Combustion chamber shell mold filling and demolding integrated automation device and control method

Abstract

The invention relates to the technical field of solid rocket engines, and discloses a mold filling and demolding integrated automation device. The device comprises an overturning feeding device, a pouring device, a core mold hanging frame device, a station cooperation lifting rotation platform and a truss grabbing device. The pouring device fixes the shell, the core mold hanging frame device caches and positions the core mold, and the pouring device and the core mold hanging frame device are arranged on the operation side of the truss grabbing device to facilitate core mold transferring. The two groups of station cooperative lifting and rotating platforms are respectively arranged at the bottoms of the pouring device and the core mold hanging rack device and drive the pouring device and the core mold hanging rack device to execute lifting and rotating actions, so that cooperative switching between stations is realized. According to the invention, the die-filling and the die-releasing are integrated in the same device for continuous execution, and the high repeated positioning precision of the device is utilized, so that the die-filling posture, namely the die-releasing posture, is realized, the problem of die-releasing information fault caused by process separation in the traditional process is solved, and the operation efficiency is obviously improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of solid rocket engine, in particular to a combustion chamber shell mold assembling and demolding integrated automation device and control method. BACKGROUND

[0002] In the manufacturing process of solid rocket engine, the molding state of propellant in the combustion chamber is a key factor to determine the performance of the engine. The shape of the propellant is mainly determined by the shape of the combustion chamber shell and the core mold. In actual production, the mold assembly with a large length-diameter ratio shell, core mold, core seat, port fixing ring and other mold components need to be vertically assembled first to form a mold that can be poured. Then the propellant slurry is poured into the mold. After the slurry solidifies, the mold is disassembled (demolding) to obtain the solid propellant grain with the required shape. Because the structure of the propellant charging mold corresponding to different combustion chambers is significantly different, the current mold assembly and disassembly process is heavily dependent on manual operation. In the manual assembly process: it is highly dependent on operating experience; it is easy to cause damage to the combustion chamber or core mold; the assembly precision is difficult to guarantee, and the risk of error is high. In the mold disassembly (demolding) link, the operator works in a dangerous environment for a long time, which has a high safety risk; and a slight mistake may also cause damage to the grain and quality problems.

[0003] In addition, in the current propellant charging process, the mold assembling and demolding are not continuous processes, and there is a slurry pouring and solidification process between them. This leads to the separation of the mold assembling and demolding operations, which are completed by different personnel. This separation of processes leads to the loss of their internal relevance, that is, it is difficult to accurately trace back the original assembly relationship of the core mold and the shell in the mold assembling stage in the demolding stage. This disconnection of information significantly increases the complexity of the demolding operation, which is a major obstacle to automation.

[0004] In summary, in view of the low efficiency, safety hazard problems caused by the above-mentioned full-process manual operation, and the continuity and information traceability problems caused by the separation of processes, the present application proposes a combustion chamber shell mold assembling and demolding integrated automation method and device, which aims to significantly improve the production efficiency and fundamentally reduce the risk of personnel injury caused by the production process (especially the risk of explosion). SUMMARY

[0005] To achieve the purpose of the present application, the present application provides a combustion chamber shell mold assembling and demolding integrated automation device, comprising: a turnover feeding device, a pouring device, a core mold hanging rack device, a work station cooperative lifting rotary platform and a truss grabbing device.

[0006] The pouring device is used for fixing the shell, the core mold hanger device is used for buffering and positioning the core mold, the pouring device and the core mold hanger device are arranged on the operation side of the truss grabbing device, the truss grabbing device is used for grabbing and transferring the core mold, the turnover feeding device is arranged on one side of the pouring device, the turnover feeding device is used for automatically grabbing and placing the engine shell, the workstations are cooperated with the lifting rotary platforms, and the lifting rotary platforms are arranged at the bottom of the pouring device and the core mold hanger device respectively, and are used for driving the pouring device and the core mold hanger device to perform lifting and rotating actions, and through the driving of the workstations cooperated with the lifting rotary platforms, the pouring device and the core mold hanger device can be switched between the workstations.

[0007] Further, the pouring device comprises:

[0008] The mounting bottom plate and the pouring support seat at the bottom of the mounting bottom plate are used for positioning on the workstation cooperated with the lifting rotary platform;

[0009] The shell lower positioning tool is circumferentially distributed on the top of the mounting bottom plate, and realizes elastic support and positioning of the lower end of the shell;

[0010] The pressing tool is mounted on the middle part of the mounting bottom plate, and is used for pressing the top of the shell;

[0011] The shell hanging pin tool is arranged on the side wall of the pressing mechanism, and can realize the guidance and fixation of the shell.

[0012] Further, the shell lower positioning tool comprises:

[0013] The lower positioning base is fixedly connected to the top of the base mounting plate, the floating mounting plate is fixed to the mounting bottom plate, the guide shaft penetrates through the through hole of the floating mounting plate, and the guide sleeve is embedded in the inner wall of the through hole, and wherein:

[0014] The guide shaft and the guide sleeve form an axial sliding pair;

[0015] The limit block is arranged at the bottom of the guide shaft and abuts against the bottom of the floating mounting plate;

[0016] The base mounting plate is fixedly sleeved on the outer wall of the guide shaft;

[0017] The annular space is formed between the base mounting plate and the floating mounting plate, the floating spring is arranged in the annular space, and the two ends of the floating spring are supported on the base mounting plate and the floating mounting plate respectively.

