Automatic pouring system and automatic pouring process for propellant

Abstract

The invention discloses an automatic pouring system and an automatic pouring process for propellants. The automatic pouring system comprises an automatic quantitative pouring system (2), a vacuum cylinder (1), a truss manipulator (7), a mold (9), a truss manipulator clamp (16) and a ground rail conveying line (3), the automatic quantitative pouring system (2) comprises a first-stage chemical pouring system and a second-stage chemical pouring system, the first-stage chemical pouring system comprises a first-stage pouring hopper (2-4) and a first servo rubber tube valve (2-12), and the second-stage chemical pouring system comprises a second-stage pouring hopper (2-7) and a second servo rubber tube valve (2-16); the ground rail conveying line (3) is used for conveying the mold (9) and the vacuum cylinder (1), and the truss mechanical arm clamp (16) can be matched with the truss mechanical arm (7) to load the mold (9) into the vacuum cylinder (1) and take the mold (9) away from the vacuum cylinder (1). According to the automatic quantitative pouring device, the safety of the product pouring process is improved, the pouring quality of the product is guaranteed, the production efficiency is improved, and the safety risk is effectively eliminated by adopting the automatic quantitative pouring mode of the first-stage hopper and the second-stage hopper.

Description

Technical Field

[0001] This invention belongs to the field of vacuum casting and automated control technology, and particularly relates to an automatic casting system and automatic casting process for propellants. Background Technology

[0002] Currently, propellant production involves a wide variety of types and large batches, often employing clustered tooling and multi-station simultaneous casting methods. The propellant casting process still relies on "manual face-to-face" operation: operators at the casting station control the feed valve while observing the process. In multi-product, multi-station casting, each station requires personnel to be present for feeding, unloading, observation, and valve adjustment. This concentrated "manual face-to-face" operation method is labor-intensive, carries high safety risks, and has low production efficiency. Furthermore, the volatile gases from propellants are toxic and harmful to humans, making "manual face-to-face" operation prone to causing major safety accidents at the casting site. Despite the high production risks, propellant production is rapidly increasing. Due to the large quantity and complex structure of propellants, the casting process requires a large number of personnel for on-site operation, posing significant safety risks and placing higher demands on propellant manufacturing technology.

[0003] Currently, propellant production methods are showing a mismatch with mission requirements, resulting in serious deficiencies in ensuring production safety and product quality reliability. Firstly, process research methods are outdated. The most dangerous processes in propellant production include mixing, casting, curing, demolding, and shaping. Taking the casting process, which is particularly challenging to study, as an example, the viscous flow of the propellant slurry or friction between metals during casting can pose safety risks. However, in existing processes, it is difficult to test detailed microscopic information about the casting process online. Simultaneously, the lack of process models for studying the casting process makes it impossible to establish quantitative relationships between various parameters and safety, hindering the forward design of the casting process. This problem is also prevalent in other processes. Due to the inability to obtain real-time information on the reaction degree of propellant materials, slurry viscosity, and internal stress at each step, technicians lack a clear understanding of the interactions, reaction processes, and thermal effect modes of propellant during static, dynamic, heated, and stressed states. Even when some slurry parameters are measured, it is difficult to conduct in-depth research on safety and quality issues and to analyze the impact of various parameters on the process and safety. This results in numerous "process black boxes" in propellant production.

[0004] A major shortcoming of the existing production model lies in the excessive amount of "manual face-to-face" operation. The high safety risks in the propellant production process are related to this excessive "manual face-to-face" operation. For a considerable period, due to the complex and stringent requirements for propellant performance, many production stages could only be ensured by on-site "manual face-to-face" operation by personnel. Furthermore, the past demand for propellant varieties was diverse but the total volume was small, making the development of entirely new automated production lines very difficult. The problem of "manual face-to-face" operation has not been fully resolved, posing greater risks to frontline personnel in propellant production. Excessive manual face-to-face operation also leads to the breakdown of the production process into many isolated steps. In the past, when propellant production volumes were limited, this approach did not have a significant impact. However, with the advent of large-scale emergency production, the long turnaround times between these isolated steps severely limit the improvement of production efficiency. Frontline production personnel can only complete production tasks by extending working hours and working in shifts, day and night. This greatly increases the fatigue of personnel and equipment, making errors more likely during propellant production and further increasing safety and quality risks.

[0005] The above-mentioned problems are basically common problems in propellant production. To achieve safe, stable, and efficient propellant production, it is necessary to improve the safety of propellant formulations and reduce propellant risks. More importantly, it is necessary to automate the production process, research new automatic casting systems and processes, and reduce manual face-to-face operations. Summary of the Invention

[0006] To improve the safety of propellant production, ensure the quality of propellant casting, and increase production efficiency, this invention provides an automatic propellant casting system and automatic casting process.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] An automated propellant casting system includes an automated quantitative casting system, a vacuum cylinder, a gantry robot, a mold, a gantry robot gripper, and a ground rail conveyor line;

[0009] The automatic quantitative pouring system includes a primary drug pouring system and a secondary drug pouring system. The primary drug pouring system includes a primary pouring hopper and a first servo hose valve. The secondary drug pouring system includes a secondary pouring hopper and a second servo hose valve. The primary and secondary pouring hoppers are connected by the first servo hose valve. The drug slurry can be poured from the primary pouring hopper into the secondary pouring hopper through the first servo hose valve, and can also be poured from the secondary pouring hopper into the mold of the vacuum cylinder through the second servo hose valve.

[0010] The ground rail conveyor line is used to transport molds and vacuum cylinders. The gantry manipulator gripper is located at the end of the gantry manipulator. The gantry manipulator gripper can cooperate with the gantry manipulator to load and unload molds into and remove them from the vacuum cylinder, and to transfer the primary drug casting system and the secondary drug casting system.

[0011] Furthermore, the primary drug casting system also includes a first base plate, a first water circulation interface disposed on the primary casting hopper, a first gripper positioning hole, and a primary casting hopper positioning hole. The first servo hose valve is located at the lower part of the primary casting hopper, and the first base plate is located at the lower part of the first servo hose valve.

[0012] Furthermore, the secondary drug casting system also includes a second base plate, a first vacuum interface disposed on the secondary casting hopper, a positioning column, a second water circulation interface, a positioning hole for the secondary casting hopper, and a positioning hole for the second gripper. The second servo hose valve is located at the lower part of the secondary casting hopper, and the second base plate is located at the lower part of the second servo hose valve.

