An automatic demoulding device of composite propellant fin integrated in an explosion-proof robot

Abstract

The present application relates to the technical field of composite propellant demolding process equipment, in particular to a composite propellant wing piece automatic demolding device integrated in an explosion-proof robot. The device comprises a wing piece clamping mechanism arranged at the end of the arm of the explosion-proof robot for clamping and positioning the wing piece, and a six-dimensional force sensor arranged at the end of the arm of the explosion-proof robot for detecting the three-dimensional force and three-dimensional torque of the wing piece clamping mechanism when clamping the wing piece. Meanwhile, an outer six-sided bolt clamping mechanism driven by a servo motor to rotate, a visual identification module and a demolding excitation mechanism are fixedly arranged on the wing piece clamping mechanism. The present application can replace the traditional manual alignment and unscrewing operation, fundamentally avoiding the mechanical impact and friction sparks generated by manual close-range operation, eliminating the risk of triggering propellant explosion accidents, and completely eliminating the threat to personal safety of high-risk operations such as climbing and pit bottom.

Description

Technical Field

[0001] This invention relates to the field of composite propellant demolding process equipment technology, specifically to an automatic demolding device for composite propellant blades integrated into an explosion-proof robot. Background Technology

[0002] The demolding process for the blades in aerospace engine propellant assemblies is a critical and high-risk step in the product manufacturing process. Currently, the mainstream demolding method in the industry is still mainly manual operation, supplemented by cranes and simple tooling.

[0003] Traditional demolding methods have the following drawbacks:

[0004] First, there are significant safety hazards. The propellant is a flammable and explosive material. Traditional demolding operations rely on close-range manual operation and manual force in many stages, which can easily generate mechanical impacts and friction sparks, posing a risk of triggering a deflagration accident. At the same time, the operation involves high-risk scenarios such as climbing, operating at the bottom of the pit, and working closely with cranes, making it impossible to guarantee the personal safety of the operators.

[0005] Secondly, in the traditional process of demolding winglets, the removal of the axial screws that fix the winglets relies on the operator's experience, which can easily lead to problems such as omissions, insufficient loosening, or excessive torque. This can create hidden dangers of jamming and scratches in subsequent demolding processes. In addition, the process is scattered and lengthy, resulting in low work efficiency and making it difficult to meet the needs of large-scale production.

[0006] Currently, there is a lack of integrated automated devices specifically designed for demolding composite propellant blades in aerospace engines on the domestic market. Existing operating methods cannot meet the requirements for high-precision, high-efficiency, and high-safety automated demolding. Summary of the Invention

[0007] Based on the above-mentioned technical problems, the present invention aims to provide an automatic demolding device for composite propellant fins integrated into the six axes of an explosion-proof robot, which can automatically demold fins in aerospace engine propellant assemblies while ensuring the safety of products and personnel, and significantly improve demolding accuracy, work efficiency and process stability.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] An automatic demolding device for composite propellant fins integrated into an explosion-proof robot includes: an explosion-proof robot; a fin gripping mechanism for clamping and positioning the fins located at the end of the robot's arm; a six-dimensional force sensor located between the end of the robot's arm and the fin gripping mechanism, the six-dimensional force sensor being used to detect three-dimensional force and three-dimensional torque information of the fin gripping mechanism when clamping the fins; an external hexagonal bolt clamping mechanism fixed on the fin gripping mechanism and driven to rotate by a servo motor, the external hexagonal bolt clamping mechanism being used to disassemble the fin fixing axial screws; a vision recognition module and a demolding vibration mechanism fixed on the external hexagonal bolt clamping mechanism; the vision recognition module being used to acquire images of the fin fixing axial screws and the fin's position; the demolding vibration mechanism being used to periodically vibrate the fins;

[0010] Furthermore, the wing clamping mechanism includes a parallel gripper mounting base, one end of which is fixedly connected to the output end of a six-dimensional force sensor via an adapter flange, and the other end of which is fixedly connected to a gripper plate. A guide rail is fixedly mounted on the end face of the gripper plate, and two grippers are slidably mounted on the guide rail. The parallel gripper mounting base is provided with a driving device for driving the grippers to slide on the guide rail.

