CN114593765A - Automatic pneumatic separation test bed for aerospace separation nut assembly - Google Patents
Automatic pneumatic separation test bed for aerospace separation nut assembly Download PDFInfo
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- CN114593765A CN114593765A CN202210495996.2A CN202210495996A CN114593765A CN 114593765 A CN114593765 A CN 114593765A CN 202210495996 A CN202210495996 A CN 202210495996A CN 114593765 A CN114593765 A CN 114593765A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention provides an automatic pneumatic separation test bed for a space separation nut assembly. The automatic pneumatic separation test bed for the aerospace separation nut assembly integrates storage, assembly, pneumatic separation, greasing and resetting detection, and does not need manual intervention except for manually placing a tray on a manual material taking and placing station of an automatic bin in the test process; the assembly and tightening mechanism of the automatic pneumatic separation test bed has high assembly coaxiality and good consistency, and is far higher than the precision of manual assembly; the matched tightening device adopts a tightening gun to tighten the separation nut assembly, and can accurately control the tightening torque.
Description
Technical Field
The invention belongs to the field of separation test of a separation nut assembly, and particularly relates to an automatic pneumatic separation test bed for an aerospace separation nut assembly.
Background
The separation nut assembly for spaceflight mainly comprises a separation nut, and is referred to patent No. CN201320514497, specification attached drawings 15 and specification attached drawings 16, the separation nut is a connection separation device which pushes a separation mechanism to complete unlocking action by means of gas pressure of initiating explosive devices, and is suitable for being used as a separation device for large-load connection on satellites and rockets.
The pneumatic separation test of the separation nut assembly is completed manually, the separation nut assembly is firstly assembled and applied with torque manually, and then the separation nut assembly is placed on a manual pneumatic separation test bed for testing. The test mode needs 3 persons for matching operation, is not only low in efficiency, but also is repetitive labor, so that an automatic separation test technology is urgently needed to automatically carry out assembly and pneumatic separation test on the separation nut assembly, and the pneumatic separation test efficiency is improved.
Disclosure of Invention
In view of the above, the present invention is directed to an automated pneumatic separation test bed for aerospace separation nut assemblies, so as to overcome the shortcomings of the existing pneumatic test technology for assembly of separation nut assemblies.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an automatic pneumatic separation test bed for aerospace separation nut components comprises an automatic stock bin, a feeding and discharging mechanism, a resetting and detecting mechanism, an assembling and screwing mechanism, a greasing mechanism and a pneumatic separating mechanism, wherein the feeding and discharging mechanism, the resetting and detecting mechanism, the assembling and screwing mechanism, the greasing mechanism and the pneumatic separating mechanism are all positioned in a protective cover above a test bed base, the automatic stock bin is arranged on one side of the test bed base, the feeding and discharging mechanism and the resetting and detecting mechanism are arranged on one side of the automatic stock bin, the assembling and screwing mechanism is arranged on one side of the feeding and discharging mechanism, the pneumatic separating mechanism is arranged on the other side of the feeding and discharging mechanism, the automatic stock bin is used for storing nuts, the feeding and discharging mechanism is used for grabbing the separation nut components, the resetting and detecting mechanism is used for detecting whether the nuts are reset and performing nut vibration resetting, the assembling and screwing mechanism is used for assembling and screwing the separation nut components, the greasing mechanism is used for greasing the separation nut assembly, the pneumatic separation mechanism is used for ventilating and separating the separation nut assembly, and the automatic stock bin, the feeding and discharging mechanism, the resetting and detection mechanism, the assembling and screwing mechanism, the greasing mechanism and the pneumatic separation mechanism are connected to the controller through signals.
Further, automatic feed bin includes that feed bin frame, tray storage bit, manual work get put the material station, get automatically that put the material station, feed bin indulge and move unit and feed bin sideslip unit, a feed bin frame top side-mounting tray storage bit, the opposite side is installed the manual work respectively and is got and put the material station, get automatically and put the material station, the manual work is got and is put the material station, is equipped with the feed bin between the material station is put to the automatic material station of getting, indulges and moves unit and feed bin sideslip unit, the feed bin indulges and moves unit and feed bin sideslip unit and is used for the tray to get at the tray storage bit and the blowing, the equal signal connection of feed bin indulges and moves unit and feed bin sideslip unit to the controller.
Further, go up unloading mechanism and include four-axis robot and six robots, the four-axis robot includes four-axis arm, three-jaw cylinder and four-axis centre gripping frock, the fixing base of four-axis arm bottom is fixed to test bench base top, and four-axis arm one end installation three-jaw cylinder, three-jaw cylinder bottom installation four-axis centre gripping frock, six robots include six arms, six cylinders and compound centre gripping frock, the fixing base of six arms bottom is fixed to test bench base top, and six arms are located four-axis arm one side, six cylinders of six arms one end installation, the compound centre gripping frock of six cylinder bottom installation.
Further, it includes detecting element and the unit that resets to reset and detection mechanism, detecting element and the unit that resets all are fixed to test bench base top, and the two is located between four-axis arm, the six-axis arm, detecting element is used for detecting whether the nut resets, the unit that resets is used for not resetting the automatic re-setting of nut, detecting element and the equal signal connection of unit that resets to the controller.
Further, the assembling and tightening mechanism comprises a tightening rack, a tightening linear guide rail, a tightening downward moving unit, a tightening translation unit, a jacking unit and a moving support unit, wherein the bottom of the tightening rack is fixedly connected above the test bed base, the top of the tightening rack is fixedly connected to the tightening linear guide rail, one end of the tightening linear guide rail is provided with the tightening downward moving unit, the other end of the tightening linear guide rail is slidably connected to the tightening translation unit, the tightening downward moving unit is used for applying torque to the nut for tightening, the tightening translation unit is used for moving the separation nut assembly from the preassembling position to the tightening position, the top of the tightening translation unit is provided with the moving support unit, one side of the tightening translation unit is provided with the jacking unit, the jacking unit is used for jacking the bolt into the bolt base from the tightening tool base, and the moving support unit is used for cooperating with the feeding and discharging robot during the pre-assembling and tightening of the nut to assist in completing the pre-assembling and tightening of the nut, the tightening and downward moving unit, the tightening and translation unit, the jacking unit and the moving supporting unit are all connected to the controller through signals.