[0013] Furthermore, the automatic quantitative pouring system also includes a first explosion-proof camera, a sensor moving electric cylinder, a temperature detection sensor, a vacuum breaking valve, a bracket, and a hose valve servo drive system. The first explosion-proof camera and the sensor moving electric cylinder are mounted on the bracket. The temperature detection sensor is connected to the end of the sensor moving electric cylinder. The vacuum breaking valve is connected to the secondary pouring hopper. The hose valve servo drive system is used to control the first servo hose valve and the second servo hose valve.

[0014] Furthermore, a pressure plate is provided above the center of the primary casting hopper. During the casting of the slurry, the pressure plate is located on the surface of the slurry and can descend with the slurry. The bottom of the pressure plate is in contact with the bottom surface of the primary casting hopper. A vacuum cone is provided at the center of the secondary casting hopper. The vacuum cone is used to increase the flow resistance of the slurry in the middle of the secondary casting hopper and reduce the flow velocity, so that the flow velocity of the slurry on the side is basically the same as the flow velocity in the middle.

[0015] Furthermore, the vacuum cylinder includes a vacuum cylinder body, a sealing assembly, a first positioning pin, a second explosion-proof camera, an observation hole, a circulating water layer, a base, a second vacuuming interface, and a circulating water interface. The vacuum cylinder body has a cavity for accommodating the mold, the circulating water layer is located inside the vacuum cylinder body, and the vacuum cylinder body is located on the base.

[0016] Furthermore, it also includes a mold lifting fixture and a vibrator located inside the vacuum cylinder body. The mold lifting fixture can drive the mold to lift and lower. The mold lifting fixture includes a first servo motor, a reducer, a corner gear, a guide rail, a lead screw, a lifting plate, a mounting plate, and an explosion-proof and high-temperature resistant weighing sensor. The first servo motor is connected to the lead screw through the reducer and the corner gear. The lead screw can drive the lifting plate to move up and down along the guide rail. The mounting plate is located on top of the lead screw and the guide rail. The explosion-proof and high-temperature resistant weighing sensor and the vibrator are provided on the upper surface of the lifting plate.

[0017] Furthermore, the truss manipulator gripper includes a fixed plate, a second positioning pin, a pneumatic gripper, a proximity switch sensor, a mounting plate, a second servo motor, a vision positioning system, a lead screw, a guide rail, and a positioning connecting block. The second servo motor can drive the positioning connecting blocks and the fixed plate located at both ends of the mounting plate to move through the lead screw. The pneumatic gripper is located in the middle of the mounting plate, and the second positioning pin is located on the fixed plate.

[0018] Furthermore, it also includes a six-axis robot, a robot gripper, a screw tightening feeding system, a hopper storage rack, and a mold cover loading rack. The robot gripper is located at the end of the six-axis robot. The six-axis robot and the robot gripper serve to close the mold and install the mold cover onto the mold after casting. The screw tightening feeding system is used to tighten the screws required for the mold cover. The hopper storage rack is used to store the primary and secondary casting hoppers. The mold cover loading rack is used to place the buffer mold cover, facilitating the batch placement and precise gripping and installation of the mold cover.

[0019] An automated casting process employing the above-described automated propellant casting system includes the following steps:

[0020] The gantry robot places the primary and secondary drug casting systems at the casting station. The primary casting hopper, filled with drug slurry, is positioned above the secondary casting hopper. The mold is placed inside a vacuum cylinder, and the cylinder is evacuated via a second vacuum port. Hot water is introduced into the secondary casting hopper through a second water circulation port, and the hopper is evacuated again via a first vacuum port. The first servo hose valve is then opened, allowing the primary casting hopper to pour drug slurry into the secondary casting hopper through the first servo hose valve. After casting is complete, the first servo hose valve is closed. The vacuum cylinder is transported to the casting station via a ground rail conveyor and positioned below the secondary casting hopper. The secondary casting hopper breaks the vacuum and opens the second servo hose valve. The secondary casting hopper pours the slurry into the mold inside the vacuum cylinder through the second servo hose valve. After casting is completed, the second servo hose valve is closed, the vacuum cylinder breaks the vacuum, and the vacuum cylinder is moved out of the casting station. The mold is then removed by a gantry robot gripper. The mold cover is installed onto the cast mold using the six-axis robot and robot gripper, and the screws required for the mold cover are tightened by the screw tightening supply system.

[0021] Compared with the prior art, the advantages of the present invention include:

[0022] (1) The automatic propellant casting system and automatic casting process of the present invention improve the safety of the product casting process, ensure the casting quality of the product, and improve production efficiency by using an automatic quantitative casting method with a first- and second-stage hopper in a vacuum cylinder sealed environment. This not only reduces production costs, improves production efficiency, and ensures product quality, but also effectively eliminates safety risks, achieves the goal of safe production, and ensures the personal safety of employees. In order to improve the safety of the propellant casting process, starting from the automatic casting production process, a multi-sensor real-time monitoring system for visual, force, temperature, and displacement information in the automatic casting production process is established, thereby achieving the goals of improving production efficiency, ensuring product quality, reducing on-site personnel, eliminating safety risks, and ensuring the personal safety of employees and safe production.

[0023] (2) The present invention provides a pressure plate on the primary casting hopper that can increase the surface viscosity of the slurry. As a result of the increased surface viscosity of the slurry, the flow rate of the slurry is reduced, which can reduce the size of the "vortex". The shape characteristics of the pressure plate can fit the casting hopper at the end of the casting, preventing the vacuum environment from being broken.

[0024] (3) The present invention adds a vacuum-preventing cone in the middle of the secondary casting hopper to increase the flow resistance of the slurry in the middle, reduce the flow velocity, make the flow velocity on the side basically equal to the flow velocity in the middle, make the flow velocity of the slurry tend to be balanced, reduce the flow velocity difference of the slurry, reduce the size of the "vortex", and avoid the vacuum degree being destroyed.

[0025] In addition to the features and advantages described above, the invention also possesses other principles, features, and advantages. The invention will now be described in further detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0026] Figure 1 This is a top view of an automated propellant casting system.

[0027] Figure 2 This is a three-dimensional view of an automated propellant casting system.

[0028] Figure 3 This is a schematic diagram of an automatic quantitative pouring system.

[0029] Figure 4 This is a schematic diagram of a primary drug casting system.

[0030] Figure 5 This is a schematic diagram of a secondary drug casting system.

[0031] Figure 6 This is a schematic diagram of a vacuum cylinder and its interior.

[0032] Figure 7 This is a schematic diagram of a vacuum cylinder.

[0033] Figure 8 This is a schematic diagram of a mold lifting fixture.