[0018] Further, the top pressing tool comprises:

[0019] The top pressing plate, the limit ring, the guide sleeve and the top first hanging plate mounted on the top pressing plate;

[0020] A guide cylinder fixed to the bottom of the top pressing plate, with a fixed screw nut inside;

[0021] A fixed cylinder and a base threaded with the guide cylinder;

[0022] A bearing seat mounted on the base, with a bearing supporting a ball screw inside;

[0023] The ball screw: the upper part is in threaded transmission with the screw nut; the bottom part penetrates the bearing seat and is connected with the base to drive the device; the end is fixed with a ratchet limit;

[0024] A locking drive wheel pivotally mounted on the base, with an elastic locking hook engaging the ratchet limit;

[0025] The rotation of the ball screw drives the axial movement of the screw nut, and drives the top pressing plate to rise and fall.

[0026] Further, the shell hanging pin tooling includes: a first guide rail mounting plate fixed to the outer wall of the fixed cylinder;

[0027] A linear guide rail mounted on the first guide rail mounting plate;

[0028] A sliding plate in sliding connection with the linear guide rail;

[0029] A hanging pin fixed to the top of the sliding plate and a fixed handle for locking the sliding plate;

[0030] A scale provided on the first guide rail mounting plate for indicating the lifting position of the hanging pin.

[0031] Further, the core mold hanging rack device includes:

[0032] A hanging rack support seat provided with a positioning pin hole at the bottom, a plurality of which are mounted on the bottom of the installation base plate for precise positioning on the lifting and rotating platform at the work station;

[0033] A core mold lower positioning tooling uniformly distributed circumferentially on the installation base plate for supporting the lower end of the core mold;

[0034] The core mold upper positioning tooling fixed to the middle part of the installation base plate and provided with a second hanging plate at the top.

[0035] Further, the core mold lower positioning tooling includes:

[0036] A positioning sleeve with a positioning hole for accommodating and positioning the bottom of the core mold;

[0037] A sleeve mounting seat with a central mounting hole tightly fitted with a rotating bearing;

[0038] The bottom of the positioning sleeve is fitted into the inner ring of the rotating bearing and is axially fixed, and the rotation of the core mold in the supporting state is realized through the rotating bearing.

[0039] Further, the core mold positioning tool includes:

[0040] A second linear guide rail fixed to the second guide rail mounting plate;

[0041] An adapter plate slidingly connected to the second linear guide rail;

[0042] A fixed mounting plate fixed to the adapter plate;

[0043] A guide cylinder vertically mounted on the fixed mounting plate, with a through guide hole in the center.

[0044] Further, the work station coordinated lifting rotary platform includes:

[0045] An elevator device and a rotating table at the top thereof;

[0046] The rotating table includes:

[0047] A frame fixed with a hollow rotating table and a second driving mechanism;

[0048] A rotating bottom plate connected to the rotating output of the hollow rotating table;

[0049] A plurality of positioning pins and clamping mechanisms axially fixed to the rotating bottom plate;

[0050] A first driving mechanism provided at the bottom of the hollow rotating table, with an output end connectable to the ball screw.

[0051] To achieve the same purpose of the invention, the application also provides a combustion chamber shell mold loading and demolding integrated automatic control method, based on the device described in the above embodiment,

[0052] The beneficial effects of the above technical solutions are:

[0053] This scheme effectively solves the problem of loss of operation continuity caused by the separation of the mold loading and demolding process from the propellant pouring and curing process and the separation of different workshops, that is, the accurate assembly relationship between the core mold and the shell cannot be intuitively obtained during demolding, thereby significantly reducing the complexity of the demolding operation. The core lies in that it is the first time to integrate the mold loading and demolding of the shell and the core into an integrated consideration, relying on the same set of devices to ensure the information connection between the mold loading and demolding, which not only solves the problem of separation of processes and workshops, but also realizes the "mold loading posture is the demolding posture" by virtue of the high repeat positioning accuracy of the device, that is, the mold loading is completed in a certain way and angle, and the demolding is also completed in the same way and angle. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0055] Figure 1 A structure schematic diagram of a combustion chamber shell mold mounting and demolding integrated automatic device of the present application;

[0056] Figure 2 A structure schematic diagram of a pouring device provided by an embodiment of the present application;

[0057] Figure 3 A front view of the pouring device provided by an embodiment of the present application;

[0058] Figure 4 A sectional view of the pouring device provided by an embodiment of the present application;

[0059] Figure 5 A sectional view of a lower positioning tooling of a shell provided by an embodiment of the present application;

[0060] Figure 6 A front view of the lower positioning tooling of the shell provided by an embodiment of the present application;

[0061] Figure 7 A sectional view of a top pressing plate provided by an embodiment of the present application;

[0062] Figure 8 A structure schematic diagram of the top pressing plate provided by an embodiment of the present application;

[0063] Figure 9 A front view of the top pressing plate provided by an embodiment of the present application;

[0064] Figure 10 A structure schematic diagram of a shell hanging pin tooling provided by an embodiment of the present application;

[0065] Figure 11 A structure schematic diagram of a core mold hanging rack device provided by an embodiment of the present application;

[0066] Figure 12 A structure schematic diagram of a lower positioning tooling of a core mold provided by an embodiment of the present application;

[0067] Figure 13 A structure schematic diagram of an upper positioning tooling of a core mold provided by an embodiment of the present application;

[0068] Figure 14A structural schematic diagram of a work station coordinated lifting rotary platform provided for an embodiment of the present application is shown in the figure;

[0069] Figure 15 A structural schematic diagram of an elevator device provided for an embodiment of the present application is shown in the figure;

[0070] Figure 16 A structural schematic diagram of a rotary table provided for an embodiment of the present application is shown in the figure;

[0071] Figure 17 A flow chart of a combustion chamber shell mold loading and demolding integrated automatic control method of the present application.

