Tail end quick-change tool set for automatic cleaning of mixing pot

Abstract

The invention belongs to the field of cleaning of mixing equipment, and particularly discloses a tail end quick-change tool set for automatic cleaning of a mixing pot, the tail end quick-change tool set comprises a robot end actuator and a tool assembly, the robot end actuator comprises a robot end quick-change disc and a solvent spray head fixed on the robot end quick-change disc; the tool assembly comprises a positioning frame and various tools movably installed on the positioning frame, the various tools comprise side wall cleaning cloth, bottom surface cleaning cloth, a material receiving scraper, a tail end scraper and a tail end clamping jaw, the side wall cleaning cloth and the bottom surface cleaning cloth are used for wiping and cleaning the side wall and the bottom surface of the mixing pot respectively, and the material receiving scraper is used for scraping and collecting residual materials on the side wall of the mixing pot; the tail end scraper is used for scraping, shoveling and gathering the residual materials on the bottom surface of the mixing pot; the tail end clamping jaw is used for clamping and collecting the residual materials on the bottom surface of the mixing pot; each tool is provided with a tool quick-changing disc, and the tool quick-changing discs are matched with the robot end quick-changing disc to achieve tool taking and changing. The problem of automatic cleaning of the mixing pot is solved, and the automation level and the production efficiency are improved.

Description

Technical Field

[0001] This invention belongs to the field of cleaning mixing equipment, and more specifically, relates to a quick-change tool set for automatic cleaning of mixing pots. Background Technology

[0002] Composite solid propellants are the power source for solid rocket engines, playing a crucial role in missile weapons, aerospace vehicles, satellites, and space launch systems. Their production process—solid engine propellant / composite propellant manufacturing—is a multi-stage, intermittent process. This production process presents numerous safety risks. In recent years, automation technology has enabled human-machine isolation and remote control of hazardous processes, effectively improving inherent safety levels and ensuring personnel safety. However, due to limitations in automation and specific process requirements, some steps still require manual operation, posing significant risks. For example, cleaning the inner walls of large mixing containers with residual highly viscous propellant slurry is a typical challenge.

[0003] Current mainstream cleaning methods (such as manual scraping with solvent cleaning or mechanical scraper cleaning) have significant shortcomings: manual cleaning requires multiple people to work in close proximity, directly contacting high-risk materials, which is time-consuming, labor-intensive, and extremely risky; although traditional mechanical cleaning achieves isolation between people and drugs, it is not flexible, has limited coverage, and has poor cleaning effect, still requiring secondary manual cleaning, and operators still face high safety and health risks when working face-to-face. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the prior art, the present invention provides an end quick-change tool set for automatic cleaning of mixing pots, the purpose of which is to realize the automatic cleaning of mixing pots and improve production efficiency.

[0005] To achieve the above objectives, this invention proposes an end-effector quick-change tool kit for automatic cleaning of mixing pots, comprising a robot end actuator and tool components, wherein: The robot end actuator includes a robot end quick-change disc and a solvent nozzle fixed on the robot end quick-change disc; The tool assembly includes a positioning frame and various tools movably mounted on the positioning frame. These tools include a sidewall wiping cloth, a bottom wiping cloth, a receiving scraper, an end scraper, and an end gripper. The sidewall and bottom wiping cloths are used to wipe and clean the sidewalls and bottom of the mixing pot, respectively. The receiving scraper is used to scrape and collect residual material from the sidewalls of the mixing pot. The end scraper is used to scrape and collect residual material from the bottom of the mixing pot. The end gripper is used to grasp and collect residual material from the bottom of the mixing pot. Each tool is equipped with a tool quick-change disc, which works in conjunction with the robot's end quick-change disc to enable tool removal and replacement.

[0006] As a further preferred embodiment, the robot end quick-change disc is provided with a positioning pin at its end, and a movable steel ball is provided on the outside of the positioning pin. The positioning pin has a cavity inside, which is connected to an air pipe interface, so that the movable steel ball is pushed out when the cavity is inflated. The tool quick-change disc has a pin hole in the middle, which cooperates with the positioning pin.

[0007] As a further preferred embodiment, the positioning frame is provided with a protruding mounting pin, and the tool quick-change disc has a positioning groove on its outer side, which cooperates with the mounting pin for positioning.

