Liquid rocket engine shell type casting material automatic identifying and fixing device

Abstract

The invention discloses an automatic identifying and fixing device for liquid rocket engine shell type casting materials. The automatic identifying and fixing device comprises a camera fixing support, a motor, a part positioning tool tray, a material trolley and a lifting base. The part positioning tool tray is located above the material trolley, a plurality of workpiece positioning tools designed according to the structure of a to-be-detected shell type casting product are arranged on the tray and used for placing the to-be-detected shell type casting product, and a carrier capable of identifying information of the to-be-detected product is placed beside each workpiece positioning tool; the lifting base surrounds the other three sides, except the handrail side, of the material trolley, and the motor drives the lifting base to adjust the height of the part positioning tool tray. The device is reasonable in structural design, solves the problem that product information is recognized by means of human eye observation, manual recording and the like in traditional detection, standardizes the product placement posture, reduces the labor intensity, shortens the detection period, effectively improves the detection efficiency, and realizes automatic recognition and batch automatic detection of casting product information.

Description

Technical Field

[0001] The invention relates to the technical field of optical precision measurement of castings, in particular to an automatic identification and fixing device for liquid rocket engine casing casting materials. Background Art

[0002] At present, in the field of 3D scanning and detection technology for aerospace liquid rocket engine casing castings, two methods are mainly used: manual measurement or handheld laser scanner detection. During the detection process, product information is recorded by human observation and manual input. In order to obtain more comprehensive detection data, it is necessary to manually move each piece multiple times and adjust at multiple angles. There are problems such as the inability to automatically identify basic product information, variable product placement postures, high labor intensity, low detection efficiency, long detection cycle, and inability to conduct batch detection. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to provide an automatic identification and fixing device for liquid rocket engine casing castings, to solve the technical problems of automatic identification of product information, consistent and fixed product postures, etc. during three-dimensional scanning and measurement, and to improve the automation level of three-dimensional scanning and detection of liquid rocket engine casing castings.

[0004] The technical solution of the present invention is: an automatic identification and fixing device for liquid rocket engine shell casting materials, including a camera fixing bracket, a motor, a part positioning tooling tray, a material trolley, and a lifting base; the part positioning tooling tray is located above the material trolley, and a plurality of workpiece positioning tooling designed according to the structure of the shell casting product to be tested is provided on the tray, which is used to place the shell casting product to be tested, and a carrier capable of identifying the information of the product to be tested is placed next to each workpiece positioning tooling; the lifting base surrounds the other three sides of the material trolley except the armrest side, and the motor drives the lifting base to adjust the height of the part positioning tooling tray; the camera fixing bracket is fixed on the lifting base, and is located on the opposite side of the armrest side of the material trolley.

[0005] Furthermore, the part positioning tooling tray includes a workpiece positioning tooling, a lifting bolt, and a transparent card slot; the material trolley includes a rear limit block, a body, a front limit block, a guide wheel, a wheel, a handrail, a transparent card slot II, and an anti-collision pad A; the lifting base includes a motor base, a lifting screw, a crossbeam, a right-angled triangular prism, a base, and an anti-collision pad A`;

[0006] Lift the part positioning tooling tray through the lifting bolts on the part positioning tooling tray, and fix the part positioning tooling tray on the material trolley using the front limit block and the rear limit block of the material trolley; fix the product to be tested using the workpiece positioning tool, and use the guide wheels on both sides of the material trolley to push the material trolley smoothly along the inside of the lifting base until the anti-collision pad A on the material trolley is in close contact with the anti-collision pad A` on the lifting base, and then use the two wheels on the same side of the handrail to lock the material trolley to ensure that the fixed position of the material trolley is consistent; use the visual camera on the camera fixing bracket to shoot and identify the transparent card slot of the material trolley. Ⅱ; use the motor servo installed on the motor seat to drive the lifting screws on both sides of the lifting base to work, lift the crossbeam steadily, and after it is fixed with the right-angled triangular prism, raise the part positioning tooling tray to a fixed position higher than the material trolley; use the robot camera to identify the product basic information QR code in the transparent card slot next to the workpiece positioning tooling, and transmit the product posture and basic information to the robot through the PLC. After receiving the command, the robot starts automatic inspection one by one, realizing the automatic collection of product workpiece type information and basic information and automatic batch inspection.