[0072] Wherein, 1, turnover feeding device; 2, pouring device; 21, pouring support seat; 22, mounting bottom plate; 23, shell lower positioning tool; 231, lower positioning base; 232, base mounting plate; 233, floating mounting plate; 234, guide sleeve; 235, guide shaft; 236, floating spring; 24, shell hanging pin tool; 241, first guide rail mounting plate; 242, hanging pin; 243, sliding plate; 244, first linear guide rail; 245, fixed handle; 246, scale; 25, pressing tool; 251, top pressing plate; 252, limiting ring; 253, guide sleeve; 254, first hanging plate; 255, guide cylinder; 256, fixed cylinder; 257, ball screw; 258, locking drive wheel; 259, ratchet limit; 2510, base; 2511, bearing seat; 2512, bearing; 2513, screw nut; 3, core mold hanging rack device; 31, hanging rack support seat; 32, mounting base plate; 33, core mold lower positioning tool; 331, positioning sleeve; 332, sleeve mounting base; 333, rotary bearing; 34, core mold upper positioning tool; 341, guide cylinder; 342, fixed mounting plate; 343, adapter plate; 344, second linear guide rail; 345, second guide rail mounting plate; 35, second hanging plate; 4, work station coordinated lifting rotary platform; 41, elevator device; 411, mounting frame; 412, lifting platform; 42, rotary table; 421, frame; 422, rotary bottom plate; 423, positioning pin; 424, clamping mechanism; 425, hollow rotary table. DETAILED DESCRIPTION

[0073] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments.

[0074] Examples of the described embodiments are shown in the drawings, in which the same or similar symbols represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0075] One embodiment of the present application provides a combustion chamber shell mold loading and demolding integrated automation device, which comprises: Figure 1 As shown, it comprises: a turnover feeding device 1, a pouring device 2, a core mold hanging rack device 3, a work station coordinated lifting rotary platform 4 and a truss grabbing device 5. The pouring device 2 is used for fixing the engine shell to be poured, which can ensure the accurate positioning and stable support of multiple shells. The core mold hanging rack device 3 is used for buffering and positioning the core mold. The pouring device 2 and the core mold hanging rack device 3 are arranged on the operation side of the truss grabbing device 5, which is responsible for the accurate grabbing, transfer and assembly of the core mold, realizing the continuity of the mold loading and demolding actions. The turnover feeding device 1 is arranged on one side of the pouring device 2, which is used for automatic grabbing and placing of the engine shell. The work station coordinated lifting rotary platform 4 is two independent units, which are arranged at the bottom of the pouring device 2 and the core mold hanging rack device 3 respectively, ensuring efficient switching between stations. Through the coordinated driving of the work station coordinated lifting rotary platform 4, the pouring device 2 and the core mold hanging rack device 3 can be seamlessly switched between stations. The present application integrates the turnover feeding device 1, the pouring device 2, the core mold hanging rack device 3, the lifting device 4 and the truss grabbing device 5, realizes the automatic and integrated mold loading and demolding operation of the shell and the core mold, significantly improves the stability of the propellant pouring production, supports multiple simultaneous pouring and mold loading and demolding, greatly improves the production efficiency, at the same time meets the man-machine isolation requirement, effectively avoids the risk of explosion safety.

[0076] Further, in the device preparation stage: the crane places and locks the pouring device 2 and the core mold hanger device 3 on the adjacent workstations on the lifting rotary platform 4, respectively. Then, the turnover feeding device 1 grabs the engine shell and places it on the pouring device 2; after the platform 4 drives the pouring device 2 to rise to complete the positioning of the shell, the turnover feeding device 1 releases the shell. Next, the pouring device 2 rotates by a specified angle to transfer the shell to the core mold assembly workstation, and the truss grabbing device 5 grabs the core mold from the core mold hanger device 3 and completes the assembly with the shell. After that, the crane transfers the assembled pouring device 2 as a whole to the pouring process for solidification; after the solidification is completed, the crane transfers the pouring device 2 back to the platform 4 again. Then, the truss grabbing device 5 vertically pulls out the core mold installed at the position vector and buffers it to the core mold hanger device 3; at the same time, the platform 4 drives the pouring device 2 to descend to realize the separation from the shell; after the separation, the turnover feeding device 1 grabs the shell and transfers it to the unloading. Finally, the lifting rotary platform 4 rotates back to the original position, preparing for the next production cycle. This scheme effectively solves the problem of loss of operation continuity in the current propellant charge process, i.e., the accurate assembly relationship between the core mold and the shell in the assembly stage cannot be intuitively obtained during the demolding, thereby significantly reducing the complexity of the demolding operation. The core lies in that it is the first time to integrate the assembly and demolding of the shell and the core mold into an integrated consideration and implementation, ensuring the information connection between the assembly and demolding, solving the separation problem of the process and workshop, and realizing the "assembly posture is the demolding posture" by virtue of the high repeated positioning accuracy of the device, i.e., the assembly is completed in the same way and angle, and the demolding is also completed in the same way and angle.