Further, fat liquoring mechanism is including storing up fat jar, fat liquoring oil pump, control pipeline, fat liquoring frock seat and the rifle that produces oil, the equal fixed connection in fat liquoring oil pump, fat liquoring frock seat bottom is to test bench base top, and fat liquoring oil pump top is connected to and stores up the fat jar, and one side is connected to the rifle that produces oil through control pipeline, and the rifle that produces oil is fixed to fat liquoring frock seat one side, the equal signal connection of solenoid valve of fat liquoring oil pump, the rifle that produces oil is to the controller.
Further, the pneumatic separating mechanism comprises a pneumatic rack, a pneumatic linear guide rail, a pneumatic translation unit, an auxiliary clamping unit, a ventilation butt joint unit and a capturing unit, wherein the bottom of the pneumatic rack is fixedly connected to the upper part of the base of the test bed, the capturing unit is arranged on one side of the pneumatic rack, the pneumatic linear guide rail is installed at the top of the capturing unit, the ventilation butt joint unit is arranged on one end of the pneumatic linear guide rail, the other end of the pneumatic linear guide rail is connected to the pneumatic translation unit in a sliding manner, the auxiliary clamping unit is arranged on one side of the pneumatic translation unit, the bottom of the auxiliary clamping unit is installed on the pneumatic rack, the pneumatic translation unit is used for moving the separating nut assembly from the grabbing station to the separating station or moving the separating nut assembly from the separating station to the grabbing station after separation, the auxiliary clamping unit is used for clamping a bolt base and a bolt in the separated separating nut assembly, and the ventilation butt joint unit is used for introducing high-pressure gas to the separating nut assembly, the capturing unit is used for capturing the bolt after the separation of the separation nut assembly, and the pneumatic translation unit, the auxiliary clamping unit, the ventilation butt joint unit and the capturing unit are all connected to the controller through signals.
Compared with the prior art, the automatic pneumatic separation test bed for the aerospace separation nut assembly has the following advantages:
(1) the automatic pneumatic separation test bed for the aerospace separation nut assembly integrates storage, assembly, pneumatic separation, greasing and resetting detection, and does not need manual intervention except for manually placing a tray on a manual material taking and placing station of an automatic bin in the test process; the assembly and tightening mechanism of the automatic pneumatic separation test bed has high assembly coaxiality and good consistency, and is far higher than the precision of manual assembly; the matched tightening device adopts a tightening gun to tighten the separation nut assembly, and tightening torque can be accurately controlled.
(2) According to the automatic pneumatic separation test bed for the aerospace separation nut assembly, the pneumatic separation mechanism of the automatic pneumatic separation test bed adopts a compression sealing mode, so that the problem that a pipe joint needs to be assembled on each nut device during manual butt joint is solved, automatic capture of a bolt is realized, and the problem that the bolt is likely to hurt people when being released during manual test is effectively solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the overall structure according to the embodiment of the present invention;
FIG. 2 is a schematic top view of a removable shield according to an embodiment of the present invention;
FIG. 3 is a schematic view of the overall structure of the removal shield according to the embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an automatic storage bin according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of a loading and unloading mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic structural view of a reset and detection mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic structural view of an assembly tightening mechanism according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a greasing mechanism according to an embodiment of the present invention;
FIG. 9 is a schematic view, partially in section, of a pneumatic separation mechanism according to an embodiment of the present invention;
fig. 10 is a schematic structural view of a composite clamping tool according to an embodiment of the present invention;
FIG. 11 is an enlarged view of A in FIG. 5;
FIG. 12 is an enlarged view of B in FIG. 7;
FIG. 13 is an enlarged view of C in FIG. 9;
FIG. 14 is an enlarged view of D in FIG. 9;
FIG. 15 is a cross-sectional schematic view of a background art split nut assembly according to an embodiment of the present invention;
FIG. 16 is a partial cross-sectional view of a background art split nut assembly according to an embodiment of the present invention.
Description of reference numerals:
100. an automatic stock bin; 101. a bin rack; 102. storing the tray; 103. a manual material taking and placing station; 104. a material taking and placing station is automatically arranged; 110. a stock bin longitudinal moving unit; 111. a stock bin servo motor; 112. a stock bin longitudinal moving supporting plate; 113. a stock bin longitudinal movement guide rail; 114. a ball screw; 120. a bin transverse moving unit; 121. a storage bin transverse moving cylinder; 122. the stock bin transversely moves the supporting plate; 123. a stock bin linear guide rail;
200. a feeding and discharging mechanism; 210. a four-axis robot; 211. four-axis mechanical arm; 212. a three-jaw cylinder; 213. four-axis clamping tool; 220. a six-axis robot; 221. a six-axis mechanical arm; 222. a six-axis cylinder; 223. compounding and clamping the tool;
300. a reset and detection mechanism; 310. a detection unit; 311. detecting a camera; 312. detecting the clamping jaw; 313. rotating the clamping cylinder; 314. detecting a translation cylinder; 320. a reset unit; 321. resetting the fixed support; 322. resetting the vibrating table; 323. resetting the clamping cylinder; 324. resetting the clamping jaw; 325. resetting the vibrator;
400. assembling a tightening mechanism; 401. screwing down the frame; 402. screwing down the linear guide rail; 410. screwing down the moving unit; 411. screwing down the sleeve; 412. screwing down the linear bearing; 413. screwing down the connecting plate; 414. screwing down the gun; 415. screwing down the air cylinder; 420. tightening the translation unit; 421. screwing down the translation cylinder; 422. screwing the linear sliding block; 423. screwing down the movable supporting plate; 424. screwing down the tool seat; 430. a jacking unit; 431. jacking a cylinder; 432 a top rod; 440. a mobile support unit; 441. moving the supporting plate; 442. moving the clamping cylinder; 443. moving the clamping jaw; 444. a moving cylinder;
