting device 7. The industrial robotic arm 1, feed rotation module 4, pneumatic clamping device 5, ultrasonic auxiliary device 6, and overall lifting device 7 are all mounted on the fixed module 2. There are two feed rotation modules 4 and four pneumatic clamping devices 5, with one rotary feed module 4 corresponding to two pneumatic clamping devices 5. The pneumatic clamping devices 5 are coaxially mounted on the telescopic rod of the feed rotation module 4. The rotary feed modules 4 are arranged around the ultrasonic auxiliary device 6 to adjust the clamping force, clamping angle, and clamping range of the solid propellant. There are two types of pneumatic clamping devices 5, with two of each type. These two types of pneumatic clamping devices 5 are used in the first, second, and third stages of the solid propellant cutting process, respectively. The wire cutting module 3 is mounted on the industrial robotic arm 1.

[0038] See Figure 2 The fixed module 2 includes a vertical plate 201, a temperature sensor 202, a mounting plate 203, and a lower mounting platform 204. An industrial robotic arm 1 is arranged on the vertical plate 201, with the chassis axis of the robotic arm horizontal to the ground. The vertical plate 201 should be thick enough to prevent the industrial robotic arm 1 from falling off. The mounting plate 203 is fixed to the top of the overall lifting module 7. A feed rotation module 4, a pneumatic clamping device 5, and a temperature sensor 202 are arranged above the mounting plate 203. The mounting plate 203 has a through slot for the ultrasonic auxiliary device 6 to pass through from top to bottom. The lower mounting platform 204 is used to install the overall lifting module 7 and has through holes for the four racks 701 of the overall 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 solid propellant without contact.

[0039] See Figure 3 The wire cutting module 3 further includes a take-up roller 301, a drive motor 302, a working guide rod 303, a cutting wire 304, a mounting plate 305, and a feed roller 306. The take-up roller 301 and the feed roller 306 are respectively fixedly connected to two drive motors 302. 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 wire 304, they are divided into a working motor and an auxiliary motor. The working motor drives the feed roller to rotate, and the auxiliary motor feeds out the cutting wire 304 and assists the working motor. The working guide rod 303 is installed and fixed on the through hole of the mounting plate 305. The horizontal end of the working guide rod is away from the mounting plate. The cutting wire 304 starts from the feed roller 306, passes through the two working guide rods 303 of the cutting section, and finally returns to the take-up roller 301 to finish its arrangement.

[0040] The wire cutting module 3 also includes a fixed base 307 and a retainer 308. The fixed base 307 is connected to the mounting plate 305. The mounting shaft of the fixed base 307 is connected to the wrist mounting hole of the industrial robotic arm 1 by a thread. There are two retainers 308, which are respectively fixed on the mounting plate 305 and concentrically mounted with the take-up roller 301 and the feed roller 306.

[0041] See Figure 4 , 6 The two feed rotary modules 4 have identical structures. One of them includes a rotary drive motor 401, a cylinder mechanism 402, a synchronous belt 403, a synchronous pulley 404, a rotary guide rod 405, a cylinder bracket 406, a rotary bracket 407, and a ball spline 408. The cylinder mechanism 402 is a power telescopic mechanism, and there are two cylinder mechanisms 402. A cylinder bracket 406 is symmetrically arranged on each of the left and right sides of the cylinder mechanism 402. The cylinder mechanisms 402 are mounted on the cylinder brackets 406 via cylindrical roller bearings, and are concentrically arranged through the through holes of the cylinder brackets 406. The cylinder brackets 406 are installed horizontally along the mounting plate 203. The rotary drive motor 401... The motor is mounted on the mounting plate 203 via the motor mounting plate. The rotary drive motor is fixedly arranged in the internal space of the cylinder bracket 406. The synchronous pulley 404 is mounted on the rotary guide rod 405. The synchronous belt 403 is installed between the two synchronous pulleys. The rotary drive motor 401 drives the rotary guide rod 405 to rotate via the synchronous belt. The four guide rod brackets 407 have through holes and are all fixedly mounted on the mounting plate 203 with the rotary guide rod 405 as the reference axis. The synchronous pulley is mounted on the telescopic rod 40204 of the cylinder mechanism 402 via ball splines 408. The height positions of the through holes of the four guide rod brackets 407 of the two feed rotary modules 4 are not the same.