[0077] In one embodiment of the application, as shown in Figures 2 to 4 The pouring device 2 includes a pouring support seat 21, a mounting bottom plate 22, a shell lower positioning tool 23, a shell hanging pin tool 24, and a pressing tool 25. The pouring support seat 21 is provided in multiple numbers and mounted at the bottom of the mounting bottom plate 22. The bottom of the pouring support seat 21 is provided with a positioning pin hole for positioning on the lifting rotary platform 4. The bottom of the mounting bottom plate 22 is provided with a clamping hole, which can be clamped by the lifting rotary platform 4. The shell lower positioning tool 23 is provided in multiple numbers and uniformly distributed on the mounting bottom plate 22 in the circumferential direction, for supporting the lower end of the shell. The pressing tool 25 is arranged in the middle of the mounting bottom plate 22, for pressing the upper surface of the shell. The shell hanging pin tool 24 is provided in multiple numbers and fixed to the side wall of the pressing tool 25, for realizing the axial guidance and circumferential fixation of the shell. In this embodiment, the shell hanging pin tool 24 and the shell lower positioning tool 23 are each provided in nine numbers and correspond one-to-one.

[0078] In one embodiment of the application, as shown in Figures 1 to 4As shown, the pouring device 2 mainly includes pouring support seats 21, a mounting bottom plate 22, shell lower positioning tools 23, shell hanging pin tools 24 and pressing tools 25. Among them, the plurality of pouring support seats 21 provided with positioning pin holes at the bottom are installed at the bottom of the mounting bottom plate 22 to realize precise positioning and support of the device on the work station coordinated lifting and rotating platform 4; the clamping holes provided at the bottom of the mounting bottom plate 22 can be reliably locked by the platform 4 to ensure the stability of the overall operation. The shell lower positioning tools 23 are nine, evenly distributed on the top of the mounting bottom plate 22 to support the lower end of the shell, and the pressing tools 25 are installed in the middle of the mounting bottom plate 22 to press the top of the shell. At the same time, the nine shell hanging pin tools 24 fixed on the side wall of the pressing tools 25 correspond one-to-one with the lower positioning tools 23 below to cooperatively realize the axial guidance and circumferential locking of the shell. This compact integrated design not only ensures the precise positioning and reliable clamping of the shell during pouring, rotating and transferring, but also ensures the accurate retention of the mold loading posture information, providing an accurate reference and basis for subsequent core mold assembly and finally realizing the unified goal of "mold loading posture is the same as demolding posture".

[0079] In one embodiment of the application, as shown in Figure 2 , Figure 5 and Figure 6 , the shell lower positioning tool 23 is composed of a lower positioning base 231, a base mounting plate 232, a floating mounting plate 233, a guide sleeve 234, a guide shaft 235 and a floating spring 236. The floating mounting plate 233 is fixed at the bottom of the mounting hole on the top of the mounting bottom plate 22, and the guide sleeve 234 is fixedly embedded in the central through hole. The guide shaft 235 penetrates the through hole and forms a sliding fit with the guide sleeve 234; the base mounting plate 232 is fixedly sleeved on the outer wall of the guide shaft 235, and the protrusion at the bottom of the guide shaft 235 abuts against the bottom of the floating mounting plate 233 to prevent it from falling off. The floating spring 236 is arranged in the annular mounting groove between the base mounting plate 232 and the floating mounting plate 233, with the top end supporting the base mounting plate 232 and the bottom end supporting the floating mounting plate 233. The lower positioning base 231 is fixedly connected to the top of the base mounting plate 232. When the shell is placed on the lower positioning base 231, the floating spring 236 can make the entire support structure elastically float in the axial direction under the precise guidance of the guide shaft 235 and the guide sleeve 234, effectively absorbing the slight deformation or position deviation of the shell, ensuring a soft and reliable positioning process, and providing necessary fault tolerance space for subsequent assembly.

[0080] In one embodiment of the application, as shown in Figure 2 , Figure 7 , Figure 8 and Figure 9As shown, the top pressing tool 25 is composed of a top pressing plate 251, a limiting ring 252, a guide sleeve 253, a first hanging plate 254, a guide cylinder 255, a fixing cylinder 256, a ball screw 257, a locking driving wheel 258, a ratchet limiting device 259, a base 2510, a bearing seat 2511, a bearing 2512 and a screw nut 2513. The top pressing plate 251 is provided with a plurality of guide positioning holes for mounting and fixing the limiting ring 252 and the guide sleeve 253. The limiting ring 252 provides a core mold introduction channel and assists in the centering assembly of the core mold and the shell. The first hanging plate 254 is fixed to the top of the top pressing plate 251 to provide a convenient and reliable grabbing interface for the truss grabbing device 5. The guide cylinder 255 is fixed to the bottom center of the top pressing plate 251, and the screw nut 2513 is fixed inside the guide cylinder 255. The fixing cylinder 256 is connected with the guide cylinder 255 by screwing the inner wall threads, and the bottom is fixedly connected with the base 2510. The center of the mounting bottom plate 22 is provided with a through hole, and the outer wall of the base 2510 is fixedly installed in the through hole. The lower end of the bearing seat 2511 is fixed to the base 2510 by a fastener, and the center of the bearing seat 2511 is provided with an axial through hole. The bearing 2512 is arranged in the through hole of the bearing seat 2511, and the ball screw 257 is installed in the inner ring of the bearing 2512. The upper end of the ball screw 257 is threadedly connected with the screw nut 2513, the lower end passes through the through holes of the bearing seat 2511 and the base 2510 to connect with the driving device, and the tail end is fixed with the ratchet limiting device 259. The locking driving wheel 258 is pivotally installed on the base 2510, and the upper end is provided with a locking hook with elastic return function. The rotation of the ball screw 257 can drive the screw nut 2513 to move axially along the guide cylinder 255, so as to accurately control the lifting stroke of the top pressing plate 251.