500. a greasing mechanism; 501. a fat storage tank; 502. a greasing pump; 503. a control pipeline; 504. greasing tool seats; 505. an oil outlet gun;
600. a pneumatic separation mechanism; 601. a pneumatic frame; 602. a pneumatic linear guide rail; 610. a pneumatic translation unit; 611. a pneumatic translation cylinder; 612. a pneumatic tool support; 613. quickly changing a wrench; 614. pneumatically moving the pallet; 620. an auxiliary clamping unit; 621. the bolt clamps the cylinder; 622. assisting to move the sliding table; 623. a bolt clamping tool; 624. the bolt base clamps the cylinder; 625. a bolt base clamping tool; 626. a bolt base translation cylinder; 630. a ventilation docking unit; 631. a breather nozzle; 632. a ventilation moving plate; 633. a vented linear bearing; 634. a ventilating and pressing cylinder; 640. a capturing unit; 641. a capture translation cylinder; 642. a laser sensor; 643. a catch cylinder; 644. a mechanical limiting tool; 645. a catch support; 646. a hydraulic damper; 647. a buffer stop block; 648. the sleeve is captured.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 16, an automatic pneumatic separation test bed for aerospace separation nut assemblies comprises an automatic material bin 100, a material loading and unloading mechanism 200, a resetting and detecting mechanism 300, an assembling and screwing mechanism 400, a greasing mechanism 500 and a pneumatic separating mechanism 600, wherein the material loading and unloading mechanism 200, the resetting and detecting mechanism 300, the assembling and screwing mechanism 400, the greasing mechanism 500 and the pneumatic separating mechanism 600 are all positioned in a shield above a test bed base, one side of the test bed base is provided with the automatic material bin 100, one side of the automatic material bin 100 is provided with the material loading and unloading mechanism 200 and the resetting and detecting mechanism 300, one side of the material loading and unloading mechanism 200 is provided with the assembling and screwing mechanism 400, the other side of the material loading and unloading mechanism 100 is provided with the pneumatic separating mechanism 600, the material loading and unloading mechanism 200 is used for grabbing the separation nut assemblies, and the resetting and detecting mechanism 300 is used for detecting whether the nuts are reset and performing nut vibration resetting, the assembling and screwing mechanism 400 is used for assembling and screwing the separation nut assembly, the greasing mechanism 500 is used for greasing the separation nut assembly, the pneumatic separation mechanism 600 is used for ventilating and separating and detecting the separation nut assembly, the automatic stock bin 100, the feeding and discharging mechanism 200, the resetting and detecting mechanism 300, the assembling and screwing mechanism 400, the greasing mechanism 500 and the pneumatic separation mechanism 600 are connected to the controller through signals, and the controller is the prior art and can be an existing industrial personal computer or a PLC. The invention aims to solve the technical problem of providing an automatic pneumatic separation test bed for a space separation nut assembly, which can realize automatic assembly of the separation nut assembly, can realize the screwing of the separation nut assembly by applying torque to a nut end and the screwing of the separation nut assembly by applying torque to a bolt end, can realize the automatic lubricating grease coating of a bolt connecting surface, can realize the pneumatic separation test of the separation nut assembly, and can realize the automatic resetting and detection of a nut in the assembly and pneumatic separation test processes of the separation nut assembly.
Go up unloading mechanism 200 and include four-axis robot 210 and six-axis robot 220, four-axis robot 210 includes four-axis arm 211, three-jaw cylinder 212 and four-axis centre gripping frock 213, the fixing base of four-axis arm 211 bottom is fixed to test bench base top, and four-axis arm 211 one end installation three-jaw cylinder 212, and four-axis centre gripping frock 213 is installed to three-jaw cylinder 212 bottom, six-axis robot 220 includes six arms 221, six cylinders 222 and compound centre gripping frock 223, the fixing base of six arms 221 bottom is fixed to test bench base top, and six arms 221 are located four-axis arm 211 one side, and six arms 221 one end installation six cylinders 222, and six cylinders 222 bottom installation compound centre gripping frock 223 mainly comprises four-axis robot 210 and six-axis robot 220 in this embodiment. The four-axis robot 210 is mainly used to take out a designated nut from a tray in the automatic magazine 100; the six-axis robot 220 is used for grabbing nuts, bolts, connecting blocks and assembled separating nut components, the mechanical arm of the four-axis mechanical arm 211 is hinged to the fixed base at the bottom of the four-axis mechanical arm, a certain degree of freedom is achieved, the rotating angle of the four-axis mechanical arm can be 60 degrees, the mechanical arm of the six-axis mechanical arm 221 is hinged to the fixed base at the bottom of the six-axis mechanical arm, a certain degree of freedom is achieved, and the rotating angle of the six-axis mechanical arm can be 180 degrees.
The resetting and detecting mechanism 300 comprises a detecting unit 310 and a resetting unit 320, wherein the detecting unit 310 and the resetting unit 320 are both fixed above the base of the test bed and are positioned between a four-axis mechanical arm 211 and a six-axis mechanical arm 221, the detecting unit 310 is used for detecting whether a nut is reset or not, the resetting unit 320 is used for automatically resetting the nut which is not reset, the detecting unit 310 and the resetting unit 320 are both in signal connection with a controller, in the embodiment, the resetting and detecting mechanism 300 is composed of the detecting unit 310 and the resetting unit 320, the detecting unit 310 is mainly composed of a detecting camera 311, a rotating clamping cylinder 313, a detecting translation cylinder 314 and a detecting clamping jaw 312 and is mainly used for detecting whether the nut is reset or not; the reset unit 320 mainly comprises a reset fixed support 321, a reset vibration table 322, a reset vibrator 325, a reset clamping cylinder 323 and a reset clamping jaw 324, and the reset unit 320 is mainly used for automatic reset of unset nuts and enables the nuts to reset through high-frequency vibration.