[0034] Figure 9 A rendering of a three-in-one hopper for a flexible design of an automatic pouring system.

[0035] Figure 10 A rendering of a mold tray designed for a flexible automated pouring system.

[0036] Figure 11 This is a schematic diagram of a gantry robot gripper.

[0037] Figure 12 A schematic diagram of a truss robot gripping mechanism designed for flexibility in an automated pouring system.

[0038] Figure 13 Rendering of a mold cover transfer device designed for flexibility in an automated casting system.

[0039] Figure 14 A schematic diagram of the two-stage hopper casting process for the fluidized bed elimination technology in the automatic casting process.

[0040] Figure 15 This is a schematic diagram of an anti-drip device for the automatic pouring process material head anti-drip technology.

[0041] Figure 16 This is a schematic diagram of the pressure plate type for the vacuum-breaking technology of the pressure plate in the automatic casting process.

[0042] Figure 17 A schematic diagram of the pressure plate state at the end of the casting process for the vacuum-breaking anti-burst technology of the pressure plate in the automatic casting process.

[0043] Figure 18 This is a schematic diagram showing the installation status of the vacuum cone for automatic casting process.

[0044] Figure 19 A schematic diagram of the vacuum cone installation to prevent vacuum breakage.

[0045] Figure 20 This is a schematic diagram of the ground rail conveyor line structure.

[0046] Figure 21 This is a schematic diagram of a screw tightening feeding system.

[0047] Figure 22 This is a schematic diagram of a robot gripper.

[0048] Figure 23 This is a flow chart of the pouring process for an automated propellant pouring system. Detailed Implementation

[0049] 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 of the invention and are not intended to limit the invention. The implementation of this invention will be described in detail below with reference to specific embodiments.

[0050] Combination Figure 1-2 This invention discloses an automatic propellant casting system, comprising an automatic quantitative casting system 2, a vacuum cylinder 1, a gantry robot 7, a mold 9, a gantry robot gripper 16, a ground rail conveyor 3, a six-axis robot 4, a robot gripper 15, and a screw tightening feeding system 6 (e.g., ...). Figure 21 (As shown), hopper storage rack 8, mold cover material rack 5, and gantry robot 7 mainly function as a hopper transfer unit, placing hoppers containing slurry on the casting station. Simultaneously, it can transfer hoppers that have been cast or need cleaning to the hopper placement area, facilitating product or equipment flow. The gantry robot mainly consists of XYZ axes. The robot gripper 15 is located at the end of the six-axis robot 4. The mold 9 mainly functions as a slurry casting, molding, solidification, and transfer unit, primarily composed of different types of propellant mold shells, mold covers, mold transfer trays, etc. The six-axis robot 4 and robot gripper... The 15 unit serves as the mold closing mechanism, used to install the mold cover onto the completed mold 9. The screw tightening supply system 6 is used to tighten the screws required for the mold cover. The hopper storage rack 8 is used to store the primary casting hopper 2-4 and the secondary casting hopper 2-7. The mold cover loading rack 5 is used to place the buffer mold cover, facilitating batch placement and precise gripping and installation of the mold cover. The automatic casting system control is based on PLC logic sequence control, combined with SCADA data acquisition and monitoring system, and MES production management execution scheduling system to achieve automated and information-based control of the production line. The PLC system realizes equipment-level action control and signal acquisition, SCADA data monitoring and data acquisition, and MES realizes production line task scheduling. The three are interconnected and work together to meet the production line control requirements. The casting process is broken down and recombined to form functionally independent process modules. Through the production line control system, various flexible production modes such as independent operation of each process section and serial parallel operation can be realized.

[0051] Combination Figure 3-5The automatic quantitative pouring system 2 includes a primary drug pouring system and a secondary drug pouring system. The primary drug pouring system includes a primary pouring hopper 2-4 and a first servo hose valve 2-12. The secondary drug pouring system includes a secondary pouring hopper 2-7 and a second servo hose valve 2-16. The primary pouring hopper 2-4 and the secondary pouring hopper 2-7 are connected by the first servo hose valve 2-12. The drug slurry 12 can be poured from the primary pouring hopper 2-4 into the secondary pouring hopper 2-7 through the first servo hose valve 2-12, and can also be poured from the secondary pouring hopper 2-7 into the mold 9 of the vacuum cylinder 1 through the second servo hose valve 2-16. The ground rail conveyor line 3 is used to transport the mold 9 and the vacuum cylinder 1. The gantry robot gripper 16 is located at the end of the gantry robot 7. The gantry robot gripper 16 can cooperate with the gantry robot 7 to load and unload the mold 9 into and remove it from the vacuum cylinder 1, and to transfer the primary drug pouring system and the secondary drug pouring system.

[0052] The main workstations of the system include a loading station, a conveying station, an automatic casting station, a mold closing station, and a unloading station. The loading station mainly involves hopper loading and mold loading, and the corresponding equipment includes a hopper storage rack 8 and a ground rail conveyor line 3. The conveying station mainly involves hopper conveying and mold conveying, and the corresponding equipment includes a ground rail conveyor line 3, a gantry robot 7, and a gantry robot gripper 16. The automatic casting station mainly involves vacuum casting of primary and secondary drugs, and the corresponding equipment includes a primary casting system, a secondary drug casting system, and a vacuum cylinder 1. The mold closing station mainly involves closing the cast mold and tightening the screws, and the corresponding equipment includes a six-axis robot 4, a screw tightening feeding system 6, a robot gripper 15, and a mold cover loading rack 5. The unloading station mainly involves removing the cast mold 9 from the vacuum cylinder 1, and the corresponding equipment includes a gantry robot 7 and a gantry robot gripper 16.

[0053] Preferably, combined with Figure 3-5 The primary drug casting system also includes a first base plate 2-11, a first water circulation interface 2-9 disposed on the primary casting hopper 2-4, a first gripper positioning hole 2-13, and a primary casting hopper positioning hole. The first servo hose valve 2-12 is located at the lower part of the primary casting hopper 2-4, and the first base plate 2-11 is located at the lower part of the first servo hose valve 2-12.

[0054] The secondary drug casting system also includes a second base plate 2-17, a first vacuum port 2-6 disposed on the secondary casting hopper 2-7, a positioning column 2-14, a second water circulation port 2-15, a secondary casting hopper positioning hole 2-18, a second gripper positioning hole 2-19, a second servo hose valve 2-16 located at the lower part of the secondary casting hopper 2-7, and a second base plate 2-17 located at the lower part of the second servo hose valve 2-16.