[0042] See 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. The telescopic rods 40204 of the two cylinder mechanisms 402 should be concentrically arranged and installed. The telescopic rods 40204 have 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 has an air inlet 40206, and the upper end cover 40202 has an air outlet 40207.

[0043] See Figure 7 , 89. The four pneumatic clamping devices 5 are arranged in pairs with the same structure. One set includes a clamping plate 501, a connecting plate 502, a toothed sector block 503, a cylinder top cover 504, a cylinder outer shell 505, a rack block 506, a cylinder push rod 507, and a cylinder inner block 508. The clamping plate 501 is arranged on both sides of the cylinder inner block 508 and is connected to the connecting plate 502 respectively. The connecting plate 502 is fixed at the slots on both sides of the clamping plate 501. The connecting plate 502 is connected to the toothed sector block 503 by bolts. The toothed sector block is connected to the rack block 506. The rack block is fixedly installed on the pneumatic push rod 507 by bolts. The pneumatic cylinder top cover 504, the pneumatic cylinder outer shell 505, and the pneumatic cylinder body 508 are connected together by bolts.

[0044] See Figure 10 , 11 In another set of samples, the clamping plate 501 is replaced with the sample protection plate 509, and the protection plate 509 is fixedly connected to the connecting plate 502.

[0045] See Figure 12 , 13 14. The ultrasonic auxiliary device 6 includes an ultrasonic tangential transducer 601, an ultrasonic torsional transducer 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 clamp 608. 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 consists of an outer block and an inner block. The inner block is connected to the outer block through a shaft and a small square block. A through hole is opened in the center of the inner block and 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. A threaded hole is opened on the lower mounting plate 606. The zero-amplitude point clamp 608 is fixedly installed to the lower mounting plate 606 through studs. The zero-amplitude point clamp 608 and the ultrasonic connector 603 have the same diameter and are coaxially installed at the zero-amplitude point of the ultrasonic connector 603.

[0046] See Figure 15 The overall lifting module 7 includes a servo motor 701, four drive shafts 702, four racks 703, eight gears 704, four mounting seats 705, a motor bracket 706, a coupling 707, and a mounting box 708. The servo motor 701 is mounted on the mounting platform 204 of the fixed module 2. One rack 703 cooperates with two gears 704 and is fixed in the mounting 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 fixed in the mounting box 708. Three of the four drive shafts 702 are longer and one is shorter. One side of the shorter drive shaft is connected to the servo motor 701 through the coupling 707, and the other side is connected to the mounting seat 705. The three longer drive shafts are connected to the mounting box on both sides.

[0047] Working principle:

[0048] A method for cutting solid propellant raw material block 8 includes the following steps:

[0049] 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, inorganic oxidant, energy additive, isocyanate curing agent and bonding agent, etc. It can also be other high polymers as binders or other energetic materials with low strength, low toughness and high risk.

[0050] (1) Cut the blank of the material to be tested into uniform solid propellant raw material block 8 with a zirconia blade, and place the raw material block 8 in the center area of ​​the ultrasonic vibration table 605. Turn on the industrial robotic arm 1 and the temperature sensor 202 to monitor the force and temperature. Power on the drive motor 302, the rotary 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 starting.

[0051] (2) Based on 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 appropriately. Gas is introduced into the cylinder 40201 of the feed rotation module 4, and the telescopic rod 40204 moves towards the raw material block until the connecting block 502 contacts the wall of the raw material block 8. Then, the clamping block 501 is adjusted to clamp the raw material block 8. See Figure 16 ;

[0052] (3) The ultrasonic auxiliary module 6 is powered on and ultrasonic vibration is performed on the ultrasonic vibration table 605. The drive motor 302 is powered on and the industrial robotic arm 1 and the wire cutting module 3 work together to cut and process the first clamping end of the mechanical test specimen.

