Demoulding device for coated grain of solid rocket engine

Abstract

The invention relates to an automatic demolding system for a coated grain in the charging process of a solid rocket engine, in particular to a demolding device for the coated grain of the solid rocket engine, which comprises a demolding robot, a demolding manipulator, a special demolding machine and a pin pulling assembly. Automatic demolding of the solid rocket engine coated grain can be achieved, the problems that in the demolding process, manual operation needs to be conducted through multiple tools, and the operation difficulty is high are solved, compared with an existing manual or machine auxiliary method, the operation precision is high, the function adaptability is high, efficiency is high, the labor intensity is effectively reduced, and the labor intensity is lowered. The system has the advantages of modular composition, simple structure, compact layout, high reliability, convenience in maintenance and the like. The demolding device has the function of monitoring the demolding force and the demolding speed, demolding can be stopped immediately once the demolding force and the demolding speed are out of tolerance, and safety accidents are avoided. The mold can also meet the demolding requirements of coated grains of different specifications and sizes, and the universality and adaptability of the production process are improved.

Description

Technical Field

[0001] The invention relates to an automatic demoulding system for coated grains in a solid rocket engine charge process, in particular to a demoulding device for coated grains in a solid rocket engine. Background Art

[0002] Demolding of coated grain is the process of separating the coated grain that has been solidified in the mold from the mold. Since the mold and the coated grain are in contact and produce relative displacement, friction and static electricity may affect the safety of the process. Therefore, it is a very important and highly dangerous link in the manufacturing of solid rocket engines.

[0003] At present, the demoulding of the powder column mainly relies on manual use of jacks, cranes or other semi-automatic auxiliary equipment in conjunction with staff to manually complete the demoulding operation. Workers need to rely on experience to control the demoulding speed, and the demoulding force and demoulding speed cannot be dynamically monitored. This not only poses a safety risk but also has high labor intensity. Summary of the Invention

[0004] In view of the above problems, the object of the present invention is to provide a solid rocket motor coated grain demoulding device.

[0005] The object of the present invention is achieved through the following technical solutions:

[0006] A solid rocket engine coated grain demoulding device, comprising a demoulding robot, a demoulding manipulator, a demoulding machine, and a pin pulling assembly;

[0007] The demoulding machine is used to provide positioning and fixing of the bottom of the whole coated grain column to be demoulded, to provide fixing of the top of the whole coated grain column to be demoulded, and to monitor the demoulding force when the mold of the whole coated grain column to be demoulded is separated from the coated grain column body;

[0008] The pin pulling assembly is located outside the demoulding machine, and is used to correspondingly pull out the fixing pins connected between the mold for the entire coated drug column to be demoulded and the bottom mold;

[0009] The demoulding robot is located on the outside of the demoulding machine, and the demoulding manipulator is arranged on the driving end of the demoulding robot. The demoulding robot is used to drive the demoulding manipulator to move, and the demoulding manipulator is used to clamp the mold of the coated medicine column to be demoulded as a whole, the coated medicine column body and the bottom mold respectively; when the demoulding manipulator clamps the mold of the coated medicine column to be demoulded as a whole, the demoulding robot drives the demoulding manipulator to move upward, thereby separating the mold of the coated medicine column to be demoulded as a whole from the bottom mold and the coated medicine column body respectively.

[0010] The pin pulling assembly includes a pin pulling machine bracket, a pin pulling extension cylinder, a pin pulling hand cylinder connecting plate, a pin pulling hand cylinder, and a pin pulling finger;

[0011] The pin pulling machine bracket is located on the outside of the demoulding machine, the fixed end of the pin pulling cylinder is arranged on the top of the pin pulling machine bracket, the driving end of the pin pulling cylinder can be extended and retracted in the horizontal direction close to or away from the demoulding machine, the pin pulling clamp cylinder connecting plate is arranged on the driving end of the pin pulling cylinder, the fixed end of the pin pulling clamp cylinder is arranged on the pin pulling clamp cylinder connecting plate, the pin pulling clamp cylinder has two symmetrical clamping ends, each clamping end of the pin pulling clamp cylinder is respectively connected to a pin pulling clamp finger, the pin pulling clamp cylinder drives the two corresponding pin pulling clamp fingers to open and close, and is used to clamp or release the fixing pin of the entire coated medicine column to be demoulded.

[0012] The demoulding robot comprises a robot base plate, a robot end flange, a movable clamping block driving cylinder, a fixed clamping block mounting frame, a fixed clamping block, a movable clamping block mounting frame, and a movable clamping block;

[0013] The cam is connected to the base plate of the manipulator and is used to connect the driving end of the demoulding robot. The fixed clamp block mounting bracket is fixed to the base plate of the manipulator, and one end of the fixed clamp block mounting bracket is located on the side of the manipulator base plate away from the end flange of the manipulator. The fixed clamp block mounting bracket is provided with a plurality of fixed clamp blocks at one end of the manipulator base plate, and the fixed end of the movable clamp block driving cylinder is fixed to the base plate of the manipulator, and the driving end of the movable clamp block driving cylinder is connected to the movable clamp block mounting bracket. The movable clamp block mounting bracket is provided with a plurality of movable clamp blocks at one end of the movable clamp block mounting bracket away from the

[0014] The movable clamp block driving cylinder drives the movable clamp block mounting frame to move horizontally in a direction away from or close to the fixed clamp block mounting frame, thereby enabling the movable clamp block and the fixed clamp block used in conjunction to respectively clamp or release the mold of the entire coated medicine column to be demolded, the coated medicine column body and the bottom mold.

[0015] The movable clamping block mounting frame is connected to the manipulator base plate through a guide rail slider assembly A, and a limit block A for limiting the moving range of the movable clamping block mounting frame is installed on the manipulator base plate; rubber pads are respectively provided on the clamping surface of the movable clamping block and the clamping surface of the fixed clamping block.

[0016] A force sensor for assisting in detecting the demoulding force is provided between the end flange of the manipulator and the driving end of the demoulding robot; an industrial camera is installed on the top of the manipulator base plate, and the industrial camera is used to photograph the entire coated medicine column to be demoulded and to assist the demoulding manipulator in positioning and grasping the mold.

[0017] The demoulding machine includes a basic frame component, a bottom mold positioning and clamping component, and a pressing block driving component. The basic frame component includes a demoulding machine lower frame and a demoulding machine upper frame. The demoulding machine upper frame is fixed to the demoulding machine lower frame. The bottom mold positioning and clamping component is arranged on the demoulding machine lower frame and is located at the front side of the demoulding machine upper frame. The pressing block driving component is arranged on the demoulding machine upper frame.

[0018] The bottom mold positioning and clamping component is used to provide positioning and fixation for the bottom of the entire coated grain to be demoulded, and to dynamically monitor the demoulding force when the mold of the entire coated grain to be demoulded is separated from the coated grain body;

[0019] The pressing block driving component is used to press the top of the coated medicine column to be demoulded as a whole when the demoulding robot moves upward to separate the mold of the coated medicine column to be demoulded as a whole from the coated medicine column body.