[0007] Furthermore, each part positioning tooling tray is designed with 3N workpiece positioning tools, N = 2 or 3, and 3 rows are arranged in the length direction. The size of the workpiece positioning tooling is determined by the size of the shell-type casting product, and the number is mainly determined by the size of the shell-type casting product and the width size of the part positioning tooling tray. When the shell-type casting product is greater than 350mm in the width direction of the part positioning tooling tray, it is designed to be 2 in each row in the width direction, for a total of 6; when it is less than or equal to 350mm, it is designed to be 3 in each row in the width direction, for a total of 9.

[0008] Furthermore, the workpiece positioning jigs are designed into two types: general and special according to the type and size of shell-type casting products. The general workpiece positioning jigs are aimed at shell-type casting products with similar structures, and a group of positioning structures are designed on each workpiece positioning jig for installing shell-type casting products with similar structures; the special workpiece positioning jigs are aimed at shell-type casting products with a single and complex structure and no similar structure, and a single positioning structure of the product is designed on each workpiece positioning jig.

[0009] Furthermore, the part positioning tooling pallet is designed as a rectangular replaceable structure, and multiple lifting bolts are designed at symmetrical positions on both sides for replacing the part positioning tooling pallet; limited holes are designed in the width direction of the matching position between the part positioning tooling pallet and the handrail side of the material trolley, so that the part positioning tooling pallet and the material trolley are accurately positioned and matched without moving; 4 right-angled triangular prism positioning holes are designed in the length direction on both sides of the part positioning tooling pallet, 2 on each side, so that the part positioning tooling pallet and the lifting base are accurately positioned.

[0010] Furthermore, the material trolley has a left-right symmetrical structure. The body is designed to be wide at the top and narrow at the bottom. It is welded with square tubes, with triangular structures on both sides and steel plates reinforced at the four corners. The four wheels are fixed on the steel plates at the four corners of the body, and four sets of guide wheels are symmetrically designed at a position of one wheel track from the ground on both sides of the body, which fit closely with the inner sides of the base to ensure that the position of the material trolley is fixed without offset when it is pushed in; a square transparent card slot is designed in the width direction of the non-armrest side of the body, which is flush with the visual camera and is used to place the workpiece type information QR code; two anti-collision pads A are symmetrically designed in the width direction of the non-armrest side of the body at a position of one wheel track from the ground to prevent rigid collision between the material trolley and the lifting base.

[0011] Furthermore, four limit blocks are designed in the width direction of the vehicle body to ensure that the part positioning tooling tray can be accurately placed on the material cart and can be lifted and dropped vertically by the lifting base beam without shaking; the four limit blocks are: two I-shaped rear limit blocks are designed in the width direction of the armrest side of the vehicle body, and the upper and lower parts of the I-shape are designed as cuboids with missing corners, which are fixed on the vehicle body, and the middle is designed as a cuboid limit boss, which is fixed and limited on the part positioning tooling tray; two L-shaped front limit blocks are designed in the width direction of the non-armrest side of the vehicle body, one L-shaped side is fixed on the vehicle body, and the other side is used to limit and fix with the part positioning tooling tray.

[0012] Furthermore, the base portion of the lifting base is designed as a 2-layer right-angle U-shaped structure, and the upper and lower base layers are fixed together by bolts;