[0081] Locked state: the locking hook is reliably engaged with the circumferential ratchet teeth of the ratchet limiting device 259 under the action of the return spring, preventing the rotation of the ball screw 257.

[0082] Unlocked state: the operator rotates the locking driving wheel 258 to drive the locking hook to disengage from the ratchet teeth against the spring force, thereby releasing the rotation restriction of the ball screw 257.

[0083] The design integrates efficient ball screw transmission and mechanical ratchet locking mechanism, which not only ensures the high precision and controllability of the pressing plate lifting stroke, but also effectively prevents the pressing failure caused by vibration or accidental load during pouring and transportation through reliable manual locking function, ensuring production safety and process stability.

[0084] In one embodiment of the application, as shown in Figure 10As shown, the shell hanging pin tool 24 is provided with multiple shell hanging pin tools 24, which include a guide rail mounting plate 241, a hanging pin 242, a sliding plate 243, a first linear guide rail 244, a fixed handle 245, and a scale 246. The guide rail mounting plate 241 is fixedly installed on the outer side wall of the fixed cylinder 256; the first linear guide rail 244 is vertically installed on the guide rail mounting plate 241; the sliding plate 243 is slidingly fitted on the first linear guide rail 244 and can move along the axial direction thereof. The hanging pin 242 is vertically fixed on the top of the sliding plate 243. The hoop assembly on the upper part of the shell is provided with a pin hole, and the hanging pin 242 is inserted into the pin hole, which effectively prevents the shell from falling during positioning and transportation. The fixed handle 245 is installed on the side of the sliding plate 243; when the operator rotates the handle, the linkage end of the handle can be accurately inserted into the preset positioning hole of the guide rail mounting plate 241, so as to realize rigid locking of the sliding plate 243. The mechanism ensures that the hanging pin 242 is firmly locked at the preset height position, effectively resisting displacement risk caused by external force interference. At the same time, the scale 246 fixed beside the guide rail mounting plate 241 can quantitatively display the height displacement of the hanging pin 242 in real time, providing accurate visual positioning calibration basis for the operator.

[0085] The tool design combines the adjustment mechanism of the first linear guide rail 244 and the accurate visual feedback of the scale 246, significantly improves the flexibility and accuracy of the hanging pin positioning height adjustment, ensures that different specifications of the shell can realize rapid and stable axial positioning and anti-overturning control, and enhances the production line compatibility and operation reliability.

[0086] In specific embodiments of the present application, as shown in Figure 1 and Figure 11 The core mold hanging rack device 3 integrates a hanging rack support seat 31, an installation base plate 32, a core mold lower positioning tool 33, and a core mold upper positioning tool 34 to form a modular positioning system. The plurality of hanging rack support seats 31 are fixedly connected to the bottom of the installation base plate 32, and the bottom thereof is provided with a positioning pin hole to realize accurate positioning with the work station coordinated lifting and rotating platform 4. The installation base plate 32 is provided with a clamping hole, and the work station coordinated lifting and rotating platform 4 can clamp the clamping hole. The plurality of core mold lower positioning tools 33 are uniformly distributed along the circumference of the installation base plate 32, cooperatively bearing the bottom end of the core mold and constraining the radial degree of freedom; the plurality of core mold upper positioning tools 34 are fixedly arranged in the middle of the installation base plate 32, and the top second lifting plate 35 provides a rigid lifting interface for the truss grabbing device. The design cooperates the layered positioning mechanism and the detachable base to realize bidirectional constraint of the spatial pose of the core mold and rapid transfer of the device, significantly improving the cache positioning accuracy and the production line coordination efficiency.

[0087] In specific embodiments of the present application, as shown in Figure 11 and Figure 12As shown, the core mold lower positioning tool 33 realizes axial positioning and circumferential rotation functions of the core mold bottom through the cooperative structure of the positioning sleeve 331 and the sleeve mounting seat 332: the sleeve mounting seat 332 is centrally provided with a mounting hole, and a rotating bearing 333 is fixedly arranged in the mounting hole in an interference fit, the bottom of the positioning sleeve 331 is tightly fitted in the inner ring of the rotating bearing to form axial constraint, and the central positioning hole accurately accommodates the bottom end of the core mold to realize radial positioning; the core mold can freely rotate with the inner ring of the rotating bearing 333 in the supporting state, and the structure creatively separates the axial positioning constraint and the circumferential rotation freedom of the core mold, thereby significantly reducing the rotation friction resistance while ensuring positioning accuracy, achieving smoothness of assembly operation and improvement of process compatibility.