[0055] Preferably, the automatic quantitative pouring system 2 further includes a first explosion-proof camera 2-1, a sensor moving electric cylinder 2-2, a temperature detection sensor 2-3, a vacuum breaking valve 2-5, a bracket 2-8, and a hose valve servo drive system 2-10. The first explosion-proof camera 2-1 and the sensor moving electric cylinder 2-2 are mounted on the bracket 2-8. The temperature detection sensor 2-3 is connected to the end of the sensor moving electric cylinder 2-2. The vacuum breaking valve 2-5 is connected to the secondary pouring hopper 2-7. The hose valve servo drive system 2-10 is used to control the first servo hose valve 2-12 and the second servo hose valve 2-16.

[0056] The primary casting hopper 2-4 can automatically achieve hot water circulation heating, while the secondary casting hopper 2-4 can automatically vacuum and automatically circulate hot water. The servo hose valve mainly controls the slurry feeding speed, and together with the weighing sensor 10-7 in the vacuum cylinder, it achieves precise control of the slurry feeding weight and speed.

[0057] Preferably, the primary hopper is equipped with a water bath system with an internal water bath jacket and a V-shaped bottom layer to facilitate the flow of the slurry. The secondary hopper is also equipped with a water bath system with an internal water bath jacket and a vacuum system to create a vacuum inside. The bottom can be designed in an inverted V-shape to facilitate the flow of the slurry and prevent material accumulation. The pouring speed is controlled by a servo hose valve, which controls the valve opening and closing based on the weighing sensor and the rate of liquid level drop to precisely control the pouring speed. All hoppers and hopper covers are connected quickly for easy disassembly and cleaning. The vacuum level in the hopper is checked by a monitoring camera to enable remote monitoring and control. A height sensor monitors the liquid level drop in real time, and the drop rate curve can be fitted by calculation to provide data support for production.

[0058] During casting, to ensure casting quality, the slurry needs to be degassed. Currently, the most widely used degaussing method is to use the vacuum of the casting cylinder to break up the air bubbles in the slurry, thus achieving the degaussing function. The working principle of vacuum casting is that the negative pressure environment created by the vacuum equipment causes the air bubbles in the slurry to expand and burst rapidly due to the pressure difference. When the air bubbles burst, they spray the surrounding slurry onto the mold wall. The height of the splashed slurry is called the boiling layer.

[0059] Because the method, force, and range of slurry splashing during degassing are uncontrollable, the boiling layer of the slurry is in an uncontrolled state, which is unacceptable during automated operation. Furthermore, if subsequent slurry does not flow evenly on the mold wall when slurry splashes, air pockets will form at the junction of the splashed slurry and the newly poured slurry, leading to engine defects. At the end of the pouring process, the presence of the boiling layer necessitates increasing the mold height to prevent slurry from splashing out of the mold. This increases the difficulty of demolding and shaping the engine. Simultaneously, the increased mold height leads to a longer insertion tube, reducing pouring efficiency and increasing the amount of residual slurry in the tube.

[0060] Analysis of the causes of the boiling layer reveals that to eliminate it, the slurry must be pre-degassed before pouring. This eliminates the splashing phenomenon caused by bubble bursting. Pre-degasting is primarily achieved through a two-stage pouring process. During the first pour, the slurry is pre-degassed through a perforated plate (installed on the secondary hopper cover, with multiple small holes to pre-degass the slurry in the primary hopper, ensuring no bubbles are generated during secondary pouring) and the vacuum of the secondary hopper. After pre-degasting, the gas in the slurry is removed, preventing gas bursting during pouring into the mold from the secondary hopper, thus eliminating the boiling layer.

[0061] Due to the need for degassing the slurry, casting must be carried out in a vacuum environment. The slurry is a typical non-Newtonian fluid; at the inlet of the casting hopper, the shear rate is low, the slurry viscosity is high, and the slurry flowability is poor. In the center of the inlet, the shear rate is high, the viscosity is low, and the slurry flowability is good. This can easily lead to a "vortex" phenomenon, which can break the vacuum at the end of the casting process, preventing degassing and causing casting defects. Currently, in manual face-to-face operation, personnel periodically scrape the slurry to prevent vacuum breakage. In automated casting, this slurry scraping function cannot be achieved without human intervention. Therefore, it is necessary to study how to maintain the vacuum environment during casting to ensure the required vacuum level. Figure 16-17 In this invention, a pressure plate 13 is provided above the center of the primary casting hopper 2-4. During the casting of the propellant slurry 12, the pressure plate 13 is located on the surface of the slurry 12 and descends with it. To avoid a "dead zone" phenomenon during actual casting, the casting speed is increased, and the hopper's contraction angle is not 90°. The bottom of the pressure plate 13 is in contact with the bottom surface of the primary casting hopper 2-4 to prevent the vacuum environment from being broken. Through research on the characteristics of the propellant slurry, when the slurry surface contacts the pressure plate 13, the surface viscosity increases, and the slurry fluidity decreases. Therefore, a pressure plate is placed at the center of the slurry casting where "eddies" are easily generated. This increases the surface viscosity of the slurry, reduces the slurry flow rate, and decreases the size of the "eddies." Because the propellant slurry density is relatively low, generally around 1800 kg / m³, this method is particularly effective.3 Therefore, the pressure plate placed in the center of the slurry needs to both increase the viscosity of the slurry surface and prevent it from being crushed by its own weight. Crushing the slurry would increase the risk of vacuum breaking. Therefore, the weight, material, and surface characteristics of the pressure plate need to be determined to select a suitable pressure plate; combined with... Figure 18-19 A vacuum cone 14 is provided at the center of the secondary casting hopper 2-7. The vacuum cone 14 is used to increase the flow resistance of the intermediate slurry 12 in the secondary casting hopper 2-7 and reduce the flow velocity, so that the flow velocity of the slurry 12 on the side is basically the same as the flow velocity in the middle.

[0062] Preferably, combined with Figure 6-7 The vacuum cylinder 1 includes a vacuum cylinder body 1-8, a sealing component 1-1, a first positioning pin 1-2, a second explosion-proof camera 1-3, an observation hole 1-4, a circulating water layer 1-5, a base 1-6, a second vacuuming interface 1-7, and a circulating water interface 1-9. The vacuum cylinder body 1-8 has a cavity for accommodating the mold 9. The circulating water layer 1-5 is located inside the vacuum cylinder body 1-8, and the vacuum cylinder body 1-8 is located on the base 1-6.