[0008] As a further preferred embodiment, the end scraper has a cutting edge at the bottom end, and the end scraper includes an inner stainless steel skeleton and a polytetrafluoroethylene scraper sleeved outside the skeleton.

[0009] As a further preferred embodiment, the receiving scraper includes a scraper made of polytetrafluoroethylene and a receiving box connected to the scraper via a sheet metal part.

[0010] As a further preferred embodiment, the end gripper is a parallel cylinder open gripper.

[0011] As a further preferred embodiment, the sidewall cloth has an arc-shaped side and its shape fits the sidewall of the mixing pot; the bottom cloth is a cylindrical solid.

[0012] As a further preferred embodiment, the robot end effector also includes a flange through which an external industrial robot is connected.

[0013] As a further preferred embodiment, the robot end effector also includes a six-dimensional force sensor, which is fixed on the robot end quick-change plate.

[0014] As a further preferred embodiment, the tool assembly also includes a receiving tray and a waste collection bin. The upper side of the receiving tray is used to fix the positioning frame, and the lower side is provided with a groove. The waste collection bin is fixed in the groove of the receiving tray.

[0015] In summary, compared with the prior art, the above-described technical solutions conceived by this invention mainly possess the following technical advantages: 1. This invention addresses the cleaning of the mixing pot during the preparation of composite solid propellants by designing a set of end-of-line cleaning tools adapted to industrial robots. For different cleaning processes, appropriate cleaning tools can be used, and the tools can be quickly replaced, solving the problem of automated cleaning of the mixing pot and improving the automation level of the equipment. This invention is significant for flexibly adjusting production time, improving overall efficiency, and optimizing production cycle time, fundamentally changing the operating mode of this high-risk process.

[0016] 2. The robot end effector and tool assembly of this invention are designed with a matching quick-change positioning structure, enabling convenient and rapid switching between various cleaning tools with different functions. Simultaneously, the tool assembly is seamlessly compatible with and can be installed on the end effector interfaces of industrial robots from different manufacturers. This design effectively solves the technical problems of frequent tool changes, poor compatibility, and low operational efficiency caused by the diverse tool requirements in propellant residue cleaning processes, possessing versatility and adaptability.

[0017] 3. The cleaning tool kit of the present invention adopts a modular and multifunctional design, which can treat the highly viscous solid propellant slurry remaining on the inner wall and bottom of the mixing pot: the end and receiving scraper can conform to the complex curved contours of the mixing pot wall and bottom, realize efficient mechanical scraping of the adhering slurry layer, significantly peel off most of the attached residue, and combine with the end gripper for gripping and collection; the solvent nozzle can spray cleaning solvent on the surface treated by the scraper and corners or areas with strong adhesion that are difficult to reach by the scraper; the side wall and bottom wiping cloth can be used in conjunction with solvent spraying and the force control guidance of the robot to physically wipe the moist slurry residue. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the tool component structure according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the robot end effector structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the process of rapid tool change between the robot end effector and the tool assembly according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the connection structure between the robot end actuator and the tool in an embodiment of the present invention.

[0019] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1-receiving tray, 2-positioning frame, 3-side wall rag, 4-end gripper, 5-end scraper, 6-waste collection bucket, 7-bottom rag, 8-receiving scraper, 9-flange, 10-solvent nozzle, 11-six-dimensional force sensor, 12-robot end quick-change tray, 13-industrial robot, 14-connecting tray, 15-air pipe interface, 16-positioning pin. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0021] This invention provides an end-of-line quick-change tool set for automatic cleaning of mixing pots, such as... Figure 1 and Figure 2 As shown, it includes a robot end effector and a tooling component, wherein: The robot end actuator includes a flange 9, a solvent nozzle 10, a six-dimensional force sensor 11, and a robot end quick-change plate 12. The flange 9 can be connected and fixed to the end connection plate 14 of the industrial robot 13 by bolts. The solvent nozzle 10 is fixed to one side of the robot end quick-change plate 12 by sheet metal parts, which saves space and reduces weight while ensuring strength. The solvent nozzle 10 can adjust the flow rate and pressure, thereby changing the shape of the cleaning solvent spray. The six-dimensional force sensor 11 is connected to the robot end quick-change plate 12 by bolts. The six-dimensional force sensor 11 can measure the force and torque when the installed tool contacts the mixing pot, thereby realizing the dynamic control of the tool force.