[0011] Furthermore, two parallel guide rails are fixedly provided on the end face of the gripper plate, and each gripper has two gripping ends. The two gripping ends of the gripper are slidably provided on the two guide rails, and the other end of each gripper slidably passes through the gripper plate and is connected to the drive device located in the parallel pneumatic gripper mounting base.

[0012] Furthermore, the driving device is a cylinder or an electric telescopic rod;

[0013] Furthermore, the external hexagonal bolt clamping mechanism includes: a base mounting frame fixedly connected to the outer wall of the wing clamping mechanism; a servo motor fixedly mounted on the base mounting frame; the output shaft of the servo motor fixedly connected to the closed end of the bolt removal clamp mounting seat; a pneumatic gripper fixedly mounted inside the bolt removal clamp mounting seat; the three gripping claws of the pneumatic gripper are located at the opening of the bolt removal clamp mounting seat; each gripping claw is provided with a bolt clamping block that can slide along the gripping claw; a connecting rod is also fixedly mounted on the outer wall of the bolt removal clamp mounting seat between any two adjacent gripping claws; the connecting rod extends toward the rotation axis of the bolt removal clamp mounting seat; and a screw removal post perpendicular to it is fixedly mounted on the connecting rod.

[0014] Furthermore, the output shaft of the servo motor is fixedly connected to the disassembly bolt clamp mounting base via a coupling and a reducer, and a torque sensor for detecting the output torque of the servo motor is also provided on the output shaft of the servo motor.

[0015] Furthermore, the pneumatic gripper is a three-jaw centering pneumatic gripper;

[0016] Furthermore, the visual recognition module includes: a camera body, a robot camera light source, and a camera light source mounting bracket; the camera light source mounting bracket is fixedly installed on the lower side of the frame of the base mounting bracket, and the camera body and the robot camera light source are fixedly mounted on the camera light source mounting bracket respectively, with the lens of the camera body facing the working area below;

[0017] Furthermore, the demolding vibration mechanism includes: a blade servo electric cylinder, a hinge joint, a connecting rod, and a lever; the servo electric cylinder is hinged to the outer wall of the base mounting frame via an electric cylinder mounting seat, the piston rod of the servo electric cylinder is hinged to one end of the lever via the hinge joint, the middle of the lever is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the cylinder body of the servo electric cylinder.

[0018] The advantages and positive effects of this invention are as follows:

[0019] 1. This invention can replace traditional manual alignment and loosening operations, fundamentally avoiding the mechanical impact and friction sparks caused by close-range manual operation, eliminating the risk of triggering propellant explosion accidents, and completely eliminating the threat to personal safety posed by high-risk operations such as climbing and pit bottoms.

[0020] 2. The wing demolding mechanism of the present invention integrates six-dimensional force control and demolding vibration function. It can reduce demolding resistance through high-frequency micro-amplitude vibration and demold smoothly along complex paths, avoiding the problems of uneven force application and collision damage caused by traditional manual vibration intervention and crane traction. The demolding process is safer and more efficient.

[0021] 3. The wing clamping mechanism of the present invention uses parallel pneumatic grippers to drive multiple sets of tool clamps to close synchronously along the guide rail, forming a uniform circumferential clamping on the outer side of the wing. From a mechanical structure perspective, this ensures that the clamping force is symmetrically distributed along the circumference of the wing, effectively avoiding the wing's uneven load deformation and shell scratches caused by traditional single-sided clamping or manual force application.

[0022] 4. The demolding vibration mechanism of the present invention utilizes the linear extension and retraction motion of the piston rod inside the servo electric cylinder, which is converted into high-frequency micro-amplitude vibration through the hinge joint, and directly transmits the vibration to the clamped blade as a whole, causing the bonding interface between the blade and the propellant matrix to loosen slightly, effectively reducing the axial force required for subsequent pull-out demolding, and avoiding the impact damage risk caused by traditional manual knocking vibration.