[0013] Upper base: Multiple groups of rectangular frame square tubes are welded at equal intervals on both sides of the right-angle U-shape, and then all the exposed surfaces of the rectangular frame are welded into a plane with steel plates. Two through holes are designed on each side at symmetrical positions in the inner length direction for observation and maintenance of the operation of the lifting screw; the right-angle U-shaped crossbeam is welded at equal intervals with multiple groups of rectangular frame square tubes, and then all the exposed surfaces of the rectangular frame are welded into a plane with steel plates; according to the size of the motor, a motor seat is designed in the middle position of the outer side of the right-angle U-shaped crossbeam, which is composed of an L-shaped support plate and a rectangular frame. A rectangular frame is designed on the L-shaped support plate for motor protection. The support plate is reinforced with a right-angle triangle structure with steel plates. Two left-right symmetrical anti-collision pads A` are designed in the inner length direction of the base, flush with the anti-collision pad A of the material trolley, and a signal indicator light is designed on one side of the base for detection process monitoring;

[0014] Lower base: The two sides of the right-angled U-shape are welded with multiple groups of rectangular frame square tubes at equal intervals, and then the exposed surface of the square frame in the inner length direction is welded into a plane with steel plates. The outer length direction is not welded to facilitate observation of the operation of the lifting screw; the right-angled U-shaped crossbeam is welded with multiple groups of rectangular frame square tubes at equal intervals, and then the exposed surface of the rectangular frame in the inner length direction is welded into a plane with steel plates, and no steel plates are welded in the outer length direction; the lower base has one more rectangular frame in the length direction on both sides of the right-angled U-shape than the upper layer, and the extra rectangular frame is designed with chamfers to increase the import size, which is convenient for pushing the material cart in.

[0015] Furthermore, a lifting screw is installed in each through hole on both sides of the upper base in the length direction, a crossbeam is designed on the two lifting screws on the same side, and two right-angled triangular prisms are designed on one crossbeam.

[0016] Furthermore, a camera fixing bracket is designed in front of the lifting base, on the same side as the transparent card slot II of the material trolley, for fixing the 2D vision camera. The fixed height is flush with the square transparent card slot of the material trolley, and the 2D vision camera is used to identify the QR code information of the workpiece type.

[0017] The advantages of the present invention compared with the prior art are:

[0018] (1) The present invention designs a movable and easily replaceable material automatic identification fixture for optical precision measurement of liquid rocket engine castings, which solves the problem of relying on human visual observation, manual recording and other methods to identify product information in traditional inspections, realizes automatic identification of optical precision measurement product information, and improves the level of automation of product information identification.

[0019] (2) The whole device of the present invention has a reasonable structural design and strong practicality. A universal positioning tool is designed for products with similar structures, which improves the adaptability of the equipment, standardizes the product placement posture, reduces labor intensity, shortens the detection cycle, effectively improves the detection efficiency, and realizes the automated batch detection of casting products. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the automatic material identification and fixing device of the present invention.

[0021] Figure 2 It is a schematic diagram of the camera fixing bracket structure of the present invention.

[0022] Figure 3A and Figure 3B This is a schematic diagram of the structure of the parts positioning tooling tray of the present invention.

[0023] Figure 4A and Figure 4B It is a structural schematic diagram of the material trolley of the present invention.

[0024] Figure 5A and Figure 5B It is a schematic diagram of the lifting base structure of the present invention. DETAILED DESCRIPTION

[0025] In order to better understand the technical solution of the present invention, the specific implementation mode of the present invention is described in detail below with reference to the accompanying drawings.

[0026] According to the functional requirements of automatic information recognition, automatic batch detection, easy replacement, and easy operation of casting products during optical precision measurement, the components of the device were determined. The product positioning tooling structure was determined according to the structure, shape and size of the product to be inspected. The material of the product fixture was determined according to the product weight. After continuous optimization and iteration, the final material automatic identification fixture structure was determined, as follows:

[0027] Figure 1 The figure shows a schematic diagram of the structure of the material automatic identification and fixing device of the present invention, which includes a camera fixing bracket 1, a motor 2, a parts positioning tooling tray 3, a material trolley 4, and a lifting base 5.

[0028] Figure 2 The figure shows a schematic diagram of the camera fixing bracket structure of the present invention. The camera fixing bracket 1 is designed in front of the lifting base 5, on the same side as the square transparent card slot 407 of the material trolley, and is used to fix the 2D vision camera 101. The fixed height is flush with the transparent card slot 407 of the material trolley. The 2D vision camera 101 is used to identify the two-dimensional code information of the workpiece type. It is convenient and reliable to use and easy to replace.