[0053] (4) When the servo motor 701 of the overall lifting module 7 is powered on and rotates forward, the mounting base 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 starts, driving the synchronous belt 403, the synchronous pulley 404, and the rotary guide rod 405 to rotate. Through the ball spline 408, the telescopic rod 40204 and the cylinder mechanism rotate, 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, the mechanism descends as a whole, and the first clamping end of the raw material block 8 reaches the center notch of the center block of the ultrasonic vibration table 605 until the raw material block 8 in the clamping area is close to the upper end of the ultrasonic vibration table 602. Then, following the method of step (1), the second clamping end symmetrical to the first clamping end of the mechanical test specimen is processed. See Figure 17 ;

[0054] (5) Reverse gas is introduced into the cylinder 40201 of the rotary feed module 4, causing the clamping plate 501 to retract a certain distance. The third and fourth clamping ends of the mechanical test specimen are cut and processed according to steps (3) and (4), respectively. Figure 18 ;

[0055] (6) The rotary feed module 4 and pneumatic clamping device 5 are retracted and no longer used. Another rotary feed module 4 and pneumatic clamping device 5 are 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. The fifth and sixth clamping ends of the mechanical test sample are cut and processed according to steps (3) and (4); see Figure 19 ;

[0056] (7) Make the other set of rotary feed modules 4 and pneumatic clamping device 5 in step (6) retract, turn off all power, and the cutting process is completed.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made to the present invention should be included within the scope of protection of the present invention.

Claims

1. A cutting and processing device for energetic materials used in multiaxial mechanical testing, characterized in that: The system includes an industrial robotic arm, a fixed module, a wire cutting module, a feed rotation module, a pneumatic clamping device, an ultrasonic auxiliary device, and an overall lifting device. The industrial robotic arm, feed rotation module, pneumatic clamping device, ultrasonic auxiliary device, and overall lifting device are respectively mounted on the fixed module. There are two feed rotation modules and four pneumatic clamping devices. One rotary feed module corresponds to two pneumatic clamping devices, and the pneumatic clamping devices are coaxially mounted on the telescopic rod of the feed rotation module. The rotary feed modules are arranged around the ultrasonic auxiliary device. There are two types of pneumatic clamping devices, with two of each type. The wire cutting module is mounted on the industrial robotic arm. The wire cutting module also includes a take-up roller, a drive motor, a working guide bar, a cutting wire, a mounting plate, and a pay-off roller. The take-up roller and the pay-off roller are fixedly connected to two drive motors, which are fixedly connected to the through holes of the mounting plate. The two drive motors are divided into a working motor and an auxiliary motor according to the rotation direction of the cutting wire. The working guide bar is installed and fixed on the through hole of the mounting plate, with the horizontal end of the working guide bar away from the mounting plate. The cutting wire starts to be arranged from the pay-off roller, passes through the two working guide bars of the cutting section, and finally returns to the take-up roller to finish its arrangement. The wire cutting module also includes a fixed base and a retainer. The fixed base is connected to the mounting plate, and the mounting shaft of the fixed base is connected to the wrist mounting hole of the industrial robotic arm by a thread. There are two retainers, which are respectively fixed on the mounting plate and concentrically mounted with the take-up roller and the pay-off roller. The ultrasonic auxiliary device includes an ultrasonic tangential transducer, an ultrasonic torsional transducer, an ultrasonic connector, an ultrasonic amplitude transformer, an ultrasonic vibration table, a lower mounting plate, four connecting rods, and a zero-amplitude point clamp. 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 consists of an outer block and an inner block. The inner block is connected to the outer block through a shaft and a small square block. A through hole is opened in the center of the inner 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 clamp is fixedly installed to the lower mounting plate through a stud. The zero-amplitude point clamp has the same diameter as the ultrasonic connector and is coaxially installed at the zero-amplitude point of the ultrasonic connector.