[0020] The bottom mold positioning and clamping components include a clamping base plate, a lateral adjustment plate, a longitudinal adjustment plate, a tension and compression sensor, an upper connecting plate, a clamping finger clamping cylinder, a clamping finger mounting seat, a stepped clamping finger, a stepped positioning block mounting seat, and a stepped positioning block;

[0021] 4. The repairing kit for automotive dents, according to claim 1, wherein a bottom of the foot stand comprises a through-hole, and the two foot pieces comprise two bosses, wherein the bosses comprise a through-hole, a screw bolt, and a nut. The bosses comprise a through-hole, a screw bolt, and a nut. The two foot pieces comprise a through-hole, a screw bolt, and a nut.

[0022] The bottoms of several tension and compression sensors are respectively mounted on the top surface of the longitudinal adjustment plate, and the tops of the respective tension and compression sensors are respectively connected to the bottom surface of the upper connecting plate. The bottoms of several guide shafts are also respectively mounted on the top surface of the longitudinal adjustment plate, and the tops of the respective guide shafts pass through the upper connecting plate. The tension and compression sensors are used to monitor the demolding force when the mold of the entire coated grain to be demolded is separated from the coated grain body.

[0023] The fixed end of the clamping finger clamping cylinder is installed in the middle of the top surface of the upper connecting plate, and the clamping finger clamping cylinder has a plurality of clamping ends evenly arranged along the circumference, and each clamping end of the clamping finger clamping cylinder is respectively installed with a clamping finger mounting seat, and each of the clamping finger mounting seats is respectively provided with a stepped clamping finger, and each of the stepped clamping fingers is evenly distributed along the circumference of the clamping finger clamping cylinder and is used to clamp or release the bottom mold of the whole coated medicine column to be demolded; a plurality of stepped positioning block mounting seats are evenly provided on the top surface of the upper connecting plate and on the outer side of the clamping finger clamping cylinder along the circumference, and a stepped positioning block is respectively provided on the top of each stepped positioning block mounting seat, and each stepped positioning block is evenly distributed along the circumference of the clamping finger clamping cylinder and is used to place and position the bottom mold in the whole coated medicine column to be demolded.

[0024] The clamping block drive component includes a lifting drive member, a lead screw, a guide rail slider assembly B, a clamping lifting bracket, a horizontal fixing plate, a clamping telescopic cylinder, a guide rail slider assembly C, a horizontal slide, and a clamping block;

[0025] The lifting drive member is installed on the upper frame of the demoulding machine, and the lead screw is rotatably arranged on the upper frame of the demoulding machine, and the axis of the lead screw is perpendicular to the horizontal plane, and the bottom of the pressing lifting bracket is connected to the upper frame of the demoulding machine through the guide rail slider assembly B. The pressing lifting bracket is provided with a nut which is threadedly connected to the lead screw, and the horizontal fixed plate is installed on the top of the pressing lifting bracket, and the fixed end of the pressing telescopic cylinder is fixedly connected to the horizontal fixed plate, and the driving end of the pressing telescopic cylinder is connected to one end of the horizontal slide in the length direction of the horizontal slide, and the horizontal slide and the horizontal fixed plate are connected through the guide rail slider assembly C, and the other end of the horizontal slide in the length direction is connected to the upper end of the pressing block, and the lower end of the pressing block is used to press the top of the entire coated medicine column to be demoulded;

[0026] The lifting drive component drives the clamping lifting bracket to lift and lower through the screw and guide rail slider assembly B, and the driving end of the clamping telescopic cylinder telescopes back and forth to drive the horizontal slide and the clamping block to move away from or close to the entire coated medicine column to be demolded.

[0027] The upper frame of the demoulding machine is provided with a soft limit block for limiting the up and down movement range of the pressing lifting bracket, and the upper frame of the demoulding machine is also provided with a marking piece for marking the lifting position of the pressing lifting bracket;

[0028] The horizontal fixed plate is provided with a limit stop B for limiting the forward and backward movement range of the horizontal slide.

[0029] The demoulding machine also includes an anti-overturning manipulator component, which includes an anti-overturning gripper mounting plate, a synchronous pulley, a synchronous belt, an anti-overturning gripper drive cylinder, gripper A, gripper B, a gripper clamping block, a gripper A base, a gripper B base, and a guide rail slider assembly D;

[0030] The anti-overturning gripper mounting plate is installed on the upper frame of the demoulding machine, and the anti-overturning gripper mounting plate is provided with two synchronous pulleys arranged correspondingly on the left and right, and the two synchronous pulleys are connected by a synchronous belt, and the fixed end of the anti-overturning gripper driving cylinder is installed on the anti-overturning gripper mounting plate, and the telescopic direction of the driving end of the anti-overturning gripper driving cylinder and the length direction of the synchronous belt are parallel to the left and right directions of the lower frame of the demoulding machine. The gripper A base is respectively connected to the synchronous belt and the driving end of the anti-overturning gripper driving cylinder, and the gripper B base is also connected to the synchronous belt, and the gripper A base and the gripper B base are respectively connected to the anti-overturning gripper mounting plate through a corresponding set of guide rail slider assemblies D, the gripper A is installed on the gripper A base, and the gripper B is installed on the gripper B base, and the setting positions of the gripper A and the gripper B correspond to each other on the left and right, and the gripper A and the gripper B are respectively provided with the gripper clamping blocks;

[0031] The driving end of the anti-overturning gripper driving cylinder is extended and retracted to drive the synchronous belt to rotate, thereby driving the base of gripper A and the base of gripper B to move closer to or away from each other, so that gripper A and gripper B cooperate with each other to clamp or release the coated drug column body.

[0032] The advantages and positive effects of the present invention are:

[0033] 1. The solid rocket engine coated grain demoulding device of the present invention can be designed with a larger size margin, can have a structure that is adaptable to coated grains of various types of engines, and can be compatible with the co-line production tasks of multi-size grain demoulding processes.

[0034] 2. The solid rocket engine coated grain demolding device of the present invention can realize the automated demolding of the solid rocket engine coated grain, solving the problem of manual operation and high difficulty of operation requiring the use of multiple tools during the demolding process. Compared with the existing manual or machine-assisted methods, it has high operation precision, strong functional adaptability, high efficiency, effectively reduces safety risks and labor intensity, and has a compact layout, with the advantages of modular composition, simple structure, compact layout, high reliability, and easy maintenance.

[0035] 3. The solid rocket engine coated grain demoulding device of the present invention is provided with a tension and compression sensor, which converts the pressure value monitored by the sensor in real time into a demoulding force during the demoulding process. Once the tolerance is exceeded, the demoulding can be stopped immediately to avoid safety accidents.