[0023] 5. This invention compactly arranges the axial screw disassembly mechanism, the wing clamping mechanism, and the demolding vibration mechanism on the same modular base. Driven uniformly by the six-axis end effector of an explosion-proof robot, the screw disassembly, wing clamping, vibration loosening, and smooth pulling are completed sequentially with continuous mechanical action. This replaces the traditional multi-process, multi-person operation mode, significantly improving the overall demolding efficiency. At the same time, by cooperating with the power and gas cut-off protection air circuit and the mechanical overload avoidance structure, the automatic interruption and safe retreat of the operation process can be realized. The operation stability and traceability are significantly better than the traditional method. Attached Figure Description

[0024] Figure 1 This is a perspective view of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the present invention;

[0026] Figure 3 for Figure 2 Side view of the invention;

[0027] Figure 4 This is a schematic diagram of the wing clamping mechanism;

[0028] Figure 5 This is a schematic diagram of the external hexagonal bolt clamping mechanism;

[0029] Figure 6 This is a schematic diagram of the connection structure of the servo motor;

[0030] Figure 7 This is a schematic diagram of the visual recognition module.

[0031] Figure 8 This is a schematic diagram of the connection structure of a servo electric cylinder;

[0032] Figure 9 This is a schematic diagram of the demolding vibration mechanism;

[0033] The components include: 1. Torque sensor; 2. Servo motor; 3. Servo electric cylinder; 4. Demolding vibration mechanism; 5. External hexagonal bolt clamping mechanism; 6. Vision recognition module; 7. Wing clamping mechanism; 8. Six-dimensional force sensor; 9. Explosion-proof robot; 102. Coupling; 103. Base mounting frame; 104. Reducer; 301. Cylinder body; 302. Electric cylinder mounting base; 303. Base; 304. Piston rod; 401. Hinge joint. ; 402, connecting rod; 403, lever; 501, bolt removal gripper mounting base; 502, connecting rod; 503, gripper claw; 504, bolt clamping block; 505, screw removal post; 506, pneumatic gripper claw; 601, camera body; 602, camera light source; 603, camera light source mounting bracket; 701, parallel pneumatic gripper mounting base; 702, gripper holding plate; 703, guide rail; 704, gripper claw; 705, drive device. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0035] like Figures 1-3 As shown, the present invention provides an automatic demolding device for composite propellant winglets integrated into an explosion-proof robot 9. The explosion-proof robot 9 is the prior art. In this embodiment, the explosion-proof robot 9 has six rotating joints. The explosion-proof robot 9 is fixedly installed on the ground foundation. A winglet clamping mechanism 7 for clamping and positioning the winglets is provided at the end of the arm of the explosion-proof robot 9. That is, the explosion-proof robot 9 first drives the winglet clamping mechanism 7 to move to the target position, and then the winglet clamping mechanism 7 clamps and positions the winglets.

[0036] Furthermore, a six-dimensional force sensor 8 is provided between the end of the arm of the explosion-proof robot 9 and the wing clamping mechanism 7. The six-dimensional force sensor 8 is used to detect the three-dimensional force and three-dimensional torque information of the wing clamping mechanism 7 when clamping the wing. In this embodiment, the end of the arm of the explosion-proof robot 9 can be connected and fixed to the fixed end of the six-dimensional force sensor 8 by setting an adapter flange. The output end of the six-dimensional force sensor 8 is also connected and fixed to the wing clamping mechanism 7 by setting an adapter flange.

[0037] like Figure 4 As shown, the wing clamping mechanism 7 includes: a parallel pneumatic gripper mounting base 701, a gripper holding plate 702, a guide rail 703, a gripper 704, and a drive device 705;

[0038] Specifically, one end of the parallel gripper mounting base 701 is connected and fixed to the output end of the six-dimensional force sensor 8 via an adapter flange, and the other end of the parallel gripper mounting base 701 is fixedly connected to the gripper holding plate 702. A guide rail 703 is fixedly installed on the end face of the gripper holding plate 702, and two grippers 704 are slidably installed on the guide rail 703.