[0029] Figure 3A and Figure 3B The figure shows a schematic diagram of the structure of the part positioning tooling tray of the present invention, which includes a workpiece positioning tooling 301, a lifting bolt 302, a transparent card slot 303, a right-angled triangular prism positioning hole 304, and a limit hole 305.

[0030] In order to ensure that the shell casting products are placed in a consistent posture on the pallet and can be automatically tested in batches, 3N (N = 2, 3) workpiece positioning fixtures 301 are designed on each part positioning fixture pallet 3, 3 in each row in the length direction, and each workpiece positioning fixture 301 is designed with a corresponding positioning structure according to the structure of the shell casting product. The size of the workpiece positioning fixture 301 is determined by the size of the shell casting product, and the number is mainly determined by the size of the shell casting product and the width size of the part positioning fixture pallet 3. When the shell casting product is greater than 350mm in the width direction of the part positioning fixture pallet 3, it is designed as 2 rows of 6, and when it is less than or equal to 350mm, it is designed as 3 rows of 9.

[0031] The part positioning tooling tray 3 is designed as a 1900mm×920mm rectangular replaceable structure, and four lifting bolts 302 for replacing the part positioning tooling tray are designed at symmetrical positions on both sides, ensuring that the part positioning tooling tray 3 is replaceable and the replacement is safe and secure.

[0032] In order to ensure accurate recognition of the basic information of each inspected product, a 60mm×120mm rectangular transparent card slot 303 is designed in the center of the right side of each workpiece positioning fixture 301 to place the product basic information QR code, so that the robot camera can identify more accurately, quickly and efficiently.

[0033] According to the type and size of shell-type casting products, the workpiece positioning tool 301 is designed into two types: general and special. The general workpiece positioning tool is mainly aimed at shell-type casting products with similar structures, and a group of similar positioning structures are designed on each workpiece positioning tool; the special workpiece positioning tool is mainly aimed at shell-type casting products with a single and complex structure and no similar structure, and a single positioning structure of the product is designed on each workpiece positioning tool.

[0034] To ensure that the part positioning tooling tray 3 and the material trolley 4 can be accurately positioned and do not move, two 18mm×18mm limit holes 305 are designed in the width direction of the matching position between the part positioning tooling tray 3 and the material trolley 3 on one side of the handrail; to ensure that the part positioning tooling tray 3 and the lifting base 5 are accurately positioned, four 20mm×20mm right-angled triangular prism positioning holes 304 are designed in the length direction on both sides of the part positioning tooling tray 3, with 2 on each side.

[0035] Figure 4A and Figure 4B The material trolley of the present invention is shown as a schematic diagram of the structure, including a rear limit block 401, a body 402, a front limit block 403, a guide wheel 404, a wheel 405, a handrail 406, a transparent card slot 407, and an anti-collision pad 408.

[0036] The material trolley 4 is designed to be a bilaterally symmetrical structure, and the body 402 is designed to be a top-wide and bottom-narrow structure. The upper dimensions of the body 402 are 1930mm×920mm×45mm, and the lower dimensions are 1840mm×654mm×375mm. The body 402 is welded from 40mmx40mmx3mm square tubes, with a triangular structure on both sides and steel plates reinforced at the four corners. Four φ160mm wheels 405 are fixed to the steel plates at the four corners of the body 402 using 4×M8 bolts. Four sets of φ50mm guide wheels 404 are symmetrically designed at a position of one wheelbase on both sides of the body 402 from the ground, which fit closely with the two sides of the base 505 to ensure that the material trolley 4 is fixed in position without offset when placed; the handrail 406 is designed to be a semi-enclosed U-shaped structure, welded from a φ42mmx5mm round tube, with a vertical height of 440mm, forming an angle of 70° with the ground.