The assembling and tightening mechanism 400 comprises a tightening rack 401, a tightening linear guide rail 402, a tightening down-moving unit 410, a tightening translation unit 420, a jacking unit 430 and a moving support unit 440, wherein the bottom of the tightening rack 401 is fixedly connected above a base of the test bed, the top of the tightening rack 401 is fixedly connected to the tightening linear guide rail 402, one end of the tightening linear guide rail 402 is provided with the tightening down-moving unit 410, the other end of the tightening linear guide rail is slidably connected to the tightening translation unit 420, the tightening down-moving unit 410 is used for applying torque to a nut for tightening, the tightening translation unit 420 is used for moving a separation nut assembly from a pre-assembly position to a tightening position, the top of the tightening translation unit 420 is provided with the moving support unit 440, the jacking unit 430 is installed on one side, the jacking unit 430 is used for jacking the bolt from the tightening tool base 424 into a bolt base, and the moving support unit 440 is used for cooperating with a robot when the nut is pre-assembled and tightened, the pre-assembly tightening of the nut is assisted to be completed, the tightening downshifting unit 410, the tightening translating unit 420, the jacking unit 430 and the moving support unit 440 are all in signal connection with the controller, in the embodiment, the assembly tightening mechanism 400 is mainly composed of a tightening rack 401, the tightening downshifting unit 410, the tightening translating unit 420, the moving support unit 440 and the jacking unit 430, and the tightening downshifting unit 410, the tightening translating unit 420, the moving support unit 440 and the jacking unit 430 are mounted on the tightening rack 401; the tightening downward moving unit 410 is mainly used for pushing a tightening gun 414 to a tightening position, the tightening gun 414 applies torque to a nut for tightening, the tightening downward moving unit 410 mainly comprises a tightening gun 414, a tightening connecting plate 413, a tightening cylinder 415 and a tightening guide rail, and the tightening cylinder 415 pushes the tightening gun 414 to move on the tightening guide rail to realize the upward and downward movement of the tightening gun 414; the tightening translation unit 420 is mainly used for moving the separation nut assembly from a preassembly position to a tightening position, wherein the tightening position refers to the position where the tightening tool holder 424 is moved below the tightening gun 414, and translating the separation nut assembly to the preassembly position after applying a torque, and the preassembly position refers to the position where the tightening tool holder 424 is moved above the jacking unit 430; the device mainly comprises a screwing translation cylinder 421, a screwing movable supporting plate 423 and a screwing tool seat 424; the movable supporting unit 440 is mainly used for cooperating with a feeding and discharging robot when the nut is pre-assembled and screwed, and assisting in completing the pre-assembled and screwed nut, and mainly comprises a movable cylinder 444, a movable supporting plate 441, a movable clamping cylinder 442 and a movable clamping jaw 443; the jacking unit 430 is mainly used for jacking the bolt into the bolt base from the tightening tool seat 424, and after the pre-assembly is completed, the jacking unit 430 descends and mainly comprises a jacking cylinder 431 and a jacking rod 432.
The pneumatic separating mechanism 600 comprises a pneumatic rack 601, a pneumatic linear guide rail 602, a pneumatic translation unit 610, an auxiliary clamping unit 620, a ventilation butt joint unit 630 and a capturing unit 640, wherein the bottom of the pneumatic rack 601 is fixedly connected to the upper part of a base of a test bed, the capturing unit 640 is arranged on one side of the pneumatic rack, the pneumatic linear guide rail 602 is installed at the top of the capturing unit 640, the ventilation butt joint unit 630 is arranged above one end of the pneumatic linear guide rail 602, the other end of the pneumatic linear guide rail 602 is slidably connected to the pneumatic translation unit 610, the auxiliary clamping unit 620 is arranged on one side of the pneumatic translation unit 610, the bottom of the auxiliary clamping unit 620 is installed on the pneumatic rack 601, the pneumatic translation unit 610 is used for moving a separating nut assembly from a grabbing station to a separating station or moving the separating nut assembly from the separating station to the grabbing station after separating, the auxiliary clamping unit 620 is used for clamping a bolt base and a bolt in the separated separating nut assembly, the ventilation and docking unit 630 is used for introducing high-pressure gas to the separation nut assembly, the capture unit 640 is used for capturing the bolt after the separation nut assembly is separated, and the pneumatic translation unit 610, the auxiliary clamping unit 620, the ventilation and docking unit 630 and the capture unit 640 are all in signal connection with the controller. In the present embodiment, the pneumatic separation mechanism 600 is mainly composed of a pneumatic translation unit 610, an auxiliary clamping unit 620, a ventilation docking unit 630 and a capturing unit 640. Pneumatic separating mechanism 600 has two stations in total: the pneumatic translation unit 610 is mainly used for moving the separation nut assembly from the grabbing station to the separation station or moving the separation nut assembly from the separation station to the grabbing station after separation; the pneumatic translation unit 610 mainly comprises a pneumatic translation cylinder 611, a positioning tool (a pneumatic tool support 612, a quick-change wrench 613, a pneumatic movable supporting plate 614) and the like, wherein the pneumatic translation cylinder 611 pushes the positioning tool to move on the pneumatic linear guide rail 602, so that the transfer between the grabbing station and the separating station is realized; the auxiliary clamping unit 620 is used for clamping a bolt base and a bolt in the separated separation nut assembly to realize clamping fixation and positioning, and mainly comprises a bolt clamping cylinder 621, an auxiliary moving sliding table 622, a bolt base clamping jaw (a bolt base clamping cylinder 624, a bolt base clamping tool 625, a bolt base translation cylinder 626) and a bolt clamping jaw (a bolt clamping tool 623); the ventilation butt joint unit 630 is mainly used for introducing high-pressure gas to the separation nut assembly, and comprises a ventilation pressing cylinder 634, a ventilation linear guide rail and a ventilation nozzle 631, wherein the ventilation nozzle 631 moves on the ventilation linear guide rail under the pushing of the ventilation pressing cylinder 634 to realize the sealing pressing with the separation nut assembly; the capturing unit 640 is mainly used for capturing the bolt after the separation of the separation nut assembly, and preventing the bolt from rebounding to the nut and the connecting block due to inertia. The capturing unit 640 mainly consists of a capturing translation cylinder 641, a hydraulic damper 646, a capturing sleeve 648, a buffer stop 647, a laser sensor 642, a capturing cylinder 643, a buffer stop 647 and a mechanical limit tool 644. Catch sleeve 648, hydraulic damper 646 and laser sensor 642 form an assembly, when the separation nut subassembly is ventilated and is separated, the bolt is released in catching sleeve 648 in the twinkling of an eye, laser sensor 642 is installed and is caught sleeve 648 both sides, whether the detection bolt falls into and catches sleeve 648, the bolt is released and gets into and catches sleeve 648 at a high speed, contact with bump stop 647 at first, hydraulic damper 646 is connected to the dog lower extreme, absorb the kinetic energy of bolt, when the dog receives inertial rebound, because of the displacement restriction of mechanical spacing frock 644, can not continue the rebound, guarantee that the bolt can not rebound to in nut and the connecting block. After the capturing is completed, the pneumatic translation unit 610 moves the bolt from the separating station to the capturing station, and the capturing air cylinder 643 pushes the mechanical limiting tool 644 to move upwards, so that the bolt is pushed out of the capturing sleeve 648, and the six-axis robot can conveniently capture the butt bolt. It should be noted that the pneumatic components involved in the present embodiment are all prior art.