[0022] The tool assembly includes a receiving tray 1, a positioning frame 2, a waste collection bucket 6, and various tools. Multiple positioning frames 2 are fixed on the upper side of the receiving tray 1, and a groove is provided on the lower side of the receiving tray 1, in which the waste collection bucket 6 is fixed. The receiving tray 1 is preferably arranged in two symmetrical arrangements and is in an arc shape, allowing the mixing pot to be cleaned to be raised and lowered within the arc area.

[0023] Multiple tools for cleaning the mixing pot are movably mounted on each positioning frame 2. These tools include a side wall wiping cloth 3, a bottom wiping cloth 7, a receiving scraper 8, an end scraper 5, and an end gripper 4. The side wall wiping cloth 3 and the bottom wiping cloth 7 are used to wipe and clean the side walls and bottom of the mixing pot, respectively. The receiving scraper 8 is used to scrape and collect residual material from the side walls of the mixing pot. The end scraper 5 is used to scrape and collect residual material from the bottom of the mixing pot. The end gripper 4 is used to grip and collect residual material from the bottom of the mixing pot. Each tool is connected to a tool quick-change disc via bolts. This tool quick-change disc is used to cooperate with the robot end quick-change disc 12 to realize tool replacement and operation.

[0024] Furthermore, the positioning frame 2 is equipped with a protruding mounting pin, and a positioning groove is provided on the outer side of the tool quick-change disc. This positioning groove fits with the mounting pin with a clearance, achieving precise positioning of the tool and facilitating its placement and removal. Figure 3 and Figure 4 As shown, the robot end quick-change disc 12 has a protruding positioning pin 16 at its end, and a movable steel ball is provided on the outside of the positioning pin. The positioning pin has a cavity inside, which is connected to an air pipe interface 15. A pin hole is opened in the middle of the tool quick-change disc, which can cooperate with the positioning pin 16. That is, when changing tools, the positioning pin 16 is lowered into the pin hole in the middle of the corresponding tool quick-change disc. Compressed air is used as a power source, and compressed gas is injected into the cavity through the air pipe interface 15. At this time, the movable steel ball is pushed out, so that the positioning pin 16 is locked with the pin hole.

[0025] Furthermore, the side wall wiping cloth 3 has an arc-shaped side that conforms to the cylindrical surface of the mixing pot side wall, achieving effective wiping and cleaning of the wall. The side wall wiping cloth frame can be made of polytetrafluoroethylene (PTFE). The bottom wiping cloth 7 is a cylindrical solid. The receiving scraper 8 includes a PTFE scraper and a receiving box connected to the scraper via sheet metal parts, used to collect waste material during the scraping process. The end scraper 5 has a whitted bottom edge and includes an inner stainless steel frame and a PTFE scraper sleeved outside the frame to reduce frictional resistance and avoid rigid contact. The frame and scraper are fixed with screws. The end gripper 4 is an open gripper, which opens and closes on both sides using parallel grippers to pick up and collect residual material from the bottom surface.

[0026] Furthermore, the end gripper 4 has a stroke of 0-200mm and a load of 0-500N; the receiving box of the receiving scraper 8 has a volume of 0.8L and is made of polytetrafluoroethylene; the quick-change plate 12 of the robot end and the quick-change plate of the tool have a quick-change air pressure of 0.4Mpa-0.7Mpa, a load of 40kg, and a locking force of 6000-7000N.