[0036] 4. The solid rocket engine coated grain demoulding device of the present invention adopts a robot to drive the terminal demoulding manipulator to carry out the demoulding operation, which can not only control the demoulding speed, but also monitor the abnormal conditions of the demoulding speed and demoulding force and match them, thereby providing a guarantee for process safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 This is a schematic diagram of the overall structure of the coated drug column to be demoulded and applicable to the present invention;

[0039] Figure 3 It is a structural schematic diagram of the pin pulling assembly of the present invention;

[0040] Figure 4 It is a structural schematic diagram of the demoulding robot of the present invention;

[0041] Figure 5 It is a structural schematic diagram of the demoulding machine of the present invention;

[0042] Figure 6 This is a schematic diagram of the arrangement structure of the lower frame and bottom mold positioning and clamping components of the demoulding machine of the present invention;

[0043] Figure 7 It is a structural schematic diagram of the anti-overturning manipulator component of the present invention.

[0044] In the figure: 1 is the demoulding robot, 2 is the demoulding manipulator, 3 is the demoulding machine, and 4 is the pin pulling component;

[0045] 5 is the pin pulling machine bracket, 6 is the pin pulling extension cylinder, 7 is the pin pulling clamp cylinder connecting plate, 8 is the pin pulling clamp cylinder, 9 is the pin pulling clamp finger;

[0046] 10 is the manipulator base plate, 11 is the manipulator end flange, 12 is the mobile clamping block driving cylinder, 13 is the fixed clamping block mounting frame, 14 is the fixed clamping block, 15 is the mobile clamping block mounting frame, 16 is the mobile clamping block, 17 is the guide rail slider assembly A, 18 is the limit block seat A, 19 is the rubber pad, and 20 is the industrial camera;

[0047] 21 is the lower frame of the demoulding machine, and 22 is the upper frame of the demoulding machine;

[0048] 23 is the clamping base substrate, 24 is the lateral adjustment plate, 25 is the longitudinal adjustment plate, 26 is the tension and compression sensor, 27 is the upper connecting plate, 28 is the clamping finger clamping cylinder, 29 is the clamping finger mounting seat, 30 is the stepped clamping finger, 31 is the stepped positioning block mounting seat, 32 is the stepped positioning block, 33 is the lateral adjustment screw mounting seat, 34 is the lateral adjustment screw, 35 is the longitudinal adjustment screw mounting seat, 36 is the longitudinal adjustment screw, and 37 is the guide shaft;

[0049] 38 is the lifting drive component, 39 is the lead screw, 40 is the guide rail slider assembly B, 41 is the clamping lifting bracket, 42 is the horizontal fixing plate, 43 is the clamping telescopic cylinder, 44 is the guide rail slider assembly C, 45 is the horizontal slide, 46 is the clamping block, 47 is the soft limit block, 48 is the marking piece, and 49 is the limit block seat B;

[0050] 50 is the anti-overturning gripper mounting plate, 51 is the synchronous pulley, 52 is the synchronous belt, 53 is the anti-overturning gripper drive cylinder, 54 is gripper A, 55 is gripper B, 56 is the gripper clamping block, 57 is the gripper A base, 58 is the gripper B base, and 59 is the guide rail slider assembly D;

[0051] 60 is the demoulding robot base, 61 is the pin pulling machine foot, 62 is the pin pulling and extending cylinder fixing seat, 63 is the mobile clamping block driving cylinder fixing plate, 64 is the industrial camera mounting bracket, 65 is the demoulding machine foot, 66 is the lifting drive component fixing seat, 67 is the screw bearing seat, 68 is the tightening and telescopic cylinder connecting plate, 69 is the soft limit block fixing seat, 70 is the anti-overturning clamping hand driving cylinder connecting plate, 71 is the synchronous belt pressure block, 72 is the synchronous belt pressure block connecting seat, 73 is the side block, 74 is the synchronous belt pressure block connecting seat adjustment screw, 75 is the limit block seat C;

[0052] 001 is the entire coated grain to be demoulded, 0011 is the coated grain body, 0012 is the mold, 0013 is the bottom mold, and 0014 is the fixing pin. DETAILED DESCRIPTION

[0053] The following is combined with Figure 1-7 The present invention is described in further detail.

[0054] A solid rocket motor coated grain demoulding device, such as Figure 1-7As shown, this embodiment includes a demoulding robot 1, a demoulding manipulator 2, a demoulding machine 3, and a pin pulling component 4. The entire coated drug column to be demoulded 001 applicable in this embodiment is as follows: Figure 2 As shown, it includes a coated drug column body 0011, a mold 0012, a bottom mold 0013 and a fixing pin 0014, wherein the mold 0012 is used in conjunction with the bottom mold 0013 and is connected and locked by the fixing pin 0014 ( Figure 2 The middle mold 0012 and the bottom mold 0013 are separated for clarity. The head of the coated grain body 0011 is located in the bottom mold 0013, and the cylindrical sections of the coated grain body 0011 are all in contact with the inner circumference of the mold 0012. The demolding process is intended to separate the mold 0012 from the coated grain body 0011.

[0055] The demolding machine 3 is used to provide positioning and fixation of the bottom of the coated medicine column as a whole 001 to be demolded, to provide fixation of the top of the coated medicine column as a whole 001 to be demolded, and to monitor the demolding force when the mold 0012 of the coated medicine column as a whole 001 to be demolded is separated from the coated medicine column body 0011.

[0056] The pin pulling assembly 4 is located outside the demoulding machine 3, and the pin pulling assembly 4 is used to pull out the fixing pin 0014 connected between the mold 0012 and the bottom mold 0013 of the coated medicine column 001 to be demoulded.

[0057] The demolding robot 1 is located outside the demolding machine 3, and the demolding manipulator 2 is mounted on the driving end of the demolding robot 1. The demolding robot 1 is used to drive the demolding manipulator 2 to move. The demolding manipulator 2 is used to respectively clamp the mold 0012 of the coated drug column 001 to be demolded, the coated drug column body 0011, and the bottom mold 0013. When the demolding manipulator 2 clamps the mold 0012 of the coated drug column 001 to be demolded, the demolding robot 1 drives the demolding manipulator 2 upward, thereby separating the mold 0012 of the coated drug column 001 to be demolded from the bottom mold 0013 and the coated drug column body 0011. In this embodiment, the demolding robot 1 is mounted on the ground behind the demolding machine 3 via a demolding robot base 60. The position of the demolding machine 3 is determined by the working space of the demolding robot 1. The demolding robot 1 itself is a commercially available multi-axis robot or robotic arm product, and its movements are controlled by an external control system. The demoulding robot 1 can flexibly drive the demoulding manipulator 2 to move, and the running speed of the demoulding robot 1 is easy to control, which also makes it easy to control and monitor the demoulding speed.

[0058] Specifically, if Figure 3 As shown, the pin pulling assembly 4 in this embodiment includes a pin pulling machine bracket 5, a pin pulling extension cylinder 6, a pin pulling hand cylinder connecting plate 7, a pin pulling hand cylinder 8, and a pin pulling finger 9.