Example 1
The invention relates to an automatic pneumatic separation test bed (hereinafter referred to as test bed, refer to fig. 1, 2 and 3) for separating nut components, which mainly comprises an automatic stock bin 100, a feeding and discharging mechanism 200, a resetting and detecting mechanism 300, an assembling and screwing mechanism 400, a greasing mechanism 500 and a pneumatic separation mechanism 600; nuts are placed in a tray in the automatic bin 100, bolts and bolt bases are manually placed at corresponding positions in the assembling and tightening mechanism 400, the four-axis robot 210 in the loading and unloading mechanism 200 grabs the nuts from the automatic bin 100 to a detection position in the resetting and detecting mechanism 300, whether scale lines c exist in nut observation holes or not is identified, if yes, the four-axis robot 210 grabs the nuts to a vibration position in the resetting and detecting mechanism 300 for resetting, after resetting, the six-axis robot 220 grabs the nuts and places the nuts at a preassembling position of the assembling and tightening mechanism 400, the preassembling is completed by cooperation of the moving holding unit 440 of the assembling and tightening mechanism 400 and the six-axis robot 220, after preassembling and tightening, the nuts, the bolts and the bolt bases form a separated nut assembly, and after torque is applied at the tightening position, the nuts and the bolt bases return to the preassembling position. The six-axis robot 220 grabs the split nut assembly to the grabbing station of the pneumatic separating mechanism 600, the pneumatic translation unit 610 of the pneumatic separating mechanism 600 translates the split nut assembly to the separating station, the venting and docking unit 630 moves down to vent the nut, the bolt is separated into the capturing unit 640, and the venting and docking unit 630 rises back to the original position. The capture unit 640 translates to a capture position and the six-axis robot 220 captures the bolt and automatically greases the bolt at the greasing mechanism 500 and then repositions it in the assembly tightening mechanism 400. The pneumatic translation unit 610 of the pneumatic separation mechanism 600 translates the nut and the bolt base to a grabbing position, the six-axis robot 220 grabs the nut to the reset and detection mechanism 300 for detection, and then the four-axis robot 210 is placed in the tray of the automatic bin 100; the six-axis robot 220 grabs the bolt base into the assembly tightening mechanism 400.
The automatic silo 100 (see fig. 4) mainly includes a silo frame 101, a tray storage 102, a manual material taking and placing station 103, an automatic material taking and placing station 104, a silo longitudinal moving unit 110, and a silo transverse moving unit 120. The tray storage position 102, the manual material taking and placing station 103 and the automatic material taking and placing station 104 are arranged on the stock bin rack 101. The bin longitudinal movement unit 110 is mainly used for taking and placing trays from 5 tray positions of the tray storage position 102, the bin longitudinal movement unit 110 comprises a bin servo motor 111, a bin longitudinal movement supporting plate 112, a bin longitudinal movement guide rail 113 and a bin ball screw 114, the bin servo motor 111 and the bin longitudinal movement guide rail 113 are arranged on a bin rack 101, the ball screw 114 is connected with an output shaft of the bin servo motor 111, the bin longitudinal movement supporting plate 112 is arranged on the bin longitudinal movement guide rail 113 and is connected with the bin ball screw 114, and the bin longitudinal movement supporting plate 112 can move up and down through the rotation of the bin servo motor 111; the bin transverse moving unit 120 is mainly used for tray transfer of trays at the tray storage position 102, the manual material taking and placing position 103 and the automatic material taking and placing position 104, the bin transverse moving unit 120 is installed on a bin longitudinal moving support plate 112, the bin transverse moving unit 120 comprises a bin transverse moving cylinder 121, a bin transverse moving support plate 122 and a bin linear guide rail 123, the bin transverse moving cylinder 121 and the bin linear guide rail 123 are installed on the bin longitudinal moving support plate 112, the bin transverse moving support plate 122 is installed on the bin linear guide rail 123, and the bin transverse moving support plate 122 can move among three positions through the bin transverse moving cylinder 121.
The loading and unloading mechanism 200 (see fig. 5) mainly comprises a four-axis robot 210 and a six-axis robot 220, wherein the four-axis robot 210 comprises a four-axis mechanical arm 211, a three-jaw cylinder 212 and a four-axis clamping tool 213; the three-jaw cylinder 212 is arranged at the tail end of the four-shaft mechanical arm 211, and the four-shaft clamping tool 213 is arranged on the three-jaw cylinder 212; the six-axis robot 220 includes a six-axis robot arm 221, a six-axis cylinder 222, and a composite clamp tool 223. Six cylinders 222 are installed at six arms 221 terminally, and compound centre gripping frock 223 is installed on six cylinders 222, and compound centre gripping frock 223 has two clamping position: the clamping device comprises a first clamping position a and a second clamping position b, wherein the openings of the two clamping positions are different in size, and the first clamping position a is used for clamping a nut and a nut base; the second clamping position b is used for clamping the bolt.