[0063] Vacuum cylinder 1 has a jacketed structure and is filled with circulating hot water to ensure that the temperature of the slurry meets the process requirements throughout the casting process. A vacuum pump is used to evacuate the slurry and exhaust the air. A miniature camera and a manual observation hole are installed at the perforated plate position in the casting vacuum cylinder to observe the casting process in real time. Multiple servo hose valves 2-16 are evenly distributed on the secondary casting hopper 2-4. The opening and closing degree of the valves is controlled by a servo system to control the slurry flow rate and casting volume.

[0064] Preferably, combined with Figure 8 It also includes a mold lifting fixture 10 and a vibrator 11 located inside the vacuum cylinder body 1-8. The mold lifting fixture 10 can drive the mold 9 to lift and lower. The mold lifting fixture 10 includes a first servo motor 10-5, a reducer 10-4, a corner gear 10-6, a guide rail 10-2, a lead screw 10-8, a lifting plate 10-3, a mounting plate 10-1, and an explosion-proof and high-temperature resistant weighing sensor 10-7. The first servo motor 10-5 is connected to the lead screw 10-8 through the reducer 10-4 and the corner gear 10-6. The lead screw 10-8 can drive the lifting plate 10-3 to move up and down along the guide rail 10-2. The mounting plate 10-1 is located at the top of the lead screw 10-8 and the guide rail 10-2. The explosion-proof and high-temperature resistant weighing sensor 10-7 and the vibrator 11 are provided on the upper surface of the lifting plate 10-3.

[0065] The PLC, in conjunction with the mold lifting fixture 10, allows for precise control of its stop position and enables rapid mold changeovers; simply switching the corresponding program is sufficient for changeover. The lifting mechanisms on both sides are connected to servo motors 10-5 via anglers 10-6, ensuring consistent lifting and preventing jamming due to asynchrony. Explosion-proof, high-temperature resistant load cells 10-7 monitor the weight of the poured product, enabling precise weight control during the pouring process. The pouring speed is calculated based on the load cells, and servo hose valves 2-16 adjust according to weight changes, improving pouring accuracy. Simultaneously, liquid level data is collected, and the numerical relationship between liquid level changes and pouring is calculated. The vertical lifting system is powered by the explosion-proof motor 10-5 installed at the bottom. The motor's rotation is transmitted to the anglers 10-6 at both ends via a reducer 10-4. The anglers 10-6 drive the lead screws 10-8, thus moving the platform up and down. Load cells are installed on the lifting platform, and their signals are fed back to the control unit in real time for precise control of the pouring volume.

[0066] The viscous flow characteristics of propellant slurry are highly complex, making it a typical non-Newtonian fluid. The causes and mechanisms of slurry buildup morphology have been detailed above. When the slurry is leveling, its flow velocity is slow without external force. To improve casting efficiency, rapid leveling is necessary to reduce leveling time. As casting progresses, the slurry's yield value, viscosity, and other rheological parameters change significantly, which is detrimental to leveling and can easily lead to porosity. Leveling is a key criterion for obtaining high-quality, defect-free propellant. Poor leveling results in numerous pores in the solidified propellant, compromising structural integrity and causing engine malfunctions. Slurry fluidity is closely related to its shear force. Increasing the shear force improves fluidity, thus accelerating leveling. Applying external force to the slurry can increase its leveling properties. This can be achieved by vibrating the slurry during buildup to increase shear force and promote rapid leveling. This invention studies the rapid leveling technology of propellant slurry through vibration. Propellant vibration casting primarily utilizes the pseudoplasticity and vibrational flow properties of the propellant slurry. Currently, most propellant slurries developed and produced domestically and internationally are pseudoplastic. Relevant test studies show that their shear rate exponent is between 0.86 and 0.97. The rheological characteristics of pseudoplastics are that their apparent viscosity decreases when shear stress or shear rate increases. This is because the macromolecular polymers in the slurry undergo structural changes under stress; long-chain molecules deviate from their equilibrium structure and orient themselves along the flow direction. As the degree of orientation increases, the entangled molecular chains in the polymer separate from each other, increasing relative motion and leading to a decrease in apparent viscosity. During the slurry casting process, the input of vibrational energy increases the shear stress or shear rate of the slurry, thus reducing its apparent viscosity and increasing its fluidity. Typically, after the slurry enters the engine, leveling relies on the static pressure head of the accumulated slurry; leveling is achieved when this value exceeds the slurry's yield strength. Under vibratory casting conditions, the slurry can level itself when the sum of the static pressure head of the accumulated slurry and the force generated by the vibration acceleration exceeds the slurry yield value, thus greatly increasing the slurry's leveling properties. Improved fluidity and leveling properties allow the slurry to more easily fill all voids, thereby increasing its density. This invention uses a benchtop electric vibrator 11. During operation, the vibrator vibrates the slurry according to the parameters transmitted back by the slurry accumulation morphology sensor, ensuring rapid leveling. Using this vibrator, the casting component, hopper, and vacuum cylinder can be rigidly fixed together on the vibrating table, achieving overall or partial vibration.

[0067] Preferably, combined with Figure 11The truss manipulator gripper 16 includes a fixed plate 16-1, a second positioning pin 16-2, a pneumatic gripper 16-3, a proximity switch sensor 16-5, a mounting plate 16-6, a second servo motor 16-7, a vision positioning system 16-8, a lead screw 16-4, a guide rail 16-9, and a positioning connecting block 16-10. The second servo motor 16-7 can drive the positioning connecting blocks 16-10 and the fixed plate 16-1 located at both ends of the mounting plate 16-6 to move through the lead screw 16-4. The pneumatic gripper 16-3 is located in the middle of the mounting plate 16-6 for gripping the mold 9. The second positioning pin 16-2 is located on the fixed plate 16-1, which plays a positioning role and can prevent the hopper from moving.

[0068] Combination Figure 20 The ground rail conveyor, 3, mainly serves to transport molds and vacuum cylinders, while connecting other equipment to form an automated production line. The conveyor line mainly consists of a servo motor, reducer, gear rack, guide rail, sensor, and base, 3-1.

[0069] Combination Figure 22 The robot gripper 15 mainly serves to hold the mold cover and fix the tightening system. It is mainly composed of a robot quick change device 15-4, a vision positioning system 15-2, a pneumatic structure, a claw 15-3, and a mounting plate 15-1.

[0070] The automatic casting process control and detection system of this invention is described below. During normal production, the workshop achieves fully automated and unmanned production. The control room is equipped with an operator console for real-time remote control of the field equipment, including functions such as power on / off, equipment start / stop, parameter setting, formula distribution, equipment monitoring, and equipment scheduling. Field operation panels are also provided for controlling the field equipment during troubleshooting or adjustments. Centralized control in the control room and field control are interlocked, with field control taking priority.