[0059] The pin pulling machine bracket 5 is located outside the demoulding machine 3 and is fixed to the ground by four pin pulling machine feet 61. The fixed end of the pin pulling cylinder 6 is set on the top of the pin pulling machine bracket 5 through the pin pulling cylinder fixing seat 62. The driving end of the pin pulling cylinder 6 can be extended and retracted in the horizontal direction close to or away from the demoulding machine 3. The pin pulling clamp cylinder connecting plate 7 is set on the driving end of the pin pulling cylinder 6. The fixed end of the pin pulling clamp cylinder 8 is set on the pin pulling clamp cylinder connecting plate 7. The pin pulling clamp cylinder 8 has two symmetrical clamping ends in upper and lower directions. Each clamping end of the pin pulling clamp cylinder 8 is respectively connected to a pin pulling clamp finger 9. The pin pulling clamp cylinder 8 drives the two corresponding pin pulling clamp fingers 9 to open and close up and down, and is used to clamp or release the fixed pin 0014 of the coated drug column 001 to be demoulded. In this embodiment, the pin pulling cylinder 6 and the pin pulling clamp cylinder 8 are both commercially available products, and their actions are controlled by an external control system.

[0060] The number and position of the pin pulling assembly 4 correspond to the number and position of the fixing pins 0014 on the coated medicine column to be demolded as a whole 001. In this embodiment, two fixing pins 0014 are provided on the coated medicine column to be demolded as a whole 001. Therefore, specifically, there are two groups of pin pulling assemblies 4 and they are respectively located on the left and right sides of the demolding machine 3.

[0061] Specifically, if Figure 4 As shown, the demoulding robot 2 in this embodiment includes a robot base plate 10, a robot end flange 11, a movable clamping block driving cylinder 12, a fixed clamping block mounting frame 13, a fixed clamping block 14, a movable clamping block mounting frame 15, and a movable clamping block 16.

[0062] The manipulator end flange 11 is connected to one side of the manipulator base plate 10 and is used to connect to the driving end of the demoulding robot 1. The fixed clamping block mounting bracket 13 is fixed to the manipulator base plate 10. The end of the fixed clamping block mounting bracket 13 away from the manipulator base plate 10 is located on the side of the manipulator base plate 10 away from the manipulator end flange 11. The end of the fixed clamping block mounting bracket 13 away from the manipulator base plate 10 is provided with two fixed clamping blocks 14. The fixed end of the mobile clamping block driving cylinder 12 is fixed by the mobile clamping block driving cylinder The fixed plate 63 is fixed to the manipulator base plate 10. The driving end of the mobile clamp block driving cylinder 12 is connected to the mobile clamp block mounting frame 15. Two mobile clamp blocks 16 are provided at the end of the mobile clamp block mounting frame 15 away from the manipulator base plate 10. Each mobile clamp block 16 is positioned to correspond to a corresponding fixed clamp block 14. The mobile clamp blocks 16 and the fixed clamp blocks 14 are used in conjunction with each other to respectively clamp or release the mold 0012, the coated grain body 0011, and the bottom mold 0013 of the entire coated grain 001 to be demolded. In this embodiment, two parallel mobile clamp block driving cylinders 12 are provided, both of which are commercially available products. The operation of the mobile clamp block driving cylinders 12 is controlled by an external control system.

[0063] The movable clamp driving cylinder 12 drives the movable clamp mounting frame 15 to move horizontally in the direction away from or close to the fixed clamp mounting frame 13, thereby enabling the movable clamp 16 and the fixed clamp 14 used in conjunction to clamp or release the mold 0012, the coated drug column body 0011 and the bottom mold 0013 of the coated drug column as a whole 001 to be demolded.

[0064] The movable clamping block mounting frame 15 is connected to the manipulator base plate 10 via a guide rail slider assembly A17. Two sets of limit blocks A18 are mounted on the manipulator base plate 10 to limit the range of movement of the movable clamping block mounting frame 15. In this embodiment, the configuration of the guide rail slider assembly A17, as well as the guide rail slider assembly B 40, guide rail slider assembly C 44, and guide rail slider assembly D 59 described below, all utilize existing technology and are therefore not described in detail. Rubber pads 19 are provided on the clamping surfaces of the movable clamping block 16 and the fixed clamping block 14, respectively. The provision of the rubber pads 19 provides a certain degree of flexibility to prevent damage to the coated drug column body 0011.

[0065] A force sensor is installed between the manipulator's end flange 11 and the demolding robot's drive end to assist in detecting demolding force, serving as a backup method. An industrial camera 20 is mounted on the top of the manipulator's base plate 10 via an industrial camera mounting bracket 64. This camera is used to capture the entire coated pellet 001 to be demolded and assist the demolding robot 2 in positioning and grasping the mold 0012. In this embodiment, both the force sensor and industrial camera 20 are commercially available products, each connected to an external control system for communication.

[0066] Specifically, if Figure 5-7 As shown, in this embodiment, the demoulding machine 3 includes a basic frame component, a bottom mold positioning and clamping component, and a pressing block driving component. The basic frame component includes a demoulding machine lower frame 21 and a demoulding machine upper frame 22. The demoulding machine upper frame 22 is fixed to the demoulding machine lower frame 21. The bottom mold positioning and clamping component is provided on the demoulding machine lower frame 21 and is located on the front side of the demoulding machine upper frame 22. The pressing block driving component is provided on the demoulding machine upper frame 22. In this embodiment, the demoulding machine lower frame 21 is fixed to the ground by four demoulding machine feet 65. The demoulding machine lower frame 21 and the demoulding machine upper frame 22 can be further provided with electrostatic detection sensors to achieve electrostatic detection. The electrostatic detection sensors can be commercially available products and are connected and communicated with an external control system.

[0067] The bottom mold positioning clamping component is used to provide positioning and fixation for the bottom of the coated medicine column as a whole 001 to be demolded, and to dynamically monitor the demolding force when the mold 0012 of the coated medicine column as a whole 001 to be demolded is separated from the coated medicine column body 0011.

[0068] The pressing block driving component is used to press the top of the coated medicine column to be demolded 001 when the demolding robot 2 moves upward to separate the mold 0012 of the coated medicine column to be demolded 001 from the coated medicine column body 0011.

[0069] Specifically, if Figure 6 As shown, the bottom mold positioning and clamping components in this embodiment include a clamping base substrate 23, a lateral adjustment plate 24, a longitudinal adjustment plate 25, a tension and compression sensor 26, an upper connecting plate 27, a clamping finger clamping cylinder 28, a clamping finger mounting seat 29, a stepped clamping finger 30, a stepped positioning block mounting seat 31, and a stepped positioning block 32.