[0088] In specific embodiments of the present application, as shown in Figure 11 and Figure 13 As shown, the core mold upper positioning tool 34 includes a guide cylinder 341, a fixed mounting plate 342, an adapter plate 343, a second linear guide rail 344, and a second guide rail mounting plate 345. The second linear guide rail 344 is vertically fixed to the second guide rail mounting plate 345, and the adapter plate 343 is slidingly fitted to the second linear guide rail to realize axial displacement; the fixed mounting plate 342 is rigidly connected to the adapter plate 343, the guide cylinder 341 is vertically fixed to the fixed mounting plate 342 and is provided with a through guide hole at the center; and the adapter plate 343 is further provided with a positioning handle 346 at the bottom. When the operator rotates the handle, the linkage end pin can be accurately inserted into the preset positioning hole of the second guide rail mounting plate 345, thereby realizing rigid locking of the adapter plate 343.

[0089] The core mold top is axially inserted along the guide hole to form an anti-overturning moment constraint, the adapter plate 343 is driven to ascend along the second linear guide rail 344, and the linkage guide cylinder 341 is steplessly adjusted in the vertical position, thereby realizing length self-adaptive matching of core molds of different specifications. The design accurately switches the spatial pose of the guide cylinder through the guide rail, solves the compatibility contradiction between the anti-overturning requirement and the size variation of the core mold, and significantly improves the flexibility level of the equipment.

[0090] In specific embodiments of the present application, as shown in Figures 14 to 16As shown, the station cooperative lifting rotary platform 4 is composed of lifting device 41, rotating table 42 and first driving mechanism 43. The lifting device 41 comprises a mounting frame 411 and a lifting table 412 which can be lifted and mounted inside the mounting frame 411, and the rotating table 42 is fixed on the top of the lifting table 412. The rotating table 42 comprises a frame 421, a rotating base plate 422, positioning pins 423, clamping mechanisms 424, a hollow rotating table 425 and a second driving mechanism 426, wherein the hollow rotating table 425 and the second driving mechanism 426 (using a servo motor) are fixedly installed on the frame 421. The output end of the second driving mechanism 426 is connected to the hollow rotating table 425, and the rotating base plate 422 is driven to perform precise rotary motion through the hollow rotating table 425. A plurality of positioning pins 423 are fixedly arranged on the rotating base plate 422 in the axial direction and can be precisely matched with the positioning holes of the pouring support seat 21 and the hanger support seat 31; at the same time, the clamping mechanisms 424 are fixed to the rotating base plate 422 and can firmly clamp the clamping holes at the bottom of the mounting base plate 22 and the mounting base plate 32. The innovative design realizes high-precision pose control and rapid process switching capability of the pouring tooling through the cooperation of three degrees of freedom motion of lifting-rotation-positioning, and significantly improves the cooperative efficiency of the production line.

[0091] The first driving mechanism 43 is arranged at the bottom of the hollow rotating table 425, and the output end thereof is connected and driven with the ball screw 257 through a transmission mechanism built in the hollow rotating table 425 and the rotating base plate 422, forming a complete power transmission chain. This integrated transmission design not only ensures the reliability of power transmission, but also avoids the space occupation of external transmission chain, making the equipment structure more compact and efficient.

[0092] An embodiment of the present application provides a kind of combustion chamber shell moulding and demoulding integrated automatic control method, based on the device implementation, including moulding flow and demoulding flow:

[0093] Moulding flow:

[0094] S01. Tool positioning:

[0095] Place the pouring device 2 on the rotating table 42 of the station cooperative lifting rotary platform 4, and realize positioning locking through the positioning pins 423 and the clamping mechanisms 424; in the same way, the core mold hanger device 3 is positioned and locked on the adjacent rotating table 42;

[0096] S02. Shell loading and pre-positioning:

[0097] The overturning loading device 1 grabs the combustion chamber shell and places it above the shell lower positioning tool 23 of the pouring device 2;

[0098] The station cooperative lifting rotary platform 4 drives the pouring device 2 to rise, so that the shell lower positioning tool 23 and the shell bottom complete positioning assembly;

[0099] S03. Shell fixing and station switching:

[0100] The turnover feeding device 1 releases the shell;

[0101] The rotating table 42 rotates by a specified angle to transfer the shell to the core mold assembly station;

[0102] S04. Core mold assembly:

[0103] The truss grabbing device 5 grabs the core mold from the core mold hanging device 3, and the limiting ring 252 of the top pressing tool 25 is used to center and assemble the shell;

[0104] The driving mechanism 43 drives the ball screw 257 to press down the top pressing plate 251 to lock the upper end of the shell;

[0105] S05. Cycle execution: repeat S02-S04 until all station assembly is completed;

[0106] After that, the crane transfers the assembled pouring device 2 as a whole to the pouring process for curing, and after curing, the crane transfers the pouring device 2 back to the platform 4.