[0039] The parallel pneumatic gripper mounting base 701 is equipped with a drive device 705 that drives the gripper 704 to slide on the guide rail 703;

[0040] That is, the driving device 705 drives the two grippers 704 on the two guide rails 703 to slide relative to each other, and finally the gripper 704 closes to achieve the clamping and positioning of the blade.

[0041] Furthermore, to improve the stability of the gripper 704 in holding the winglets, in this embodiment, two parallel guide rails 703 are fixedly provided on the end face of the gripper plate 702. At the same time, each gripper 704 is provided with two gripping ends, which are slidably disposed on the two guide rails 703 respectively. The other end of each gripper 704 slidably passes through the gripper plate 702 and is connected to the drive device 705 located in the parallel pneumatic gripper mounting base 701. The drive device 705 can be two independent cylinders or electric telescopic rods. That is, the telescopic movement of the cylinders or electric telescopic rods drives each gripper 704 to move on the guide rails 703 respectively, thereby realizing the gripping and positioning of the winglets.

[0042] Located on the outside of the wing clamping mechanism 7, an external hexagonal bolt clamping mechanism 5 driven to rotate by the servo motor 2 is also fixedly provided on the wing clamping mechanism 7;

[0043] The external hexagonal bolt clamping mechanism 5 is used to rotate the wing clamping mechanism 7 after the wing clamping mechanism 7 clamps and positions the wing, so as to tighten the wing fixing axial screw and remove the wing fixing axial screw.

[0044] like Figure 5 As shown, the external hexagonal bolt clamping mechanism 5 includes: a bolt removal clamp mounting base 501, a connecting rod 502, a pneumatic gripper 506, and a screw removal post 505;

[0045] Specifically, the bolt removal clamp mounting base 501 is a cylindrical structure with one open end. Its closed end is fixedly connected to the output shaft of the servo motor 2. That is, the servo motor 2 drives the bolt removal clamp mounting base 501 to rotate. A pneumatic gripper 506 is fixedly installed inside the bolt removal clamp mounting base 501. The pneumatic gripper 506 is an existing three-jaw centering pneumatic gripper. The three gripping claws 503 of the pneumatic gripper 506 are located at the opening of the bolt removal clamp mounting base 501. Each gripping claw 503 is provided with a bolt clamping block 504 that can slide along the gripping claw 503. The clamping center of the three gripping claws 503 is coaxial with the rotation center of the bolt removal clamp mounting base 501.

[0046] Located between any two adjacent clamping claws 503, a connecting rod 502 is also fixed on the outer wall of the bolt removal clamp mounting base 501. The connecting rod 502 extends toward the rotation axis of the bolt removal clamp mounting base 501, and a screw removal post 505 perpendicular to it is fixed on the connecting rod 502.

[0047] While the wing clamping mechanism 7 clamps and positions the wing, the three screw removal posts 505 of the external hexagonal bolt removal module 5 form a circumferential limiting sleeve engagement with the wing fixing axial screw, clamping three of the external hexagonal wing fixing axial screws. Then, the servo motor 2 provides power to drive the entire external hexagonal bolt removal module 5 to rotate, and provides a large torque to loosen the wing fixing axial screws through the three screw removal posts 505. Subsequently, the pneumatic gripper 506 is activated to control the gripping claw 503 to drive the bolt clamping block 504 to clamp the other three sides of the wing fixing axial screws, quickly pulling out the wing fixing axial screws and completing the disassembly process.

[0048] Furthermore, a base mounting bracket 103, fixedly connected to the parallel gripper mounting base 701, is provided on the outer side of the parallel gripper mounting base 701, such as... Figure 6 As shown, the servo motor 2 is fixedly mounted on the base mounting bracket 103. The output shaft of the servo motor 2 is fixedly connected to the disassembly bolt clamp mounting base 501 of the external hexagonal bolt clamping mechanism 5 through the coupling 102 and the reducer 104. At the same time, the output shaft of the servo motor 2 is also equipped with a torque sensor 1 for detecting the output torque of the servo motor 2.