[0070] The cam 33 is fixed to the top of the lower frame 21 of the demolding machine, and two lateral adjustment screw mounting seats 33 are provided on the cam 33 corresponding to the left and right sides of the cam. Each lateral adjustment screw mounting seat 33 is connected to two lateral adjustment screws 34 by threading. The axis of each lateral adjustment screw 34 is parallel to the left and right directions of the lower frame 21 of the demolding machine. The lateral adjustment plate 24 is placed on the cam 33 and located between the two lateral adjustment screw mounting seats 33. Each lateral adjustment screw 34 respectively abuts the outer peripheral surface of the lateral adjustment plate 24. The lateral adjustment plate 24 is provided with two longitudinal adjustment screw mounting seats 35 corresponding to the front and rear sides. Each longitudinal adjustment screw mounting seat 35 is connected to two longitudinal adjustment screws 36 by threading. The axis of each longitudinal adjustment screw 36 is parallel to the front and rear directions of the lower frame 21 of the demolding machine. The longitudinal adjustment plate 25 is placed on the lateral adjustment plate 24 and located between the two longitudinal adjustment screw mounting seats 35. Each longitudinal adjustment screw 36 respectively abuts the outer peripheral surface of the longitudinal adjustment plate 25. By adjusting the transverse adjustment screw 34 and the longitudinal adjustment screw 36 respectively, the horizontal positions of the transverse adjustment plate 24 and the longitudinal adjustment plate 25 can be adjusted and kept fixed respectively to adapt to different working conditions.

[0071] The top surface of the longitudinal adjustment plate 25 is uniformly mounted with the bottoms of four tension and compression sensors 26. The top of each tension and compression sensor 26 is connected to the bottom surface of the upper connecting plate 27. The top surface of the longitudinal adjustment plate 25 is also mounted with the bottoms of two guide shafts 37, each of which extends through the upper connecting plate 27. The tension and compression sensors 26 are used to monitor the demolding force during the separation of the mold 0012 and the coated grain body 0011 of the coated grain body 001 to be demolded. The guide shafts 37 serve as positioning guides during slight vertical movement of the upper connecting plate 27. In this embodiment, the tension and compression sensors 26 are all commercially available products and are connected to an external control system for communication.

[0072] The fixed end of a finger clamping cylinder 28 is mounted in the middle of the top surface of the upper connecting plate 27. The finger clamping cylinder 28 has three clamping ends evenly spaced along the circumference. Each clamping end of the finger clamping cylinder 28 is mounted with a finger mounting seat 29, and each finger mounting seat 29 is equipped with a corresponding stepped finger 30. Each stepped finger 30 is evenly distributed along the circumference of the finger clamping cylinder 28 and is used to clamp or release the bottom mold 0013 of the coated charge 001 to be demolded. In this embodiment, the finger clamping cylinder 28 is a commercially available product, and its operation is controlled by an external control system. Three stepped positioning block mounting seats 31 are evenly arranged along the circumference on the top surface of the upper connecting plate 27 and on the outer side of the clamping finger clamping cylinder 28. A stepped positioning block 32 is correspondingly provided at the top end of each stepped positioning block mounting seat 31. The stepped positioning blocks 32 are evenly distributed along the circumference of the clamping finger clamping cylinder 28 and are used to place and position the bottom mold 0013 in the overall coated medicine column 001 to be demolded.

[0073] Specifically, if Figure 5 As shown, the clamping block driving components in this embodiment include a lifting drive component 38, a screw 39, a guide rail slider assembly B 40, a clamping lifting bracket 41, a horizontal fixing plate 42, a clamping telescopic cylinder 43, a guide rail slider assembly C 44, a horizontal slide 45, and a clamping block 46.

[0074] The lift drive 38 is mounted on the upper frame 22 of the demolding machine via a lift drive mounting 66. In this embodiment, the lift drive 38 utilizes a conventional motor-reducer assembly, controlled by an external control system. The lead screw 39 is rotatably mounted on the upper frame 22 of the demolding machine via two corresponding lead screw bearing blocks 67, with the axis of the lead screw 39 perpendicular to the horizontal plane. The bottom of the compacting lifting bracket 41 is connected to the upper frame 22 of the demoulding machine through the guide rail slider assembly B 40. The compacting lifting bracket 41 is provided with a nut connected to the lead screw 39 by a thread. The horizontal fixed plate 42 is installed on the top of the compacting lifting bracket 41. The fixed end of the compacting telescopic cylinder 43 is fixed to the horizontal fixed plate 42. The driving end of the compacting telescopic cylinder 43 is connected to one end of the horizontal slide 45 in the length direction through the compacting telescopic cylinder connecting plate 68. The horizontal slide 45 and the horizontal fixed plate 42 are connected through the guide rail slider assembly C 44. The other end of the horizontal slide 45 in the length direction is connected to the upper end of the compacting stop block 46. The lower end of the compacting stop block 46 is used to compact the top of the coated medicine column 001 to be demoulded.

[0075] The lifting drive 38 drives the clamping lifting bracket 41 to move up and down through the screw 39 and the guide rail slider assembly B 40. The driving end of the clamping telescopic cylinder 43 stretches back and forth to drive the horizontal slide 45 and the clamping block 46 to move away from or close to the overall coated medicine column 001 to be demolded.

[0076] In this embodiment, the upper frame 22 of the demolding machine is equipped with four soft limit blocks 47 for limiting the vertical movement range of the compression lift bracket 41. Each of the four soft limit blocks 47 is mounted on the upper frame 22 via a soft limit block fixing seat 69. The upper frame 22 of the demolding machine is also equipped with four marking plates 48, which serve as indicators of when the compression lift bracket 41 has reached its full height. The marking plates 48 are located at the top and bottom of the left and right sides of the upper frame 22. The horizontal fixed plate 42 is equipped with two sets of limit blocks B 49 for limiting the forward and backward movement range of the horizontal slide 45.

[0077] In this embodiment, Figure 7 As shown, the demoulding machine 3 also includes an anti-overturning manipulator component, which includes an anti-overturning gripper mounting plate 50, a synchronous pulley 51, a synchronous belt 52, an anti-overturning gripper drive cylinder 53, gripper A 54, gripper B 55, a gripper clamping block 56, gripper A base 57, gripper B base 58, and a guide rail slider assembly D 59. The number and position of the anti-overturning manipulator components can be determined based on the overall length of the coated grain to be demoulded 001. In this embodiment, two sets of anti-overturning manipulator components are provided, corresponding to the upper and lower groups.