[0107] Demolding process:

[0108] S11. Mold positioning:

[0109] Place the cured pouring device 2 on the rotating table 42;

[0110] S12. Core mold synchronous stripping:

[0111] Unlock the top pressing plate 251;

[0112] The truss grabbing device 5 installs the mold position vector vertically to pull out the core mold;

[0113] Transfer the core mold to the positioning sleeve 331 of the core mold hanging device 3 for caching;

[0114] S13. Shell separation and discharging:

[0115] The station cooperates with the lifting rotary platform 4 to drive the pouring device 2 to descend, so that the shell lower positioning tool 23 is separated from the shell;

[0116] The turnover feeding device 1 grabs the shell and transfers it to the discharging station;

[0117] S14. Station reset:

[0118] The rotating table 42 rotates to the initial station to prepare for the next cycle.

[0119] Specifically, the application provides an operating method of a combustion chamber shell mold loading and demolding integrated automation device, and specifically comprises the following steps: first, a crane hoists the pouring device 2 to the left work station through the 254 lifting plate and cooperates with the rotating table 42 of the lifting rotary platform 4, so that the positioning pin hole of the pouring support seat 21 is accurately positioned and matched with the positioning pin 423 of the rotating table 42, and is clamped by the clamping mechanism 424; at the same time, the crane places the core mold hanging rack device 3 on the right rotating table 42 through the 35 lifting plate, and completes the positioning matching of the hanging rack support seat 31 and the positioning pin 423. Then the turnover feeding device 1 grabs the engine shell and places it above the lower positioning tool 23, the lower positioning tool 23 is compressed by the floating spring 236 of the left elevator 41, the hanging pin 242 is inserted into the shell pin hole to complete the positioning. The rotating table 42 rotates to switch to the core mold assembly station, the truss grabbing device 5 grabs the core mold from the core mold hanging rack device 3, and the automatic centering assembly is completed through the limiting ring 252 and the shell. After that, the crane transfers the assembled pouring device 2 to the pouring process for solidification, and then the crane transfers the pouring device 2 back to the platform 4. Then the ball screw 257 is reversed to release the compression, the truss grabbing device 5 installs the mold posture vector to pull out the mold, the elevator 41 is lowered in stages to separate the tool from the shell, and finally the finished shell is transferred to the lower feeding device by the turnover feeding device 1. Through the coordinated operation of each device, the integrated automatic operation of the mold loading and demolding process is realized, and the process requirement of "mold loading posture is the mold demolding posture" is ensured.

[0120] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", "one specific embodiment" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0121] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not drive the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An automated device integrating molding and demolding of a combustion chamber shell, characterized in that, include: The components include a flipping and feeding device (1), a casting device (2), a core mold hanging device (3), a workstation collaborative lifting and rotating platform (4), and a truss gripping device (5). The casting device (2) is used to fix the shell, and the core mold hanger device (3) is used to buffer and position the core mold. The casting device (2) and the core mold hanger device (3) are arranged on the operating side of the truss gripping device (5). The truss gripping device (5) is used to grip and transfer the core mold. The flipping feeding device (1) is located on one side of the casting device (2). The flipping feeding device (1) is used to automatically grip and place the engine shell. The station collaborative lifting and rotating platform (4) consists of two sets, which are respectively set at the bottom of the casting device (2) and the core mold hanger device (3). They are used to drive the casting device (2) and the core mold hanger device (3) to perform lifting and rotating actions. Through the drive of the station collaborative lifting and rotating platform (4), the casting device (2) and the core mold hanger device (3) can switch between their stations.

2. The apparatus according to claim 1, characterized in that, The casting device (2) includes: The mounting base plate (22) and its bottom casting support (21) are used to position the workstation coordinated lifting and rotating platform (4); The housing positioning fixture (23) is circumferentially distributed on the top of the mounting base plate (22) to achieve elastic support and positioning of the lower end of the housing; The clamping fixture (25) installed in the middle of the mounting base plate (22) is used to clamp the top of the housing; The housing pin fixture (24) located on the side wall of the clamping mechanism (25) can guide and fix the housing.

3. The integrated automated device for molding and demolding of the combustion chamber shell according to claim 2, characterized in that, The lower positioning fixture (23) of the housing includes: A lower positioning base (231) is fixed to the top of the base mounting plate (232), a floating mounting plate (233) is fixed to the bottom of the mounting base plate (22), a guide shaft (235) passes through the through hole of the floating mounting plate (233) and a guide sleeve (234) is embedded in the inner wall of the through hole, wherein the guide shaft (235) and the guide sleeve (234) form an axial sliding pair; The bottom of the guide shaft (235) is provided with a limiting protrusion, which abuts against the bottom of the floating mounting plate (233); The base mounting plate (232) is fixedly sleeved on the outer wall of the guide shaft (235); An annular space is formed between the base mounting plate (232) and the floating mounting plate (233), and a floating spring (236) is built in therein. The two ends of the floating spring (236) are respectively supported by the base mounting plate (232) and the floating mounting plate (233).