[0037] In order to ensure the correct identification of the workpiece type and the correct calling of the detection program, a 140mm×140mm square transparent card slot 407 is designed in the width direction of the non-armrest side of the material trolley body 402, which is flush with the fixed 2D vision camera 101 and is used to place the workpiece type information QR code.

[0038] In order to prevent the material trolley 4 from rigidly colliding with the lifting base 5, two 80mm×80mm anti-collision pads 408 are designed in the width direction of the non-armrest side of the material trolley body 402 at a position one wheel track away from the ground, and are fixed with 4×M8 bolts in a symmetrical manner.

[0039] In order to ensure that the part positioning tooling tray 3 can be accurately placed on the material trolley 4 and can be lifted and lowered vertically by the lifting base beam 503 without shaking, four limit blocks are designed in the width direction of the material trolley body 402. 4 limit blocks: 2 I-shaped rear limit blocks 401 are designed in the width direction of the armrest side of the vehicle body 402, which are fixed to the vehicle body 402 with 2×M8 bolts. The upper and lower parts of the I-shape are designed as 58mm×18mm×43mm and 80mm×60mm×53mm cuboids with missing corners, which are fixed to the material trolley body 402 with 2×M8 bolts. The middle is designed as a 18mm×18mm×16mm rectangular limit boss, which is fixed and limited with the limit hole 305 of the part positioning tooling tray; 2 50mm×60mm L-shaped front limit blocks 403 are designed in the width direction of the non-armrest side of the vehicle body, one side is fixed to the vehicle body 402 with 2×M8 bolts, and the other side is used for the front end limit fixation of the part positioning tooling tray 3.

[0040] Figure 5A and Figure 5BThe figure shows a schematic diagram of the lifting base structure of the present invention, which includes a motor base 501, a lifting screw 502, a crossbeam 503, a right-angled triangular prism 504, a base 505, an anti-collision pad 506, and a signal indicator light 507.

[0041] The base 505 is designed as a two-layer semi-enclosed U-shaped structure, and the upper and lower base layers are fixed together by bolts.

[0042] Upper base: The size is 1820mm×1380mm×180mm. Multiple groups of 220mm×180mm rectangular frame square tubes are welded at equal intervals on both sides of the U-shaped shape, and then all the exposed surfaces of the rectangular frame are welded into a plane using 5mm thick steel plates. Two 140mm×180mm through holes are designed on each side at symmetrical positions in the inner length direction to facilitate observation and maintenance of the operation of the lifting screw 502; the U-shaped crossbeam uses multiple groups of 270mm×180mm rectangular frame square tubes welded at equal intervals, and then all the exposed surfaces of the rectangular frame are welded into a plane using 5mm thick steel plates. According to the size of motor 2, a motor seat (501) is designed in the middle position outside the U-shaped crossbeam, which is composed of an L-shaped support plate and a rectangular frame. A 225mm×160mm×200mm rectangular frame is designed on the 225mm×320mm L-shaped support plate for protecting motor 501. A 75mm wide and 12mm thick steel plate is used to reinforce the right-angled triangle structure under the support plate. The motor seat 501 is fixed to the side of the base 505 in the width direction with 3×M12 bolts, and the motor 2 is fixed to the motor seat 501 with 4×M12 bolts and 2×M8 bolts. Two 70mm×100mm left-right symmetrical anti-collision pads 506 are designed on the inner side of the length direction of the base 505, which are flush with the material trolley anti-collision pads 408 to prevent rigid collision with the material trolley 4. A signal indicator light 507 is designed on one side of the base 505 for monitoring the program running process.

[0043] Lower base: size is 2120mm×1380mm×280mm. The two sides of the U-shaped are welded with multiple groups of 220mm×280mm rectangular frame square tubes at equal intervals, and then the exposed surface of the inner length direction of the rectangular frame is welded into a flat surface with a 5mm thick steel plate to ensure that the material trolley is easy to push in. The outer length direction is not welded to facilitate observation of the operation of the lifting screw 502; the U-shaped crossbeam is welded with multiple groups of 270mm×280mm rectangular frame square tubes at equal intervals, and then the exposed surface of the inner length direction of the rectangular frame is welded into a flat surface with a 5mm thick steel plate, and the steel plate is not welded in the outer length direction. Two 310mm×160mm×10mm steel plates are welded on each side of the base, and 2×M8 bolts and 2×M12 bolts are used on each steel plate to fix the base 505 to the ground. The lower base has one more rectangular frame on both sides of the U-shaped length direction than the upper base, and the extra rectangular frame is designed with a 15° chamfer, which increases the inlet size and facilitates the entry of material carts.