[0027] Based on the aforementioned end-effector quick-change tool set, the industrial robot performs different cleaning processes through rapid tool changes, completing the automated cleaning of the mixing pot. Specifically, according to the cleaning steps, the industrial robot 13 first moves to the designated tool-changing station via the two-axis gantry to change the tool. A tool-changing command is issued, and the robot moves its end-effector quick-change disc 12 above the receiving scraper 8. It then slowly descends, causing the positioning pin 16 to fall into the pin hole of the tool quick-change disc of the receiving scraper 8. Compressed gas is introduced through the air pipe interface 15, and the steel ball locks in place, completing the tool change. After this tool change, the robot enters the inner wall of the mixing pot to scrape and collect residual material. After cleaning, the industrial robot leaves the mixing pot via the moving gantry. The robot's end-effector moves above the positioning frame 2 and slowly lowers the receiving scraper 8, aligning the outer positioning groove of the tool quick-change disc with the mounting pin on the positioning frame 2. Compressed gas is then introduced in reverse through the air pipe interface 15, releasing the receiving scraper 8, completing one cleaning process and tool change operation. Subsequently, different cleaning tools are used to clean the inner wall of the mixing pot according to the above method, based on the cleaning process.

[0028] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A quick-change tool set for automatic cleaning of mixing pots, characterized in that, Includes robot end effectors and tooling components, among which: The robot end actuator includes a robot end quick-change disc (12) and a solvent nozzle (10) fixed on the robot end quick-change disc (12). The tool assembly includes a positioning frame (2) and various tools movably mounted on the positioning frame (2). The various tools include a side wall wiping cloth (3), a bottom surface wiping cloth (7), a receiving scraper (8), an end scraper (5), and an end gripper (4). The side wall wiping cloth (3) and the bottom surface wiping cloth (7) are used to wipe and clean the side wall and bottom surface of the mixing pot, respectively. The receiving scraper (8) is used to scrape and collect residual material from the side wall of the mixing pot. The end scraper (5) is used to scrape and collect residual material from the bottom surface of the mixing pot. The end gripper (4) is used to grip and collect residual material from the bottom surface of the mixing pot. Each tool is equipped with a tool quick-change disc, which is used to cooperate with the robot end quick-change disc (12) to realize tool picking and changing.

2. The end-of-line quick-change tool set for automatic cleaning of mixing pots as described in claim 1, characterized in that, The robot end quick-change disc (12) is provided with a positioning pin at its end, and a movable steel ball is provided on the outside of the positioning pin. The positioning pin is provided with a cavity, which is connected to an air pipe interface (15) so that the movable steel ball is pushed out when the cavity is filled with air. The tool quick-change disc is provided with a pin hole in the middle, which cooperates with the positioning pin.

3. The end-of-line quick-change tool set for automatic cleaning of mixing pots as described in claim 2, characterized in that, The positioning frame (2) is provided with a protruding mounting pin, and the tool quick-change disc is provided with a positioning groove on the outside, which cooperates with the mounting pin for positioning.

4. The end-of-line quick-change tool set for automatic cleaning of mixing pots as described in claim 1, characterized in that, The end scraper (5) has a cutting edge at the bottom. The end scraper (5) includes an inner stainless steel skeleton and a polytetrafluoroethylene scraper sleeved outside the skeleton.

5. The end-of-line quick-change tool set for automatic cleaning of mixing pots as described in claim 1, characterized in that, The receiving scraper (8) includes a scraper made of polytetrafluoroethylene and a receiving box connected to the scraper via sheet metal parts.

6. The end-of-line quick-change tool set for automatic cleaning of mixing pots as described in claim 1, characterized in that, The end gripper (4) is a parallel cylinder open gripper.

7. The end-of-line quick-change tool set for automatic cleaning of mixing pots as described in claim 1, characterized in that, The side wall rag (3) has an arc-shaped side and its shape fits the side wall of the mixing pot; the bottom rag (7) is a cylindrical solid.

8. The end-of-line quick-change tool set for automatic cleaning of mixing pots as described in claim 1, characterized in that, The robot end actuator also includes a flange (9) through which an external industrial robot (13) is connected.

9. The end-of-line quick-change tool set for automatic cleaning of mixing pots as described in claim 1, characterized in that, The robot end actuator also includes a six-dimensional force sensor (11), which is fixed on the robot end quick-change plate (12).

10. The end-of-line quick-change tool set for automatic cleaning of mixing pots as described in any one of claims 1-9, characterized in that, The tool assembly also includes a receiving tray (1) and a waste collection bucket (6). The upper side of the receiving tray (1) is used to fix the positioning frame (2), and the lower side is provided with a groove. The waste collection bucket (6) is fixed in the groove of the receiving tray (1).

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