[0049] The basic mounting bracket 103 is also fixedly equipped with a visual recognition module 6. The visual recognition module 6 is used to identify the position of the wing using existing computer vision technology, and to simultaneously position the axial screw of the wing fixing mechanism 5 by the screw removal column 505 of the external hexagonal bolt clamping mechanism 5 when the wing clamping mechanism 7 clamps the wing.

[0050] Furthermore, such as Figure 7 As shown, the visual recognition module 6 includes: a camera body 601, a robot camera light source 602, and a camera light source mounting bracket 603;

[0051] Specifically, the camera light source mounting bracket 603 is fixedly installed on the lower side of the frame of the base mounting bracket 103. The camera body 601 and the robot camera light source 602 are fixedly mounted on the camera light source mounting bracket 603, and the lens of the camera body 601 faces the working area below.

[0052] In addition, a demolding excitation mechanism 4 for exciting the winglets is provided on the outside of the base mounting frame 103, such as... Figure 8-9 As shown, it includes: a servo electric cylinder 3, a hinge joint 401, a connecting rod 402, and a lever 403;

[0053] Specifically, the base 303 of the servo electric cylinder 3 is hinged to the outer wall of the base mounting frame 103 via the electric cylinder mounting seat 302. The piston rod 304 of the servo electric cylinder 3 is fixedly connected to one end of the lever 403 via the hinge joint 401. The lever 403 is L-shaped, and its other end is used to impact the wing. One end of the connecting rod 402 is hinged to the middle of the lever 403, and the other end of the connecting rod 402 is hinged to the cylinder body 301 of the servo electric cylinder 3.

[0054] The working principle of this invention is as follows:

[0055] During mechanical operation, the explosion-proof robot 9 drives the demolding vibration mechanism 4, the external hexagonal bolt clamping mechanism 5, and the wing clamping mechanism 7 to move as a whole to the work area. The camera body 601 collects images of the wing fixing axial screw and the wing position under the supplementary lighting of the robot camera light source 602. The explosion-proof robot 9 adjusts its posture according to the visual acquisition signal, and at the same time drives the wing clamping mechanism 7 to move down to the outer position of the wing. The drive device 705 drives the gripper 704 to slide relatively linearly along the guide rail 703. By using the synchronous closing of the two grippers 704, a stable clamping and positioning of the wing is achieved.

[0056] At the same time, the servo motor 2 drives the external hexagonal bolt clamping mechanism 5 to rotate synchronously, and completes the loosening action of the axial screw fixing the wing while the wing is clamped and positioned.

[0057] After the screws are loosened, the piston rod 304 of the servo electric cylinder 3 performs a linear extension and retraction motion, which drives the lever 403 to vibrate slightly through the hinge joint 401 and connecting rod 402, causing the entire vane to generate a slight periodic vibration, thus loosening the vane. At the same time, the explosion-proof robot 9 continuously outputs axial tension, and the six-dimensional force sensor 8 receives and collects the force and torque signals during the operation in real time. After the vane is completely separated from the propellant matrix, the explosion-proof robot 9 clamps the vane and moves it to the discharge position to unload the material. Then, the above action process is repeated to complete the disassembly and automated demolding of all the axial screws fixing the vane in sequence.

Claims

1. An automatic demolding device for composite propellant blades integrated into an explosion-proof robot, characterized in that, include: An explosion-proof robot is provided with a wing clamping mechanism (7) for clamping and positioning winglets at the end of the arm of the explosion-proof robot (9). A six-dimensional force sensor (8) is provided between the end of the arm of the explosion-proof robot (9) and the wing clamping mechanism (7). The six-dimensional force sensor (8) is used to detect the three-dimensional force and three-dimensional torque information of the wing clamping mechanism (7) when clamping the winglets. The wing clamping mechanism (7) is fixedly provided with an external hexagonal bolt clamping mechanism (5) driven to rotate by a servo motor (2). The external hexagonal bolt clamping mechanism (5) is used to disassemble the axial screws fixing the wing. The external hexagonal bolt clamping mechanism (5) is fixedly equipped with a visual recognition module (6) and a demolding vibration excitation mechanism (4). The visual recognition module (6) is used to acquire images of the axial screws fixing the wing and the position of the wing; The demolding excitation mechanism (4) is used to periodically excite the blades.