[0044] A lifting screw 502 is installed in each through hole on both sides of the upper base in the length direction of the base 505, and a 1600mm×100mm×45mm beam 503 is designed on the two lifting screws 502 on the same side 1040mm apart, and one beam 503 is designed with two right-angled triangular prisms 504 1040mm apart. During the program running, the motor 2 drives the lifting screw 502 to lift the beam 503 smoothly, and after being fixed by contact with the right-angled triangular prism 504, the part positioning tooling tray 3 is lifted to a fixed position higher than the material trolley to ensure that the workpieces are placed at a consistent height.

[0045] The working principle of the device of the present invention is as follows:

[0046] The part positioning tooling pallet 3 is lifted up by the lifting bolts 302 on the part positioning tooling pallet 3, and the part positioning tooling pallet 3 is fixed on the material trolley 4 by using the front limit block 403 and the rear limit block 401 of the material trolley 4. The product to be tested is fixed by using the product positioning reference of the workpiece positioning tooling 301, and the material trolley 4 is pushed smoothly along the inner side of the lifting base 5 by using the guide wheels 404 on both sides of the material trolley until the anti-collision pad 408 is in close contact with the anti-collision pad 506, and then the material trolley 4 is locked by using the two wheels 405 on the same side of the handrail 406 to ensure that the fixed position of the material trolley is consistent. Then start the program, use the 2D vision camera 101 to shoot and identify the workpiece type QR code information in the transparent card slot 407 of the material cart, and call the corresponding product detection program. The motor 2 drives the lifting screws 502 on both sides of the lifting base 5 to work, and the part positioning tooling tray 3 is limited and fixed at the same height. The robot camera is used to identify the product basic information QR code in the transparent card slot 303 next to the workpiece positioning tooling 301, and the product posture and basic information are transmitted to the robot through the PLC. After receiving the command, the robot starts automatic detection one by one, thereby realizing the automatic collection of product workpiece type information and basic information and batch automatic detection.

[0047] It is to be understood that the present invention is described by way of embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and embodiments that can fall within the scope of the claims of this application all fall within the scope protected by the present invention.

[0048] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. An automatic identification and fixing device for liquid rocket engine casing casting materials, characterized in that: The invention comprises a camera fixing bracket (1), a motor (2), a part positioning tool tray (3), a material trolley (4), and a lifting base (5); the part positioning tool tray (3) is located above the material trolley (4); a plurality of workpiece positioning tools (301) designed according to the structure of the shell casting product to be tested are arranged on the tray, and are used to place the shell casting product to be tested; a carrier capable of identifying information of the product to be tested is placed next to each workpiece positioning tool (301); the lifting base (5) surrounds the other three sides of the material trolley (4) except the handrail side; the motor (2) drives the lifting base (5) to adjust the height of the part positioning tool tray (3); the camera fixing bracket (1) is fixed on the lifting base (5), and is located on the opposite side of the handrail side of the material trolley (4).