The resetting and detecting mechanism 300 (refer to fig. 6) mainly comprises a detecting unit 310 and a resetting unit 320, wherein the detecting unit 310 is mainly used for detecting whether the nut is reset, and the detecting unit 310 comprises a detecting camera 311, a detecting clamping jaw 312, a rotating clamping cylinder 313 and a detecting translation cylinder 314. The detection camera 311 and the detection translation cylinder 314 are arranged above the base of the test bed, the rotary clamping cylinder 313 is arranged on the detection translation cylinder 314, and the detection clamping jaw 312 is arranged on the detection translation cylinder 314; the reset unit 320 is mainly used for vibrating the nut which is not reset, the reset unit 320 comprises a reset fixed support 321, a reset vibration table 322, a reset clamping cylinder 323, a reset clamping jaw 324 and a reset vibrator 325, the reset fixed support 321 is mainly used for connecting the reset vibration table 322 with the test bed base and can reduce vibration transmitted to the upper part of the test bed base, the reset vibrator 325 is arranged on the lower plane of the reset vibration table 322, the reset clamping cylinder 323 is arranged on the upper plane of the reset vibration table 322, and the reset clamping jaw 324 is arranged on the reset clamping cylinder 323.
The assembling and tightening mechanism 400 (see fig. 7) is mainly composed of a tightening frame 401, a tightening down-moving unit 410, a tightening translating unit 420, a jacking unit 430, and a mobile holding unit 440. The tightening downshifting unit 410 includes a tightening sleeve 411, a tightening linear bearing 412, a tightening connection plate 413, a tightening gun 414, and a tightening cylinder 415. The tightening sleeve 411 is arranged on the tightening gun 414, the tightening gun 414 is arranged on the tightening connecting plate 413, the tightening connecting plate 413 is connected with the tightening linear bearing 412, the tightening cylinder 415 is connected with the tightening connecting plate 413, and the tightening cylinder 415 pushes the tightening gun 414 to move up and down on the tightening connecting plate 413; the tightening translation unit 420 is mainly used for moving the separation nut assembly between the preassembly position and the tightening position, and the tightening translation unit 420 comprises a tightening translation cylinder 421, a tightening linear slide block 422, a tightening movement support plate 423 and a tightening tool seat 424. The tightening movable supporting plate 423 is connected with the tightening linear sliding block 422, the tightening tool seat 424 is fixed on the tightening movable supporting plate 423 through a quick-change wrench, the tightening tool seat 424 can be quickly replaced, and the tightening translation cylinder 421 is connected with the tightening movable supporting plate 423; the jacking unit 430 is mainly used for jacking a bolt into the bolt base of the connecting block from the tightening tool seat 424, the jacking unit 430 comprises a jacking cylinder 431 and a jacking rod 432, and the jacking rod 432 is arranged on the jacking cylinder 431; the moving support unit 440 is mainly used for assisting the loading and unloading robot to complete the pre-tightening work of the nut, and the moving support unit 440 includes a moving support plate 441, a moving clamp cylinder 442, a moving clamp jaw 443, and a moving cylinder 444. The moving clamping jaw 443 is installed on the moving clamping cylinder 442, the moving clamping cylinder 442 is installed on the moving holding plate 441, and the moving cylinder 444 pushes the moving holding plate 441 to move on the tightening linear guide rail 402.
The greasing mechanism 500 (see fig. 8) includes a grease storage tank 501, a greasing oil pump 502, a greasing tool holder 504, a control pipeline 503 and an oil outlet gun 505. The bottom of the grease storage tank 501 is connected with a grease coating oil pump 502, and the bottom of the grease coating oil pump 502 is fixed above the base of the test bed; the oil outlet gun 505 is mounted on the greasing tool base 504 and is connected with the greasing oil pump 502 through a control pipeline 503.
The pneumatic separation mechanism 600 (refer to fig. 9) includes a pneumatic frame 601, a pneumatic linear guide 602, a pneumatic translation unit 610, an auxiliary clamping unit 620, a ventilation docking unit 630 and a capturing unit 640, wherein the pneumatic linear guide 602 is mounted on the pneumatic frame 601, the pneumatic translation unit 610 is mounted on the pneumatic linear guide 602, and the pneumatic translation unit 610 includes a pneumatic translation cylinder 611, a pneumatic tool support 612, a quick-change wrench 613 and a pneumatic moving pallet 614. The pneumatic tool support 612 and the quick-change wrench 613 are mounted on a pneumatic moving support plate 614, the quick change of the pneumatic tool support 612 is realized through the quick-change wrench 613, the pneumatic moving support plate 614 is mounted on the pneumatic linear guide rail 602, and the pneumatic moving support plate 614 is pushed to move between a grabbing station and a separating station through the pneumatic translation cylinder 611; the auxiliary clamping unit 620 is mainly used for clamping and fixing the separated bolt base and bolt, and the auxiliary clamping unit 620 comprises a bolt clamping cylinder 621, an auxiliary moving sliding table 622, a bolt clamping tool 623, a bolt base clamping cylinder 624, a bolt base clamping tool 625 and a bolt base translation cylinder 626. The auxiliary moving sliding table 622 is installed on the pneumatic rack 601, a bolt clamping cylinder 621 is installed on the auxiliary moving sliding table 622, and a bolt clamping tool 623 is installed on the bolt clamping cylinder 621; a bolt base clamping tool 625 is installed on the bolt base clamping cylinder 624, and the bolt base clamping cylinder 624 is pushed to move on the pneumatic linear guide rail 602 through the bolt base translation cylinder 626; the ventilation butt joint unit 630 is mainly used for introducing high-pressure gas to the separation nut assembly, the ventilation butt joint unit 630 comprises a ventilation nozzle 631, a ventilation moving plate 632, a ventilation linear bearing 633 and a ventilation pressing cylinder 634, the ventilation nozzle 631 is installed at the lower end of the ventilation moving plate 632, the ventilation pressing cylinder 634 is connected to the upper end of the ventilation moving plate 632, the ventilation linear bearing 633 is installed at the left end and the right end of the ventilation moving plate 632, and the ventilation nozzle 631 is pressed and ascended through the up-and-down movement of the ventilation pressing cylinder 634; the capturing unit 640 is mainly used for capturing the bolt after pneumatic separation, and the capturing unit 640 comprises a capturing translation cylinder 641, a laser sensor 642, a capturing cylinder 643, a mechanical limit tool 644, a capturing support 645, a hydraulic damper 646, a buffer stop 647 and a capturing sleeve 648. The captive translation cylinder 641 and the laser sensor 642 are mounted on the air frame 601, the captive cylinder 643 and the captive mount 645 are mounted on the captive translation cylinder 641, the mechanical restraint fixture 644 is mounted on the output end of the captive cylinder 643, the captive sleeve 648 and the hydraulic damper 646 are mounted on the captive mount 645, and the bump stop 647 is mounted inside the captive sleeve 648 and is connected to the mechanical restraint fixture 644.