4. The automated device for integrated molding and demolding of the combustion chamber shell according to claim 2, characterized in that, The top clamping fixture (25) includes: The top pressure plate (251) and its installed limiting ring (252), guide sleeve (253) and top first hanging plate (254); A guide cylinder (255) is fixed to the bottom of the top pressure plate (251), and a screw nut (2513) is fixed inside it; A fixed cylinder (256) and a base (2510) are threadedly connected to the guide cylinder (255); The bearing housing (2511) installed on the base (2510) has a bearing (2512) inside to support the ball screw (257); The ball screw (257) has the upper part threadedly driven by the screw nut (2513); the bottom part passes through the bearing seat (2511) and connects to the base (2510) to the drive device; and the end is fixed with a ratchet limiter (259). A locking drive wheel (258) pivotally mounted on a base (2510) has a resilient locking hook that engages with a ratchet stop (259); The rotation of the ball screw (257) drives the screw nut (2513) to move axially, thereby causing the top pressure plate (251) to rise and fall.

5. The integrated automated device for loading and unloading combustion chamber shells according to claim 4, characterized in that, The housing hanging pin fixture (24) includes: a first guide rail mounting plate (241) fixed to the outer side wall of the fixed cylinder (256); Linear guide rail (244) mounted on the first guide rail mounting plate (241); A sliding plate (243) slidably connected to the linear guide rail (244); A hook pin (242) fixed to the top of the sliding plate (243) and a fixing handle (245) for locking the sliding plate; A scale (246) is provided on the first guide rail mounting plate (241) to indicate the lifting position of the hanging pin (242).

6. The integrated automated device for loading and unloading combustion chamber shells according to claim 1, characterized in that, The core mold hanger device (3) includes: A bracket support base (31) with positioning pin holes at the bottom is installed on the bottom of the mounting base plate (32) for precise positioning on the workstation collaborative lifting and rotating platform (4); The core mold lower positioning fixture (33) is evenly distributed circumferentially on the mounting base plate (32) and is used to support the lower end of the core mold; Positioning fixture (34) on the core mold, which is fixed to the middle of the mounting base plate (32) and has a second hanging plate (35) on the top.

7. The integrated automated device for molding and demolding of the combustion chamber shell according to claim 6, characterized in that, The core mold lower positioning fixture (33) includes: A positioning sleeve (331) with a positioning hole is used to accommodate and position the bottom of the core mold; A sleeve mounting base (332) has a central mounting hole in which a rotary bearing (333) is tightly fitted; The bottom of the positioning sleeve (331) is fitted onto the inner ring of the rotary bearing (333) and fixed axially, thereby enabling the core mold to rotate in a supported state through the rotary bearing (333).

8. The automated device for integrated molding and demolding of the combustion chamber shell according to claim 6, characterized in that, The positioning fixture (34) on the core mold includes: The second linear guide (344) is fixedly mounted on the second guide rail mounting plate (345); The adapter plate (343) is slidably connected to the second linear guide (344); A mounting plate (342) fixed to the adapter plate (343); The guide cylinder (341) is vertically installed on the fixed mounting plate (342) and has a through guide hole at its center.

9. The automated device for integrated molding and demolding of the combustion chamber shell according to claim 4, characterized in that, The workstation collaborative lifting and rotating platform (4) includes: The elevator assembly (41) and its top rotating platform (42); The rotary table (42) includes: A frame (421) for fixing the hollow turntable (425) and the second drive mechanism (426); A rotating base plate (422) is connected to the rotating output of the hollow turntable (425); A plurality of positioning pins (423) and clamping mechanism (424) are axially fixed to the rotating base plate (422); The first drive mechanism (43) located at the bottom of the hollow turntable (425) has its output end connected to the ball screw (257).

10. An integrated automatic control method for combustion chamber shell molding and demolding, implemented based on the device described in claims 1-9, characterized in that, Including the mold assembly process and the demolding process: Mold assembly process: S01. Tooling Positioning: The pouring device (2) is placed on the rotating table (42) of the workstation collaborative lifting and rotating platform (4), and the positioning and locking are achieved by the positioning pin (423) and the clamping mechanism (424); The core mold hanger device (3) is positioned and locked to the adjacent rotary table (42) using the same method; S02. Shell loading and pre-positioning: The flipping feeding device (1) grabs the combustion chamber shell and places it above the positioning fixture (23) under the shell of the casting device (2); The workstation collaborative lifting and rotating platform (4) drives the pouring device (2) to rise, so that the lower positioning fixture (23) of the shell is positioned and assembled with the bottom of the shell; S03. Housing Fixing and Station Switching: The tilting feeding device (1) releases the housing; The rotary table (42) rotates at a specified angle to move the housing to the core mold assembly station; S04. Core mold collaborative assembly: The truss gripping device (5) grips the core mold from the core mold hanger device (3) and assembles it with the shell through the limiting ring (252) of the top clamping fixture (25); The drive mechanism (43) drives the ball screw (257) to press down the top pressure plate (251) and lock the upper end of the housing; S05. Cyclic execution: Repeat S02-S04 until all workstations are assembled; Demolding process: S11. Module positioning: Place the cured casting device (2) onto the rotary table (42); S12. Core mold synchronous ejection: Unlock the top pressure plate (251); The truss gripping device (5) vertically pulls out the core mold according to the mold mounting position vector; The core mold is transferred to the positioning sleeve (331) of the core mold hanger device (3) for buffering; S13. Shell separation and unloading: The workstation collaborative lifting and rotating platform (4) drives the pouring device (2) to descend, causing the lower positioning fixture (23) of the shell to separate from the shell; The flipping and feeding device (1) grabs the shell and transfers it to the unloading station; S14. Station Reset: The rotary table (42) rotates back to the initial position to prepare for the next cycle.

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