2. The liquid rocket engine casing casting material automatic identification and fixing device according to claim 1 is characterized in that: The part positioning tooling tray (3) includes a workpiece positioning tooling (301), a lifting bolt (302), and a transparent card slot (303); the material trolley (4) includes a rear limit block (401), a body (402), a front limit block (403), a guide wheel (404), a wheel (405), a handrail (406), a transparent card slot II (407), and an anti-collision pad A (408); the lifting base (5) includes a motor base (501), a lifting screw (502), a crossbeam (503), a right-angled triangular prism (504), a base (505), and an anti-collision pad A' (506); The part positioning tooling tray (3) is lifted by the lifting bolts (302) on the part positioning tooling tray (3), and the part positioning tooling tray (3) is fixed on the material trolley (4) by the front limit block (403) and the rear limit block (401) of the material trolley (4); the product to be tested is fixed by the workpiece positioning tooling (301), and the material trolley (4) is pushed smoothly along the inner side of the lifting base (5) by the guide wheels (404) on both sides of the material trolley until the anti-collision pad A (408) on the material trolley is in close contact with the anti-collision pad A' (506) on the lifting base, and then the material trolley (4) is locked by the two wheels (405) on the same side of the handrail (406) to ensure that the fixed position of the material trolley is consistent; the visual on the camera fixing bracket (1) is used to fix the product to be tested. The camera is used to identify the workpiece type QR code information in the transparent card slot II (407) of the material trolley; the motor (2) installed on the motor seat (501) is used to servo drive the lifting screws (502) on both sides of the lifting base (5) to work, so as to steadily lift the crossbeam (503) and, after being fixed in contact with the right-angled triangular prism (504), lift the part positioning tool tray (3) to a fixed position higher than the material trolley; the robot camera is used to identify the product basic information QR code in the transparent card slot (303) next to the workpiece positioning tool (301), and the product posture and basic information are transmitted to the robot through the PLC. After receiving the command, the robot starts automatic detection piece by piece in turn, thereby realizing the automatic collection of product workpiece type information and basic information and batch automatic detection.

3. The liquid rocket engine casing casting material automatic identification and fixing device according to claim 1 is characterized in that: Each part positioning tool tray (3) is designed with 3N workpiece positioning tools (301), N=2 or 3, and 3 rows are arranged in the length direction. The size of the workpiece positioning tools (301) is determined by the size of the shell casting product, and the number is mainly determined by the size of the shell casting product and the width size of the part positioning tool tray (3). When the shell casting product is greater than 350mm in the width direction of the part positioning tool tray (3), it is designed to have 2 in each row in the width direction, for a total of 6. When it is less than or equal to 350mm, it is designed to have 3 in each row in the width direction, for a total of 9.

4. The liquid rocket engine casing casting material automatic identification and fixing device according to claim 1 is characterized in that: The workpiece positioning fixture (301) is designed into two types, general and special, according to the type and size of the shell casting products. The general workpiece positioning fixture is designed for shell casting products with similar structures, and a group of positioning structures are designed on each workpiece positioning fixture for installing shell casting products with similar structures; the special workpiece positioning fixture is designed for shell casting products with a single, complex structure and no similar structure, and a single positioning structure of the product is designed on each workpiece positioning fixture.

5. The liquid rocket engine casing casting material automatic identification and fixing device according to claim 1 is characterized in that: The part positioning tooling tray (3) is designed as a rectangular replaceable structure, and is symmetrically provided with a plurality of lifting bolts (302) on both sides for replacing the part positioning tooling tray (3); a limiting hole (305) is designed in the width direction of the matching position between the part positioning tooling tray (3) and the handrail side of the material trolley (4), so that the part positioning tooling tray (3) and the material trolley (4) are accurately positioned and matched and do not move; four right-angled triangular prism positioning holes (304) are designed in the length direction on both sides of the part positioning tooling tray (3), two on each side, so that the part positioning tooling tray (3) and the lifting base (5) are accurately positioned.

6. The liquid rocket engine casing casting material automatic identification and fixing device according to claim 2 is characterized in that: The material trolley (4) is a bilaterally symmetrical structure. The body (402) is designed to be a wide-upper-narrow-lower structure, which is welded from square tubes, with triangular structures on both sides and steel plates reinforced at four corners. Four wheels (405) are fixed on the steel plates at the four corners of the body (402). Four sets of guide wheels (404) are symmetrically designed at a position one wheel track from the ground on both sides of the body (402), which are tightly matched with the inner sides of the base (505) to ensure that the position of the material trolley (4) is fixed without deviation when pushed in; a square transparent card slot (407) is designed in the width direction of the non-armrest side of the body (402), which is flush with the visual camera and is used to place the workpiece type information QR code; two anti-collision pads A (408) are symmetrically designed in the width direction of the non-armrest side of the body (402) at a position one wheel track from the ground to prevent the material trolley (4) from rigidly colliding with the lifting base (5).