[0071] The power supply and distribution unit is equipped with a remote electrical control module, enabling remote power-on and power-off control of the equipment from the control room; the field control system can also remotely start and stop the equipment. Interlocking functions are set according to process requirements for power-on / off sequence.

[0072] The truss is equipped with a motion control system, which is independently programmed and can achieve multi-axis interpolation motion.

[0073] Industrial vision technology is used to achieve functions such as positioning, grasping, guidance, measurement, location, and information reading. The video surveillance system enables intelligent analysis to monitor and judge the status of the monitored equipment and areas.

[0074] Barcode readers or industrial cameras are installed at logistics process nodes to identify product and tooling information. Combined with the upper-level system, the information of products, tooling and other materials on the entire production line is bound, traced and managed.

[0075] The data monitoring system enables workshop-level monitoring and data acquisition, including equipment operating status, logistics information, sensors, public power, etc. The acquired data is analyzed, processed, and stored, and exchanged with the MES system and PLC control system to achieve monitoring of all elements involved in the entire production line.

[0076] Key process environmental factors, including temperature, weight, liquid level, and liquid accumulation morphology, are monitored, and alarm logic is set and interlocked with the automation program. Sensors and parameters at key process nodes have dual-loop, dual-monitoring capabilities, and the integrated control system enables parameter comparison and timely alarms.

[0077] The automatic pouring and testing system mainly consists of a propellant quantitative measurement and control system, a propellant feeding monitoring system, a lifting platform electrical control system, and a heating and circulating water control system. The control system primarily relies on industrial computers and PLCs for control, with the control equipment housed in a control room that maintains a safe distance. The pouring tanks and other mechanical components are located on-site in the pouring workshop.

[0078] The automatic pouring system of this invention has two working modes: "manual" adjustment and "automatic" control. The "manual" mode allows for various adjustments to the equipment to control the amount of propellant slurry to be poured. In the automatic quantitative pouring system, high-precision weighing sensors collect relevant information such as the amount of propellant to be poured in real time and transmit the signals to the industrial control computer in the control room. The industrial control computer monitors and corrects the data based on pre-set propellant pouring data and controls the opening and closing of the mechanical hose valve through a servo control system, thereby achieving the goal of controlling the amount of propellant slurry poured.

[0079] The following describes the flexible production design of the automatic casting system of this invention. During the entire casting production process, due to the large variety of products, frequent product changes are required. Furthermore, due to the different process routes for the cast products, frequent equipment changes are necessary. Additionally, due to the varying casting parameters, frequent adjustments to the casting process parameters are required. To achieve flexible production, compatibility with multiple product types, reduced changeover time, and a reduction in the number and types of tooling, the relevant hardware structure needs to be standardized. Since the parameters of the cast products differ, the adjustments to related parameters need to be adaptive, avoiding excessive manual intervention and hardware replacement. The following example demonstrates the standardized design of the primary hopper, secondary hopper, and secondary hopper cover, which can be extended to other structures, for example, see [see...]. Figure 9 As shown. Taking the above as a starting point, the following structure will be standardized to unify the mold tray (see...). Figure 10By standardizing the mold tray design of the casting mold base, only one type of tray is used during production, avoiding the need to change trays when changing products. The gantry robot's gripper has a uniform width, and its length is automatically adjusted by a servo motor (see...). Figure 11 The gantry robot has a fixed width, while its length can be adjusted using servo motor parameters. The gantry robot primarily grips primary hoppers (such as...). Figure 12 (Left image), secondary hopper (such as) Figure 12 (The middle picture), secondary hopper cover (such as) Figure 12 (See the right figure). By rationally designing each gripping component, the gripper can be standardized, avoiding the need to replace the gripper components when changing the hopper. The mold cover transfer device can also be standardized (e.g., Figure 13 By unifying the design of the mold cover, the mold cover transfer device can be standardized, thus avoiding the need to change the mold cover transfer device when changing the mold.

[0080] By studying casting products, casting process routes, casting process parameters, casting equipment, programmable logic controllers (PLCs), information acquisition, processing, transmission, and multi-sensor control methods, the data information in the production line system changes synchronously when product specifications or processes change. The production line automatically adjusts its manufacturing solutions, thereby achieving adaptive and flexible production and significantly improving production efficiency. By collecting and organizing basic information such as process parameters, process routes, and production equipment for each product and inputting it into the production database, the information acquired by the production line during the casting of a particular product is compared with the information entered into the production system to ensure the accuracy of the produced product information. Centralized information control is used to manage all production lines, avoiding discrete and independent production modes. A multi-sensor control system based on speed, position, arrival, and presence / absence is established at each stage of production, ensuring a closed-loop management system of measurement, feedback, execution, and compensation. Real-time online monitoring of the execution of various parameters during production line operation ensures the reliability of the production line. Through the equipment control system, host computer system, MES system, and production system, the collection, processing, interaction, and storage of information at each stage ensure the traceability of product information.

[0081] Based on the aforementioned automated casting database, when product specifications or raw materials change, the casting plan is automatically adjusted according to data in the production system, effectively avoiding downtime caused by untimely information transmission and synchronization. Simultaneously, it can identify and plan the paths for product production stations on the production line, thereby achieving flexible mixed-line production and significantly improving production efficiency. The production system automatically receives basic process data and production plans, enabling centralized production scheduling and hierarchical production planning down to each piece of equipment. It supports plan adjustments and visual scheduling, achieving flexible production to adapt to the needs of multi-variety, large-volume, or small-batch orders.