The working process and the principle of the automatic pneumatic separation test bed are as follows:
1) nut feeding storage
Firstly, the tray is manually placed on the manual material taking and placing station of the automatic bin 100, the bin longitudinal moving unit 110 ascends to support the tray, the bin transverse moving unit 120 moves the tray to the automatic material taking and placing station 104, the bin longitudinal moving unit 110 descends to place the tray to the automatic material taking and placing station 104. The bin transverse moving unit 120 returns to the original point, the bin longitudinal moving unit 110 ascends to support the pallet, the bin transverse moving unit 120 moves to the pallet storage position 102, the bin longitudinal moving unit 110 descends, and the pallet is placed in the pallet storage position 102; when a test is needed, the bin transverse moving unit 120 moves to the tray storage position 102, the bin longitudinal moving unit 110 ascends to support the tray, the bin transverse moving unit 120 moves to the automatic material taking and placing position 104, and the bin longitudinal moving unit 110 moves downwards to place the tray to the automatic material taking and placing position 104.
2) Nut resetting and detecting
The four-axis robot 210 grabs the nut from the position of the automatic material taking and placing station 104 and places the nut on the detection unit 310 of the resetting and detecting mechanism 300, the detection clamping jaws 312 of the detection unit 310 clamp the nut, the detection camera 311 takes a picture of the observation hole d on the side surface of the nut to identify (the observation hole d is shown in figure 16), whether a scale mark c exists is judged (the scale mark c is shown in figure 15), if the scale mark c is not detected, the four-axis robot 210 grabs the nut to the resetting unit 320, and the nut is clamped by the resetting clamping jaws 324 of the resetting unit 320 to be automatically reset.
3) Nut assembling and screwing
Manually placing a bolt and a bolt base at a preassembly position of the assembling and screwing mechanism 400, placing the bolt and the bolt base into the screwing tool seat 424, grabbing a nut from the reset unit 320 to the preassembly position by the six-axis robot 220, jacking a bolt from the screwing tool seat 424 into the bolt base of the connecting block by a jacking unit 430, rotating the sixth axis of the six-axis robot 220 by 180 degrees, pre-screwing the nut and the bolt, moving the movable clamping jaws 443 of the supporting unit 440 to clamp the nut after the nut rotates by 180 degrees, reversely rotating the sixth axis of the six-axis robot 220 to the original point, clamping the nut again, loosening the movable clamping jaws 443 of the movable supporting unit 440, rotating the sixth axis of the six-axis robot 220 by 180 degrees, and performing reciprocating alternately until the pre-screwing of the nut is completed; the tightening translation unit 420 moves the pre-tightened split nut assembly to the tightening position and the tightening gun 414 moves down to apply torque to the nut. The tightening translation unit 420 is retracted to the pre-load position.
4) Pneumatic separation of separation nut assembly
The six-axis robot 220 grabs the separation nut assembly which is subjected to torque application and is placed at a grabbing station of the pneumatic separation mechanism 600, the pneumatic translation unit 610 moves the separation nut assembly to the separation station, the ventilation butt-joint unit 630 moves downwards, and the ventilation nozzle 631 butts against the nut. After the nut is separated, the bolt is instantly released into the capture sleeve 648, the laser sensor 642 detects whether the bolt is separated (when the bolt is not separated, because the capture sleeve 648 has a gap, the light of the laser sensor 642 can pass through the gap of the capture sleeve 648, the separated bolt enters the capture sleeve 648, the gap is blocked, the light of the laser sensor 642 can not pass through, thereby detecting the separation of the nut), the separated bolt firstly contacts the buffer stop 647, the buffer stop 647 moves downwards to contact the hydraulic damper 646, the hydraulic damper 646 absorbs most kinetic energy of the bolt, and the buffer stop 647 is limited in the mechanical limit tool 644. After the bolt is stationary in the capture sleeve 648, the capture translation cylinder 641 of the capture unit 640 moves the bolt from the detaching station to the grasping station, the capture cylinder 643 ascends to eject the bolt from the capture sleeve 648, the bolt jaws of the auxiliary clamp unit 620 clamp and position the bolt, and the six-axis robot 220 grasps the bolt to the greasing mechanism 500. The pneumatic translation unit 610 of the pneumatic separating mechanism 600 moves the nut and bolt base to the grabbing position, the six-axis robot 220 grabs the nut to the resetting and detecting mechanism 300, and the four-axis robot 210 grabs the nut and places it back to the tray; the six-axis robot 220 grabs the bolt bases to the pre-load position of the nut assembly tightening mechanism 400.
5) Automatic greasing for bolt
The six-axis robot 220 grabs the bolt to the oil outlet gun 505 of the greasing mechanism 500, and the greasing operation on the end face of the bolt is realized through the sixth axis rotation of the six-axis robot 220.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. The utility model provides an automatic pneumatic separation test bench for space flight separation nut component which characterized in that: comprises an automatic stock bin (100), a feeding and discharging mechanism (200), a resetting and detecting mechanism (300), an assembling and screwing mechanism (400), a greasing mechanism (500) and a pneumatic separating mechanism (600), wherein the feeding and discharging mechanism (200), the resetting and detecting mechanism (300), the assembling and screwing mechanism (400), the greasing mechanism (500) and the pneumatic separating mechanism (600) are all positioned in a shield above a test bed base, the automatic stock bin (100) is arranged on one side of the test bed base, the feeding and discharging mechanism (200) and the resetting and detecting mechanism (300) are arranged on one side of the automatic stock bin (100), the assembling and screwing mechanism (400) is arranged on one side of the feeding and discharging mechanism (200), the pneumatic separating mechanism (600) is arranged on the other side of the feeding and discharging mechanism (200), the feeding and discharging mechanism (200) is used for grabbing a separated nut component, and the resetting and detecting mechanism (300) is used for detecting whether the nut is reset or not and carrying out nut vibration resetting, the assembling and screwing mechanism (400) is used for assembling and screwing the separation nut assembly, the greasing mechanism (500) is used for greasing the separation nut assembly, the pneumatic separation mechanism (600) is used for ventilating and separating the separation nut assembly, and the automatic stock bin (100), the feeding and discharging mechanism (200), the resetting and detecting mechanism (300), the assembling and screwing mechanism (400), the greasing mechanism (500) and the pneumatic separation mechanism (600) are all connected to the controller through signals.