[0078] The anti-tilt gripper mounting plate 50 is installed on the upper frame 22 of the demoulding machine. Two synchronous pulleys 51 are arranged correspondingly on the left and right sides of the anti-tilt gripper mounting plate 50. The two synchronous pulleys 51 are connected by a synchronous belt 52. The fixed end of the anti-tilt gripper driving cylinder 53 is installed on the anti-tilt gripper mounting plate 50. The extension and retraction direction of the driving end of the anti-tilt gripper driving cylinder 53 and the length direction of the synchronous belt 52 are parallel to the left and right directions of the lower frame 21 of the demoulding machine. The gripper A base 57 is respectively connected to the synchronous belt 52 and the anti-tilt gripper driving cylinder 53 driving end, and the gripper B base 58 is also connected to the synchronous belt 52. The gripper A base 57 and the gripper B base 58 are respectively connected to the anti-tilt gripper mounting plate 50 through a corresponding set of guide rail slider assemblies D 59. The gripper A 54 is installed on the gripper A base 57, and the gripper B 55 is installed on the gripper B base 58. The gripper A 54 and the gripper B The setting positions of 55 correspond to each other on the left and right, and the clamping hand A 54 and the clamping hand B 55 are respectively provided with a clamping block 56.

[0079] The drive end of the anti-overturn gripper drive cylinder 53 retracts and retracts, driving the synchronous belt 52 to rotate. This in turn drives the gripper A base 57 and the gripper B base 58 toward or away from each other, thereby enabling gripper A 54 and gripper B 55 to cooperate with each other to clamp or release the coated charge body 0011. In this embodiment, the anti-overturn gripper mounting plate 50 is also equipped with two corresponding limit blocks C 75 on the left and right to limit the range of movement of gripper A 54 and gripper B 55.

[0080] In this embodiment, the anti-tilt gripper drive cylinder 53 is a commercially available product, and its operation is controlled by an external control system. The anti-tilt gripper drive cylinder 53 is located below the timing belt 52, and the drive end of the anti-tilt gripper drive cylinder 53 is connected to the gripper A base 57 via the anti-tilt gripper drive cylinder connecting plate 70. In this embodiment, the gripper A base 57 and the gripper B base 58 are respectively connected to the timing belt 52 via a matching timing belt pressure block 71 and a timing belt pressure block connecting seat 72. One end of a corresponding synchronous belt pressure block connecting seat 72 is respectively installed on the base 57 of the clamp A and the base 58 of the clamp B through screw A, and the other end of each synchronous belt pressure block connecting seat 72 is respectively connected to a corresponding synchronous belt pressure block 71, and each synchronous belt pressure block 71 and the corresponding synchronous belt pressure block connecting seat 72 jointly press the synchronous belt 52, and each synchronous belt pressure block connecting seat 72 is respectively provided with a long hole for screw A to pass through, and the length direction of the long hole is perpendicular to the horizontal plane, and a corresponding side guard bar 73 is also respectively installed on the base 57 of the clamp A and the base 58 of the clamp B through screw B, and each side guard bar 73 is respectively connected to two parallel synchronous belt pressure block connecting seat adjustment screws 74 through threads, and the axis of each synchronous belt pressure block connecting seat adjustment screw 74 is perpendicular to the horizontal plane, and one end of each synchronous belt pressure block connecting seat adjustment screw 74 is respectively against a corresponding synchronous belt pressure block connecting seat 72. By adjusting the adjusting screws 74 of each synchronous belt pressure block connecting seat, the fixed position of the synchronous belt pressure block connecting seat 72 can be fine-tuned to ensure the stable movement of the synchronous belt 52.

[0081] Working principle:

[0082] Driven by the demoulding robot 1, the demoulding manipulator 2 first clamps a coated medicine column to be demoulded as a whole 001, and places the coated medicine column to be demoulded as a whole 001 on the demoulding machine 3, so that the bottom mold 0013 of the coated medicine column to be demoulded as a whole 001 is coordinated with the stepped positioning block 32 on the demoulding machine 3, and the finger clamping cylinder 28 retracts to drive the finger mounting seat 29 and the stepped finger 30 to fix the bottom mold 0013.

[0083] Subsequently, the compression block 46 in the demolding machine 3, driven by the lifting drive 38 and the compression and telescopic cylinder 43, compresses the top of the coated grain column 001 to be demolded. After the top and bottom ends of the coated grain column 001 are secured, the pin extraction assembly 4 proceeds with the pin extraction process, with both pin extraction assemblies 4 operating simultaneously. The pin extraction gripper cylinder 8 extends from its initial position, opening the pin extraction gripper fingers 9. The pin extraction extension cylinder 6 extends to provide the necessary conditions for grasping the fixed pin 0014. The pin extraction gripper cylinder 8 drives the pin extraction gripper fingers 9 to clamp the fixed pin 0014. The pin extraction extension cylinder 6 then retracts, removing the fixed pin 0014.

[0084] After removing the fixing pin 0014, the demolding robot 2 clamps the mold 0012 of the coated grain body 001 to be demolded and, driven by the demolding robot 1, slowly lifts it upward along the axial direction of the coated grain body 001 to be demolded. At this point, the tension and compression sensor 26 dynamically detects the demolding force in real time and can determine whether relative displacement occurs between the mold 0012 and the coated grain body 0011. Once relative displacement is detected between the mold 0012 and the coated grain body 0011, the clamping block 46, driven by the lifting drive 38 and the clamping and telescopic cylinder 43, is lifted and retracted to a position that does not interfere with the removal of the mold 0012. The demolding robot 2 continues its demolding motion. When it reaches above the anti-tilt mechanism located below, the anti-tilt mechanism located below clamps the coated grain body 0011 to prevent it from tipping over. The demoulding robot 2 continues to perform the demoulding movement. When it rises above the anti-overturning robot component on the upper side, the anti-overturning robot component on the upper side clamps the coated grain body 0011 to prevent it from tipping over. After the mold 0012 is completely removed, the demoulding robot 2 places the removed mold 0012 on the designated mold placement station.

[0085] At this point, the coated charge body 0011 is placed vertically on the bottom mold 0013. Then, driven by the demoulding robot 1, the demoulding robot 2 grabs and clamps the coated charge body 0011. The anti-tilt manipulator components on the upper and lower sides are then released. The demoulding robot 2 then grips the coated charge body 0011 and lifts it a certain distance to separate it from the bottom mold 0013. The demoulding robot 2 then slowly places the coated charge body 0011 to the designated coated charge placement station. The finger clamping cylinder 28 of the demoulding machine 3 extends, driving the finger mounting seat 29 and stepped finger 30 to release the fixation on the bottom mold 0013. Driven by the demoulding robot 1, the demoulding robot 2 grabs the bottom mold 0013 and places it to the designated bottom mold placement station. This completes the entire process of demoulding the coated charge.