[0082] The transmission and comparison of flexible casting information is mainly achieved through QR codes on each moving mechanism. Upon reaching a workstation, the code is scanned to confirm whether the information matches the production database. Simultaneously, production information is collected through scanning, achieving both error prevention through comparison and collection of production line information. For example, if there are three isolated casting production lines (1-3), product A can be used on lines 1 and 2, with each line capable of casting four batches of product A at a time. For instance, if molds for products A (1-4) are placed on mold tray 1, before loading the molds and trays, the QR codes on molds 1-4 and mold tray 1 are scanned simultaneously. The system binds the mold and tray information. Subsequently, upon entering the production line, only the QR code on the mold tray needs to be scanned. Before being transferred to the production line, product A is identified. Based on the identified information, it is transferred to line 1 or line 2. The MES system analyzes the current production status of lines 1 and 2 (primarily analyzing the current tasks of lines 1 and 2 to determine which line can complete production first). If production line 1 can complete production first, then the product enters production line 1. This is a simplified analysis; the actual process is much more complex (e.g., production line 2 might be open or under maintenance). The process determines which production line the product will be transferred to. If, after analysis, it enters production line 1, the pallet's QR code is scanned upon entry, and information is bound. Simultaneously, the production line identifies if it is product A, confirming no errors in the transfer process. If correct, the production line automatically calls the product A casting program and equipment according to a pre-set program, comparing the program parameters with data in the production information system. If all information matches, production can continue. After all information is confirmed to be correct, the production line automatically transfers the product to the casting station. The equipment automatically scans the code, binding casting information such as casting time, casting parameters, and equipment status. This scanning and binding of pre-set information occurs at each subsequent process step. Upon completion and warehousing, the pallet and storage location QR codes are scanned, binding the storage location information. After the product is received into the warehouse, its production line information, production time, production parameters, process flow, and production equipment can be retrieved through the QR code on the casting plate, enabling full-process traceability. During production, the production line, casting program, and parameters can be automatically called based on the product information. No manual intervention is required, achieving both isolated casting and production line flexibility.

[0083] After pouring, due to the high viscosity and shear force of the slurry, some slurry will remain on the insertion tube. Over time, the slurry will leave the tube under its own gravity and drip onto the equipment below. Waiting for the slurry to drip from the tube takes a considerable amount of time, typically around ten minutes, which severely impacts the pouring speed. Furthermore, the slurry is explosive and can contaminate other equipment, so drip-proofing measures are necessary for the slurry remaining in the tube after pouring. In manual face-to-face operation, manual receiving is the primary method. Automated equipment can refer to this method, using a tray to catch the slurry remaining in the tube after pouring. This mainly consists of a telescopic mechanism and a slurry receiving tray. Specific forms (e.g.) Figure 15 As shown in the figure.

[0084] Combination Figure 14 , 23 The automatic pouring process of the automatic propellant pouring system of the present invention includes the following steps (taking a single station as an example):

[0085] The gantry robot 7 places the primary and secondary drug casting systems at the casting station. The primary casting hopper 2-4 is located above the secondary casting hopper 2-7, and contains drug slurry 12. The mold 9 is placed into the vacuum cylinder 1, and the vacuum cylinder 1 is evacuated through the second vacuum port 1-7. Hot water is introduced into the secondary casting hopper 2-7 through the second water circulation port 2-15, and the secondary casting hopper 2-7 is evacuated through the first vacuum port 2-6. The first servo hose valve 2-12 is opened, and the primary casting hopper 2-4 pours drug slurry 12 into the secondary casting hopper 2-7 through the first servo hose valve 2-12. After casting is completed, the first servo hose valve is closed. Vacuum cylinder 1 is transported to the casting station via ground rail conveyor 3 and positioned below secondary casting hopper 2-7. Secondary casting hopper 2-7 breaks the vacuum and opens the second servo hose valve 2-16. Secondary casting hopper 2-7 pours slurry 12 into mold 9 in vacuum cylinder 1 through second servo hose valve 2-16. After casting is completed, second servo hose valve 2-16 is closed, vacuum cylinder 1 breaks the vacuum, and vacuum cylinder 1 is moved out of the casting station. Mold 9 is then removed by gantry robot gripper 16. The mold cover is installed on the cast mold 9 by the six-axis robot 4 and robot gripper 15, and the screws required for the mold cover are tightened by screw tightening supply system 6.

[0086] This invention employs a two-stage vacuum casting method. The hopper in the first-stage casting system serves as a transfer container, while the hopper in the second-stage system is vacuum-heated. During casting, the propellant slurry undergoes degassing in the first step to improve casting quality. Simultaneously, the mold is placed in a vacuum cylinder. Under vacuum conditions, the propellant slurry is evenly dispersed into numerous fine strips through a perforated plate via a servo hose valve, effectively venting any gas mixed in with the slurry. This is then injected into the mold. As casting progresses, the slurry continuously degasses. The vacuum level and casting speed also contribute to ensuring the reproducibility of propellant quality. Vacuum quantitative casting improves propellant quality, resulting in a more stable propellant configuration and minimizing porosity. Human-machine isolated quantitative casting under vacuum negative pressure is a crucial technology for ensuring the propellant is porosity-free, dense, possesses excellent mechanical properties and combustion stability, and is safe during the casting process. Based on the casting process requirements of different types of propellants, the automatic casting system of this invention can simultaneously cast multiple propellants. The mold lifting fixture in the vacuum cylinder has a lifting function, enabling quantitative and constant-speed casting. The casting control system adopts an integrated control method and includes a casting monitoring system. The hose valve opening control has both manual and automatic control modes. The system consists of two main parts: a mechanical part and a control part. When the system is not in operation, the movable plate descends to the lowest position to ensure safety. The casting system completes the lifting and lowering of the lifting platform and other auxiliary actions of other components through the cooperation of the mechanical and control parts.

[0087] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic propellant casting system, characterized in that, Includes an automatic quantitative pouring system (2), a vacuum cylinder (1), a gantry robot (7), a mold (9), a gantry robot gripper (16), and a ground rail conveyor line (3); The automatic quantitative pouring system (2) includes a primary drug pouring system and a secondary drug pouring system. The primary drug pouring system includes a primary pouring hopper (2-4) and a first servo hose valve (2-12). The secondary drug pouring system includes a secondary pouring hopper (2-7) and a second servo hose valve (2-16). The primary pouring hopper (2-4) and the secondary pouring hopper (2-7) are connected by the first servo hose valve (2-12). The drug slurry (12) can be poured from the primary pouring hopper (2-4) into the secondary pouring hopper (2-7) through the first servo hose valve (2-12), and can also be poured from the secondary pouring hopper (2-7) into the mold (9) of the vacuum cylinder (1) through the second servo hose valve (2-16). The ground rail conveyor line (3) is used to transport the mold (9) and the vacuum cylinder (1). The gantry manipulator gripper (16) is located at the end of the gantry manipulator (7). The gantry manipulator gripper (16) can cooperate with the gantry manipulator (7) to load and unload the mold (9) into and remove the vacuum cylinder (1), and transfer the primary drug casting system and the secondary drug casting system.

2. The automatic propellant casting system according to claim 1, characterized in that, The primary drug casting system also includes a first base plate (2-11), a first water circulation interface (2-9) disposed on the primary casting hopper (2-4), a first gripper positioning hole (2-13), and a primary casting hopper positioning hole. The first servo hose valve (2-12) is located at the lower part of the primary casting hopper (2-4), and the first base plate (2-11) is located at the lower part of the first servo hose valve (2-12).