2. An automated pneumatic separation test stand for an aerospace separation nut assembly according to claim 1, wherein: automatic feed bin (100) indulge including feed bin frame (101), tray storage bit (102), manual work and move unit (110) and feed bin sideslip unit (120) of getting blowing station (103), automatic blowing station (104), feed bin frame (101) top side-mounting tray storage bit (102), the opposite side is installed the manual work respectively and is got blowing station (103), automatic blowing station (104) of getting, the manual work is got blowing station (103), is got automatically and is equipped with feed bin and indulges between blowing station (104) and moves unit (110) and feed bin sideslip unit (120), the feed bin is indulged and is moved unit (110) and feed bin sideslip unit (120) and be used for getting the material tray and expect in tray storage bit (102) and blowing, the feed bin is indulged and is moved unit (110) and feed bin sideslip unit (120) equal signal connection to controller.
3. An automated pneumatic separation test stand for an aerospace separation nut assembly according to claim 2, wherein: the feeding and discharging mechanism (200) comprises a four-axis robot (210) and a six-axis robot (220), the four-axis robot (210) comprises a four-axis mechanical arm (211), a three-jaw cylinder (212) and a four-axis clamping tool (213), a fixed seat at the bottom of the four-axis mechanical arm (211) is fixed above a test bed base, one end of the four-axis mechanical arm (211) is provided with a three-jaw air cylinder (212), the bottom of the three-jaw air cylinder (212) is provided with a four-axis clamping tool (213), the six-axis robot (220) comprises six mechanical arms (221), six cylinders (222) and a composite clamping tool (223), the fixed seat at the bottom of the six-axis mechanical arm (221) is fixed above the test bed base, and six arms (221) are located four-axis arm (211) one side, six cylinders (222) are installed to six arms (221) one end, and compound centre gripping frock (223) are installed to six cylinders (222) bottom.
4. An automated pneumatic separation test stand for an aerospace separation nut assembly according to claim 3, wherein: reset and detection mechanism (300) including detecting element (310) and reset unit (320), detecting element (310) and reset unit (320) all are fixed to test bench base top, and the two is located four-axis arm (211), six arms (221) between, detecting element (310) are used for detecting whether the nut resets, reset unit (320) are used for not resetting the automatic re-setting of nut, detecting element (310) and the equal signal connection of reset unit (320) to the controller.
5. An automated pneumatic separation test stand for an aerospace separation nut assembly according to claim 2, wherein: the assembling and screwing mechanism (400) comprises a screwing rack (401), a screwing linear guide rail (402), a screwing down moving unit (410), a screwing translation unit (420), a jacking unit (430) and a moving supporting unit (440), wherein the bottom of the screwing rack (401) is fixedly connected above a base of the test bed, the top of the screwing rack (401) is fixedly connected to the screwing linear guide rail (402), one end of the screwing linear guide rail (402) is provided with the screwing down moving unit (410), the other end of the screwing linear guide rail is slidably connected to the screwing translation unit (420), the screwing down moving unit (410) is used for applying torque to screw nuts for screwing, the screwing translation unit (420) is used for moving the separation nut assembly from a preassembling position to a screwing position, the top of the screwing translation unit (420) is provided with the moving supporting unit (440), the jacking unit (430) is installed on one side, and the jacking unit (430) is used for jacking bolts from a screwing tool base (424) into the bolt base, the moving support unit (440) is used for the nut to cooperate with the feeding and discharging robot during pre-assembly screwing to assist in completing the pre-assembly screwing of the nut, and the screwing down moving unit (410), the screwing translation unit (420), the jacking unit (430) and the moving support unit (440) are in signal connection with the controller.
6. An automated pneumatic separation test stand for an aerospace separation nut assembly according to claim 2, wherein: fat liquoring mechanism (500) are including storing up fat jar (501), fat liquoring oil pump (502), control pipeline (503), fat liquoring frock seat (504) and oil outlet gun (505), equal fixed connection in fat liquoring oil pump (502), fat liquoring frock seat (504) bottom is to test bench base top, and fat liquoring oil pump (502) top is connected to and stores up fat jar (501), and one side is connected to oil outlet gun (505) through control pipeline (503), and oil outlet gun (505) are fixed to fat liquoring frock seat (504) one side, the equal signal connection of solenoid valve of fat liquoring oil pump (502), oil outlet gun (505) is to the controller.
7. An automated pneumatic separation test stand for an aerospace separation nut assembly according to claim 2, wherein: the pneumatic separating mechanism (600) comprises a pneumatic rack (601), a pneumatic linear guide rail (602), a pneumatic translation unit (610), an auxiliary clamping unit (620), a ventilation butt joint unit (630) and a capturing unit (640), wherein the bottom of the pneumatic rack (601) is fixedly connected to the upper part of a test bed base, one side of the pneumatic rack is provided with the capturing unit (640), the pneumatic linear guide rail (602) is installed at the top of the capturing unit (640), the ventilation butt joint unit (630) is arranged above one end of the pneumatic linear guide rail (602), the other end of the pneumatic linear guide rail (602) is connected to the pneumatic translation unit (610) in a sliding mode, the auxiliary clamping unit (620) is arranged on one side of the pneumatic translation unit (610), the bottom of the auxiliary clamping unit (620) is installed on the pneumatic rack (601), the pneumatic translation unit (610) is used for moving a separating nut assembly from a capturing station to a separating station or moving the separating nut assembly from the separating station to the capturing station, the auxiliary clamping unit (620) is used for clamping a bolt base and a bolt in the separated separation nut assembly, the ventilation butt joint unit (630) is used for introducing high-pressure gas to the separation nut assembly, the capture unit (640) is used for capturing the bolt after the separation nut assembly is separated, and the pneumatic translation unit (610), the auxiliary clamping unit (620), the ventilation butt joint unit (630) and the capture unit (640) are in signal connection with a controller.
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