Claims

1. A solid rocket motor coated grain demoulding device, characterized by: It includes a demoulding robot (1), a demoulding manipulator (2), a demoulding machine (3), and a pin pulling assembly (4); The demoulding machine (3) is used to provide positioning and fixing of the bottom of the coated medicine column (001) to be demoulded, to provide fixing of the top of the coated medicine column (001) to be demoulded, and to monitor the demoulding force when the mold (0012) of the coated medicine column (001) to be demoulded is separated from the coated medicine column body (0011); The pin pulling assembly (4) is located outside the demoulding machine (3), and the pin pulling assembly (4) is used to correspondingly pull out the fixing pin (0014) connected between the mold (0012) and the bottom mold (0013) of the entire coated medicine column (001) to be demoulded; The demoulding robot (1) is located outside the demoulding machine (3), and the demoulding manipulator (2) is arranged on the driving end of the demoulding robot (1). The demoulding robot (1) is used to drive the demoulding manipulator (2) to move, and the demoulding manipulator (2) is used to respectively clamp the mold (0012) of the coated medicine column as a whole (001) to be demoulded, the coated medicine column body (0011) and the bottom mold (0013); when the demoulding manipulator (2) clamps the mold (0012) of the coated medicine column as a whole (001) to be demoulded, the demoulding robot (1) drives the demoulding manipulator (2) to move upward, thereby separating the mold (0012) of the coated medicine column as a whole (001) to be demoulded from the bottom mold (0013) and the coated medicine column body (0011).

2. A solid rocket motor coated grain demoulding device according to claim 1, characterized in that: The pin pulling assembly (4) comprises a pin pulling machine bracket (5), a pin pulling extending cylinder (6), a pin pulling hand clamping cylinder connecting plate (7), a pin pulling hand clamping cylinder (8), and a pin pulling clamping finger (9); The pin pulling machine bracket (5) is located on the outside of the demoulding machine (3), the fixed end of the pin pulling and extending cylinder (6) is arranged on the top of the pin pulling machine bracket (5), the driving end of the pin pulling and extending cylinder (6) can be extended and retracted in the horizontal direction close to or away from the demoulding machine (3), the pin pulling clamp cylinder connecting plate (7) is arranged on the driving end of the pin pulling and extending cylinder (6), the fixed end of the pin pulling and clamp cylinder (8) is arranged on the pin pulling and clamp cylinder connecting plate (7), the pin pulling and clamp cylinder (8) has two symmetrical clamping ends, each clamping end of the pin pulling and clamp cylinder (8) is respectively connected to a pin pulling clamp finger (9), the pin pulling and clamp cylinder (8) drives the two corresponding pin pulling and clamping fingers (9) to open and close, and is used to clamp or release the fixed pin (0014) of the whole coated medicine column (001) to be demoulded.

3. The solid rocket motor coated grain demoulding device according to claim 1, characterized in that: The demoulding robot (2) comprises a robot base plate (10), a robot end flange (11), a movable clamping block driving cylinder (12), a fixed clamping block mounting frame (13), a fixed clamping block (14), a movable clamping block mounting frame (15), and a movable clamping block (16); The manipulator end flange (11) is connected to one side of the manipulator base plate (10) and is used to connect to the driving end of the demoulding robot (1); the fixed clamping block mounting frame (13) is fixed to the manipulator base plate (10); the end of the fixed clamping block mounting frame (13) away from the manipulator base plate (10) is located on the side of the manipulator base plate (10) away from the manipulator end flange (11); the end of the fixed clamping block mounting frame (13) away from the manipulator base plate (10) is provided with a plurality of fixed clamping blocks (14); the fixed end of the movable clamping block driving cylinder (12) is fixed to On the manipulator base plate (10), the driving end of the mobile clamping block driving cylinder (12) is connected to the mobile clamping block mounting frame (15), and a plurality of mobile clamping blocks (16) are provided at one end of the mobile clamping block mounting frame (15) away from the manipulator base plate (10), and the setting position of each mobile clamping block (16) corresponds to a corresponding fixed clamping block (14). The mobile clamping blocks (16) are used in conjunction with the fixed clamping blocks (14) to respectively clamp or release the mold (0012) of the coated medicine column as a whole (001) to be demoulded, the coated medicine column body (0011) and the bottom mold (0013); The movable clamp block driving cylinder (12) drives the movable clamp block mounting frame (15) to move horizontally in a direction away from or close to the fixed clamp block mounting frame (13), thereby enabling the movable clamp block (16) and the fixed clamp block (14) used in conjunction to respectively clamp or release the mold (0012), the coated drug column body (0011) and the bottom mold (0013) of the entire coated drug column (001) to be demolded.

4. A solid rocket motor coated grain demoulding device according to claim 3, characterized in that: The movable clamping block mounting frame (15) is connected to the manipulator base plate (10) via a guide rail slider assembly A (17); a limit block A (18) for limiting the moving range of the movable clamping block mounting frame (15) is installed on the manipulator base plate (10); and rubber pads (19) are respectively provided on the clamping surfaces of the movable clamping block (16) and the clamping surfaces of the fixed clamping block (14).

5. The solid rocket motor coated grain demoulding device according to claim 3, characterized in that: A force sensor for assisting in detecting the demoulding force is provided between the manipulator end flange (11) and the driving end of the demoulding robot (1); an industrial camera (20) is installed on the top of the manipulator base plate (10), and the industrial camera (20) is used to photograph the entire coated medicine column (001) to be demoulded and to assist the demoulding manipulator (2) in positioning and grasping the mold (0012).

6. The solid rocket motor coated grain demoulding device according to claim 1, characterized in that: The demoulding machine (3) comprises a basic frame component, a bottom mold positioning and clamping component and a pressing block driving component, the basic frame component comprises a demoulding machine lower frame (21) and a demoulding machine upper frame (22), the demoulding machine upper frame (22) is fixed to the demoulding machine lower frame (21), the bottom mold positioning and clamping component is arranged on the demoulding machine lower frame (21) and is located at the front side of the demoulding machine upper frame (22), and the pressing block driving component is arranged on the demoulding machine upper frame (22); The bottom mold positioning and clamping component is used to provide positioning and fixation for the bottom of the entire coated medicine column (001) to be demoulded, and to dynamically monitor the demoulding force when the mold (0012) of the entire coated medicine column (001) to be demoulded is separated from the coated medicine column body (0011); The pressing block driving component is used to press the top of the coated medicine column to be demoulded (001) when the demoulding robot (2) moves upward to separate the mold (0012) of the coated medicine column to be demoulded (001) from the coated medicine column body (0011).