3. The automatic propellant casting system according to claim 2, characterized in that, The secondary drug casting system also includes a second base plate (2-17), a first vacuum port (2-6) set on the secondary casting hopper (2-7), a positioning column (2-14), a second water circulation port (2-15), a secondary casting hopper positioning hole (2-18), a second gripper positioning hole (2-19), and the second servo hose valve (2-16) is located at the lower part of the secondary casting hopper (2-7). The second base plate (2-17) is located at the lower part of the second servo hose valve (2-16).

4. The automatic propellant casting system according to claim 3, characterized in that, The automatic quantitative pouring system (2) further includes a first explosion-proof camera (2-1), a sensor moving electric cylinder (2-2), a temperature detection sensor (2-3), a vacuum breaking valve (2-5), a bracket (2-8), and a hose valve servo drive system (2-10). The first explosion-proof camera (2-1) and the sensor moving electric cylinder (2-2) are mounted on the bracket (2-8). The temperature detection sensor (2-3) is connected to the end of the sensor moving electric cylinder (2-2). The vacuum breaking valve (2-5) is connected to the secondary pouring hopper (2-7). The hose valve servo drive system (2-10) is used to control the first servo hose valve (2-12) and the second servo hose valve (2-16).

5. The automatic propellant casting system according to claim 4, characterized in that, A pressure plate (13) is provided above the center of the primary casting hopper (2-4). When the slurry (12) is poured, the pressure plate (13) is located on the surface of the slurry (12) and can descend as the slurry (12) descends. The bottom of the pressure plate (13) is in contact with the bottom surface of the primary casting hopper (2-4). A vacuum cone (14) is provided at the center of the secondary casting hopper (2-7). The vacuum cone (14) is used to increase the flow resistance of the slurry (12) in the middle of the secondary casting hopper (2-7) and reduce the flow velocity, so that the flow velocity of the slurry (12) on the side is basically the same as the flow velocity in the middle.

6. The automatic propellant casting system according to claim 5, characterized in that, The vacuum cylinder (1) includes a vacuum cylinder body (1-8), a sealing assembly (1-1), a first positioning pin (1-2), a second explosion-proof camera (1-3), an observation hole (1-4), a circulating water layer (1-5), a base (1-6), a second vacuum port (1-7), and a circulating water port (1-9). The vacuum cylinder body (1-8) has a cavity for accommodating the mold (9). The circulating water layer (1-5) is located inside the vacuum cylinder body (1-8), and the vacuum cylinder body (1-8) is located on the base (1-6).

7. The automatic propellant casting system according to claim 6, characterized in that, It also includes a mold lifting fixture (10) and a vibrator (11) located inside the vacuum cylinder body (1-8). The mold lifting fixture (10) can drive the mold (9) to lift. The mold lifting fixture (10) includes a first servo motor (10-5), a reducer (10-4), a corner gear (10-6), a guide rail (10-2), a lead screw (10-8), a lifting plate (10-3), a mounting plate (10-1), and an explosion-proof and high-temperature resistant weighing sensor (10-7). The first servo motor (10-5) is connected to the lead screw (10-8) through the reducer (10-4) and the angler (10-6). The lead screw (10-8) can drive the lifting plate (10-3) to move up and down along the guide rail (10-2). The mounting plate (10-1) is located on top of the lead screw (10-8) and the guide rail (10-2). The explosion-proof high-temperature resistant weighing sensor (10-7) and the vibrator (11) are provided on the upper surface of the lifting plate (10-3).

8. The automatic propellant casting system according to claim 7, characterized in that, The truss manipulator gripper (16) includes a fixed plate (16-1), a second positioning pin (16-2), a pneumatic gripper (16-3), a proximity switch sensor (16-5), a mounting plate (16-6), a second servo motor (16-7), a vision positioning system (16-8), a lead screw (16-4), a guide rail (16-9), and a positioning connecting block (16-10). The second servo motor (16-7) can drive the positioning connecting block (16-10) and the fixed plate (16-1) located at both ends of the mounting plate (16-6) to move through the lead screw (16-4). The pneumatic gripper (16-3) is located in the middle of the mounting plate (16-6), and the second positioning pin (16-2) is located on the fixed plate (16-1).

9. The automatic propellant casting system according to claim 8, characterized in that, It also includes a six-axis robot (4), a robot gripper (15), a screw tightening feeding system (6), a hopper storage rack (8), and a mold cover loading rack (5). The robot gripper (15) is located at the end of the six-axis robot (4). The six-axis robot (4) and the robot gripper (15) serve as mold closing devices, used to install the mold cover onto the mold (9) after casting. The screw tightening feeding system (6) is used to tighten the screws required for the mold cover. The hopper storage rack (8) is used to store the primary casting hopper (2-4) and the secondary casting hopper (2-7). The mold cover loading rack (5) is used to place the buffer mold cover, which facilitates the batch placement and precise gripping and installation of the mold cover.

10. An automatic pouring process for an automatic propellant pouring system according to claim 9, characterized in that, Includes the following steps: The gantry robot (7) places the primary and secondary drug casting systems at the casting station. The primary casting hopper (2-4) is located above the secondary casting hopper (2-7). The primary casting hopper (2-4) is filled with drug slurry (12). The mold (9) is placed into the vacuum cylinder (1). The vacuum cylinder (1) is evacuated through the second vacuum port (1-7). Hot water is introduced into the secondary casting hopper (2-7) through the second water circulation port (2-15). The secondary casting hopper (2-7) is evacuated through the first vacuum port (2-6). The first servo hose valve (2-12) is opened. The primary casting hopper (2-4) pours drug slurry (12) into the secondary casting hopper (2-7) through the first servo hose valve (2-12). After the pouring is completed, the first servo hose valve is closed. (2-12) The vacuum cylinder (1) is transported to the casting station via the ground rail conveyor line (3) and located below the secondary casting hopper (2-7). The secondary casting hopper (2-7) breaks the vacuum and opens the second servo hose valve (2-16). The secondary casting hopper (2-7) pours the slurry (12) into the mold (9) in the vacuum cylinder (1) through the second servo hose valve (2-16). After the pouring is completed, the second servo hose valve (2-16) is closed. The vacuum cylinder (1) breaks the vacuum. After the vacuum cylinder (1) is moved out of the casting station, the mold (9) is taken out by the gantry robot gripper (16). The mold cover is installed on the mold (9) after the pouring is completed by the six-axis robot (4) and the robot gripper (15). The screws required for the mold cover are tightened by the screw tightening supply system (6).

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