7. The liquid rocket engine casing casting material automatic identification and fixing device according to claim 2 is characterized in that: Four limit blocks are designed in the width direction of the vehicle body (402) to ensure that the part positioning tooling tray (3) can be accurately placed on the material trolley (4) and can be lifted and lowered vertically by the lifting base crossbeam (305) without shaking; the four limit blocks are respectively: two I-shaped rear limit blocks (401) are designed in the width direction of the armrest side of the vehicle body (402), the upper and lower parts of the I-shaped are designed as cuboids with missing corners, fixed on the vehicle body (402), and the middle is designed as a cuboid limit boss, which is fixed and limited on the part positioning tooling tray; two L-shaped front limit blocks (403) are designed in the width direction of the non-armrest side of the vehicle body (402), one L-shaped surface is fixed on the vehicle body (402), and the other surface is used for limiting and fixing with the part positioning tooling tray (3).

8. The liquid rocket engine casing casting material automatic identification and fixing device according to claim 2 is characterized in that: The base (505) of the lifting base is designed as a two-layer right-angle U-shaped structure, and the upper and lower bases are fixed together by bolts; Upper base: multiple groups of rectangular frame square tubes are welded at equal intervals on both sides of the right-angled U-shape, and then all the exposed surfaces of the rectangular frame are welded into a plane using steel plates. Two through holes are designed on each side at symmetrical positions in the inner length direction for observation and maintenance of the operation of the lifting screw (502); multiple groups of rectangular frame square tubes are welded at equal intervals on the right-angled U-shaped crossbeam, and then all the exposed surfaces of the rectangular frame are welded into a plane using steel plates; a motor seat (501) is designed at the middle position of the outer side of the right-angled U-shaped crossbeam according to the size of the motor (2), which is composed of an L-shaped support plate and a rectangular frame. A rectangular frame is designed on the L-shaped support plate for motor protection. The support plate is reinforced with a steel plate to form a right-angled triangle structure. Two left-right symmetrical anti-collision pads A' (506) are designed on the inner length direction of the base (505), which are flush with the anti-collision pad A (408) of the material trolley. A signal indicator light (507) is designed on one side of the base (505) for monitoring the detection process; The lower base: the two sides of the right-angled U-shape are welded with multiple groups of rectangular frame square tubes at equal intervals, and then the exposed surface of the rectangular frame in the inner length direction is welded into a plane with a steel plate, and the outer length direction is not welded, so as to facilitate observation of the operation of the lifting screw (502); the right-angled U-shaped crossbeam is welded with multiple groups of rectangular frame square tubes at equal intervals, and then the exposed surface of the rectangular frame in the inner length direction is welded into a plane with a steel plate, and the outer length direction is not welded with a steel plate; the lower base has one more rectangular frame in the length direction of the right-angled U-shape on both sides than the upper base, and the extra rectangular frame is designed with a chamfer to increase the inlet size, so as to facilitate the material trolley (4) to be pushed in.

9. The liquid rocket engine casing casting material automatic identification and fixing device according to claim 8, characterized in that: A lifting screw rod (502) is installed in each through hole in the length direction of both sides of the upper base of the base (505), and a cross beam (503) is designed on the two lifting screw rods (502) on the same side, and two right-angled triangular prisms (504) are designed on the cross beam (503).

10. The liquid rocket engine casing casting material automatic identification and fixing device according to claim 2, characterized in that: The camera fixing bracket (1) is designed in front of the lifting base (5) and is located on the same side as the transparent card slot II (407) of the material trolley (4). It is used to fix the 2D vision camera (101). The fixing height is flush with the square transparent card slot (407) of the material trolley. The 2D vision camera (101) is used to identify the two-dimensional code information of the workpiece type.

Images