2. The automatic demolding device for composite propellant blades integrated into an explosion-proof robot according to claim 1, characterized in that, The blade clamping mechanism (7) includes a parallel gripper mounting base (701), one end of which is connected and fixed to the output end of a six-dimensional force sensor (8) via an adapter flange, and the other end of which is fixedly connected to a gripper plate (702). A guide rail (703) is fixedly provided on the end face of the gripper plate (702), and two grippers (704) are slidably provided on the guide rail (703). The parallel pneumatic gripper mounting base (701) is equipped with a drive device (705) that drives the gripper (704) to slide on the guide rail (703).

3. The automatic demolding device for composite propellant blades integrated into an explosion-proof robot according to claim 2, characterized in that, Two parallel guide rails (703) are fixedly arranged on the end face of the gripper plate (702). Each gripper (704) has two gripping ends. The two gripping ends of the gripper (704) are slidably arranged on the two guide rails (703). The other end of each gripper (704) slidably passes through the gripper plate (702) and is connected to the drive device (705) located in the parallel pneumatic gripper mounting base (701).

4. The automatic demolding device for composite propellant blades integrated into an explosion-proof robot according to claim 3, characterized in that, The drive device (705) is an electric telescopic rod or a cylinder.

5. The automatic demolding device for composite propellant blades integrated into an explosion-proof robot according to claim 1, characterized in that, The external hexagonal bolt clamping mechanism (5) includes: a base mounting frame (103) on the outer wall of the fixed connection wing clamping mechanism (7); The servo motor (2) is fixedly mounted on the base mounting frame (103). The output shaft of the servo motor (2) is fixedly connected to the closed end of the bolt clamp mounting base (501). A pneumatic gripper (506) is fixedly mounted inside the bolt clamp mounting base (501). The three gripping claws (503) of the pneumatic gripper (506) are located at the opening of the bolt clamp mounting base (501). Each gripping claw (503) is provided with a bolt clamping block (504) that can slide along the gripping claw (503). Located between any two adjacent clamping claws (503), a connecting rod (502) is also fixed on the outer wall of the bolt removal clamp mounting base (501). The connecting rod (502) extends toward the rotation axis of the bolt removal clamp mounting base (501), and a screw removal post (505) perpendicular to it is fixed on the connecting rod (502).

6. The automatic demolding device for composite propellant blades integrated into an explosion-proof robot according to claim 5, characterized in that, The output shaft of the servo motor (2) is fixedly connected to the disassembly bolt clamp mounting base (501) via a coupling (102) and a reducer (104). The output shaft of the servo motor (2) is also provided with a torque sensor (101) for detecting the output torque of the servo motor (2).

7. The automatic demolding device for composite propellant blades integrated into an explosion-proof robot according to claim 5, characterized in that, The pneumatic gripper (506) is a three-jaw centering pneumatic gripper.

8. The automatic demolding device for composite propellant blades integrated into an explosion-proof robot according to claim 5, characterized in that, The visual recognition module (6) includes: a camera body (601), a robot camera light source (602), and a camera light source mounting bracket (603). The camera light source mounting bracket (603) is fixedly installed on the lower side of the frame of the base mounting bracket (103). The camera body (601) and the robot camera light source (602) are fixedly mounted on the camera light source mounting bracket (603). The lens of the camera body (601) faces the working area below.

9. The automatic demolding device for composite propellant blades integrated into an explosion-proof robot according to claim 5, characterized in that, The demolding vibration mechanism (4) includes: a blade servo electric cylinder (3), a hinge joint (401), a connecting rod (402), and a lever (403). The servo electric cylinder (3) is hinged to the outer wall of the base mounting frame (103) via the electric cylinder mounting base (302). The piston rod (304) of the servo electric cylinder (3) is hinged to one end of the lever (403) via the hinge joint (401). The middle part of the lever (403) is hinged to one end of the connecting rod (402). The other end of the connecting rod (402) is hinged to the cylinder body (301) of the servo electric cylinder (3).

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