2. The energetic material cutting and processing device for multiaxial 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. An industrial robotic arm is mounted on the vertical plate. The mounting plate is fixed to the top of the overall lifting device. A feed rotation module, a pneumatic clamping device, and a temperature sensor are arranged above the mounting plate. The mounting plate has a through slot for the ultrasonic auxiliary device to pass through from top to bottom. The lower mounting platform mounts the overall lifting device and has through holes for the four racks of the overall lifting device to move from top to bottom. The temperature sensor is an infrared temperature sensor.

3. The energetic material cutting and processing device for multiaxial mechanical testing according to claim 1, characterized in that: The two feed rotary modules have identical structures. One of them includes a rotary drive motor, a cylinder mechanism, a synchronous belt, a synchronous pulley, a rotary guide rod, a cylinder bracket, a rotary guide rod bracket, and ball splines. The cylinder mechanism is a power telescopic mechanism with two cylinder mechanisms. One cylinder bracket is symmetrically arranged on each of the left and right sides of the cylinder mechanism. The cylinder mechanisms are mounted on the cylinder brackets via cylindrical roller bearings and are concentrically arranged through the through holes of the cylinder brackets. The cylinder brackets are installed horizontally along the mounting plate. The rotary drive motor is mounted on the mounting plate via a motor mounting plate and is fixedly arranged in the internal space of the cylinder brackets. The synchronous pulley is mounted on the rotary guide rod, and the synchronous belt is installed between the two synchronous pulleys. The rotary drive motor drives the rotary guide rod to rotate via the synchronous belt. The four rotary guide rod brackets have through holes and are all fixedly mounted on the mounting plate coaxially with the rotary guide rod as a reference. The synchronous pulley is mounted on the telescopic rod of the cylinder mechanism via ball splines. The height positions of the through holes of the four rotary guide rod brackets of the two feed rotary modules are different.

4. The energetic material cutting and processing device for multiaxial mechanical testing according to claim 3, characterized in that: The cylinder mechanism includes a cylinder barrel, an upper end cover, a piston, a telescopic rod, a lower end cover, an air inlet, and an air outlet. The telescopic rods of the two cylinder mechanisms should be installed concentrically. The telescopic rods have grooves. The piston is located in the cylinder barrel. The upper end cover and the lower end cover are connected to both ends of the cylinder barrel, respectively. The lower end cover has an air inlet, and the upper end cover has an air outlet.

5. The energetic material cutting and processing device for multiaxial mechanical testing according to claim 1, characterized in that: Of the four pneumatic clamping devices, two sets of opposite devices have the same structure. One set includes a clamping plate, a connecting plate, a toothed sector block, a cylinder top cover, a cylinder outer shell, a rack block, a cylinder push rod, and an internal cylinder block. The clamping plate is arranged on both sides of the internal cylinder block and connected to the connecting plate. The connecting plate is fixed to the slots on both sides of the clamping plate. The connecting plate is connected to the toothed sector block by bolts. The toothed sector block is connected to the rack block. The rack block is fixedly installed on the pneumatic push rod by bolts. The pneumatic cylinder top cover, pneumatic cylinder outer shell, and pneumatic cylinder body are connected together by bolts. The other set of samples replaces the clamping plate with a sample protection plate, which is fixedly connected to the connecting plate.

6. The energetic material cutting and processing device for multiaxial mechanical testing according to claim 1, characterized in that: The overall lifting device includes a servo motor, four drive shafts, four racks, eight gears, four mounting seats, a motor bracket, couplings, and a mounting box. The servo motor is mounted on the mounting platform of the fixed module. One rack engages with two gears and is fixed in the mounting 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 fixed to the mounting box. Three of the four drive shafts are longer, and one is shorter. One side of the shorter drive shaft is connected to the servo motor via a coupling, and the other side is connected to the mounting seat. Both sides of the three longer drive shafts are connected by the mounting box.

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