7. A solid rocket motor coated grain demoulding device according to claim 6, characterized in that: The bottom mold positioning and clamping components include a clamping base plate (23), a transverse adjustment plate (24), a longitudinal adjustment plate (25), a tension and compression sensor (26), an upper connecting plate (27), a clamping finger clamping cylinder (28), a clamping finger mounting seat (29), a stepped clamping finger (30), a stepped positioning block mounting seat (31), and a stepped positioning block (32); The clamping base substrate (23) is fixed to the top of the lower frame (21) of the demoulding machine. Two lateral adjustment screw mounting seats (33) are arranged on the clamping base substrate (23) in a corresponding manner on the left and right. Each of the lateral adjustment screw mounting seats (33) is connected to a plurality of lateral adjustment screws (34) by threading. The axis of each lateral adjustment screw (34) is parallel to the left and right directions of the lower frame (21) of the demoulding machine. The lateral adjustment plate (24) is placed on the clamping base substrate (23) and is located between the two lateral adjustment screw mounting seats (33). Each of the lateral adjustment screws (34) abuts against On the outer peripheral surface of the transverse adjustment plate (24), two longitudinal adjustment screw mounting seats (35) are arranged correspondingly in the front and rear directions. Each of the longitudinal adjustment screw mounting seats (35) is connected to a plurality of longitudinal adjustment screws (36) by threading. The axis of each longitudinal adjustment screw (36) is parallel to the front and rear direction of the lower frame (21) of the demoulding machine. The longitudinal adjustment plate (25) is placed on the transverse adjustment plate (24) and is located between the two longitudinal adjustment screw mounting seats (35). Each longitudinal adjustment screw (36) is respectively in contact with the outer peripheral surface of the longitudinal adjustment plate (25). The bottoms of several tension and compression sensors (26) are respectively mounted on the top surface of the longitudinal adjustment plate (25), and the tops of the respective tension and compression sensors (26) are respectively connected to the bottom surface of the upper connecting plate (27). The bottoms of several guide shafts (37) are also respectively mounted on the top surface of the longitudinal adjustment plate (25), and the tops of the respective guide shafts (37) pass through the upper connecting plate (27). The tension and compression sensors (26) are used to monitor the demoulding force when the mold (0012) of the coated medicine column (001) to be demoulded is separated from the coated medicine column body (0011). The fixed end of the clamping finger clamping cylinder (28) is installed in the middle of the top surface of the upper connecting plate (27), and the clamping finger clamping cylinder (28) has a plurality of clamping ends evenly arranged along the circumference, and each clamping end of the clamping finger clamping cylinder (28) is respectively installed with a clamping finger mounting seat (29), and each clamping finger mounting seat (29) is respectively provided with a stepped clamping finger (30), and each stepped clamping finger (30) is evenly distributed along the circumference of the clamping finger clamping cylinder (28) and is used to clamp or release the coated medicine to be demoulded. The bottom mold (0013) of the column as a whole (001); a plurality of the step positioning block mounting seats (31) are evenly arranged along the circumference on the top surface of the upper connecting plate (27) and on the outer side of the clamping finger clamping cylinder (28), and a step positioning block (32) is correspondingly provided at the top end of each of the step positioning block mounting seats (31). The step positioning blocks (32) are evenly distributed along the circumference of the clamping finger clamping cylinder (28) and are used for placing and positioning the bottom mold (0013) in the coated medicine column as a whole (001) to be demoulded.

8. The solid rocket motor coated grain demoulding device according to claim 6, characterized in that: The clamping block driving component includes a lifting driving member (38), a lead screw (39), a guide rail slider assembly B (40), a clamping lifting bracket (41), a horizontal fixing plate (42), a clamping telescopic cylinder (43), a guide rail slider assembly C (44), a horizontal slide seat (45), and a clamping block (46); The lifting drive member (38) is installed on the upper frame (22) of the demoulding machine, the lead screw (39) is rotatably arranged on the upper frame (22) of the demoulding machine, the axis of the lead screw (39) is perpendicular to the horizontal plane, the bottom of the pressing lifting bracket (41) is connected to the upper frame (22) of the demoulding machine through the guide rail slider assembly B (40), the pressing lifting bracket (41) is provided with a nut connected to the lead screw (39) by a thread, and the horizontal fixing plate (42) is installed on the top of the pressing lifting bracket (41) The fixed end of the compacting telescopic cylinder (43) is fixed to the horizontal fixed plate (42), the driving end of the compacting telescopic cylinder (43) is connected to one end of the horizontal slide (45) in the length direction, the horizontal slide (45) and the horizontal fixed plate (42) are connected via the guide rail slider assembly C (44), the other end of the horizontal slide (45) in the length direction is connected to the upper end of the compacting block (46), and the lower end of the compacting block (46) is used to compact the top end of the entire coated medicine column (001) to be demoulded; The lifting drive member (38) drives the pressing lifting bracket (41) to move up and down through the lead screw (39) and the guide rail slider assembly B (40), and the driving end of the pressing telescopic cylinder (43) moves forward and backward to drive the horizontal slide (45) and the pressing block (46) to move away from or close to the entire coated medicine column (001) to be demoulded.

9. The solid rocket motor coated grain demoulding device according to claim 8, characterized in that: The upper frame (22) of the demoulding machine is provided with a soft limit block (47) for limiting the upward and downward movement range of the pressing lifting bracket (41), and the upper frame (22) of the demoulding machine is also provided with a marking piece (48) for marking the lifting position of the pressing lifting bracket (41); The horizontal fixing plate (42) is provided with a limit stopper B (49) for limiting the forward and backward movement range of the horizontal slide (45).

10. The solid rocket motor coated grain demoulding device according to claim 6, characterized in that: The demoulding machine (3) further comprises an anti-overturning manipulator component, wherein the anti-overturning manipulator component comprises an anti-overturning clamping hand mounting plate (50), a synchronous pulley (51), a synchronous belt (52), an anti-overturning clamping hand driving cylinder (53), a clamping hand A (54), a clamping hand B (55), a clamping hand block (56), a clamping hand A base (57), a clamping hand B base (58), and a guide rail slider assembly D (59); The anti-overturning gripper mounting plate (50) is mounted on the upper frame (22) of the demoulding machine. Two synchronous pulleys (51) are arranged on the anti-overturning gripper mounting plate (50) in a corresponding manner. The two synchronous pulleys (51) are connected by a synchronous belt (52). The fixed end of the anti-overturning gripper driving cylinder (53) is mounted on the anti-overturning gripper mounting plate (50). The telescopic direction of the driving end of the anti-overturning gripper driving cylinder (53) and the length direction of the synchronous belt (52) are parallel to the left and right directions of the lower frame (21) of the demoulding machine. The gripper A base (57) is respectively connected to the synchronous belt (52) and the anti-overturning gripper. The gripper driving cylinder (53) is connected to the driving end, the gripper B base (58) is also connected to the synchronous belt (52), the gripper A base (57) and the gripper B base (58) are respectively connected to the anti-overturning gripper mounting plate (50) through a corresponding set of guide rail slider assemblies D (59), the gripper A (54) is mounted on the gripper A base (57), and the gripper B (55) is mounted on the gripper B base (58), and the setting positions of the gripper A (54) and the gripper B (55) correspond to each other on the left and right, and the gripper blocks (56) are respectively provided on the gripper A (54) and the gripper B (55); The driving end of the anti-overturning gripper driving cylinder (53) is extended and retracted to drive the synchronous belt (52) to rotate, thereby driving the gripper A base (57) and the gripper B base (58) to move closer to or away from each other, so that the gripper A (54) and the gripper B (55) cooperate with each other to clamp or release the coated drug column body (0011).

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