CN107838686B - Automatic demolding and shaping equipment for miniature solid-pushing engine - Google Patents

Abstract

The utility model provides a miniature solid push engine automatic demoulding plastic equipment, includes material loading/unloading station, swivel work head station, work piece transfer station, plug drawing of patterns station, holding ring drawing of patterns station, end cap automatic dismantlement station, base dismantlement station, plastic station and weighing adaptation station. The multi-station design of the invention realizes higher equipment space utilization rate and improves the efficiency of the working procedure. Through the design of multiple guiding and buffering, the safety of circular cutting of the plug is ensured; the cutter is matched with the scraper for use, and the stepwise feeding design of the cutter avoids the damage of the cutter to the shell and the grain; the die-stripping and shaping device can be universally used for die-stripping and shaping of workpieces with wide size range and wide shaping height through the design of the positioning pin; the invention can realize unmanned operation through remote control, the shaping speed is 4 rounds per minute, the shaping precision is +/-0.5 mm, and the automatic demoulding and shaping requirements of similar products with the appearance within phi 100 multiplied by 300mm can be met.

Description

Automatic demolding and shaping equipment for miniature solid-pushing engine

Technical Field

The invention relates to demolding and shaping equipment for a solid-pushing engine after charge molding, in particular to automatic demolding and shaping equipment for a miniature solid-pushing engine.

Background

The solid-pushing engine is one of the most main power devices in national defense and aerospace industry, and the fuel used by the solid-pushing engine is solid propellant. The outer diameter of the shell of the miniature solid-pushing engine is generally 20-50 mm, the drug loading is 10-1000 g, the miniature solid-pushing engine is generally a through hole wine cup structure with an airfoil-shaped drug surface, and the upper port and the lower port are both provided with matched threads. Typical features of such engines are: the structure size is small, the burning speed of the grain is high, the shape is complex, the shaping precision requirement is high, and the manufacturing mode of pouring insert core molding of the matched base, plug and positioning ring is generally adopted. The demolding and shaping process usually adopts a manual operation mode, and has the quality defects of complicated demolding process, high shaping safety risk, low operation efficiency, uneven end face of the inner wing hole and the like. Therefore, an automatic demolding and shaping device of a miniature solid pushing engine is needed to be designed to solve the problems, and the production efficiency is improved.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide the automatic demolding and shaping equipment for the miniature solid-pushing engine, which has higher degree of automation and working efficiency, adjustable shaping height and strong applicability.

The technical scheme of the invention is as follows: the automatic plug disassembling device comprises a loading/unloading station, a rotary workbench station, a workpiece transferring station, a core rod demolding station, a positioning ring demolding station, an automatic plug disassembling station, a base disassembling station, a shaping station and a weighing adaptation station; the core rod demolding station comprises a second combined cylinder for controlling a third pneumatic gripper 25 to grasp a core rod to be demolded, and a third combined cylinder for controlling the horizontal movement of a fence is arranged on a core rod collecting table; the positioning ring demolding station comprises a fourth combined cylinder for controlling a fourth pneumatic gripper to grasp a positioning ring to be demolded, and a positioning ring collecting box; the automatic plug disassembling station comprises a fixed sleeve, a first telescopic cylinder for controlling the fixed sleeve to move up and down, a sliding sleeve and a first guide rod, wherein the sliding sleeve and the first guide rod are arranged in the fixed sleeve and are coaxial with the fixed sleeve; the device also comprises a fourth telescopic cylinder for controlling the fixing plate, the ejector rod and the second positioning disk to move up and down; the lower end of the third positioning plate is provided with a second slide way, and a plug collecting box is arranged below the second slide way; the base dismounting station comprises a second telescopic cylinder which drives the first pneumatic gripper to move up and down, and a first rotary cylinder (37) which drives the first pneumatic gripper to intermittently rotate in the same direction through an overrunning clutch, and the lower end of the first pneumatic gripper is connected with a first slideway; the overrunning clutch and the first rotary cylinder are respectively arranged on the upper side and the lower side of the movable end of the through hole structure of the second telescopic cylinder and are coaxial with the through hole of the movable end of the second telescopic cylinder; the shaping station comprises a third rotary cylinder for driving the driving wheel to rotate, and the third rotary cylinder drives the driven wheel to rotate through a belt; the end face of the driven wheel is provided with a fourth positioning disk matched with the large-opening end of the miniature solid-pushing engine, and one end of the arched plate is provided with a fifth positioning disk matched with the small-opening end of the miniature solid-pushing engine; the device also comprises a rotary compression cylinder for controlling the horizontal rotation of the cambered plate and the up-and-down movement of the fifth positioning disk, a third sliding table cylinder for driving the horizontal movement of a cutter A for cutting off the medicine section on the inner wall of the miniature solid pushing engine, a second sliding table cylinder for driving the up-and-down movement of a scraper for scraping off the medicine section on the inner wall of the miniature solid pushing engine, and a first sliding table cylinder for controlling the horizontal movement of the second sliding table cylinder and the up-and-down movement of the third sliding table cylinder; a first air suction cover is arranged around the cutter A, and a second air suction cover is arranged around the scraper; the weighing adaptation station comprises a column type weighing support platform with a through hole in the middle, an annular belt which is in full contact with the end face of the shell of the miniature solid pushing engine of the shaped inner cavity grain is arranged at the upper end of the weighing support platform, and the lower end of the weighing support platform is connected with a weighing sensor; the weighing support is characterized by further comprising an eighth telescopic cylinder for controlling the adapting rod to move up and down along the third guide rod in the weighing support through hole.

The feeding/discharging station, the rotary workbench station, the workpiece transferring station, the core rod demolding station, the positioning ring demolding station, the plug automatic disassembling station, the base disassembling station, the shaping station and the weighing adaptation station can be controlled by intelligent switches or manually.

The feeding/discharging station comprises a feeding/discharging vehicle (1), a feeding/discharging table (3) and a first combined cylinder for transferring the material tray.

The rotary workbench station comprises a rotary table top and a base.

And the fence groove depth is matched with the core rod to be demolded.

And a manipulator is arranged between the feeding/discharging table and the rotary workbench station.

The base is provided with a base collecting box and a plug collecting box.

The invention has the beneficial effects that: the multi-station design of the rotary workbench realizes higher equipment space utilization rate; through the design of multiple guiding and buffering, the safety of circular cutting of the plug is ensured; the cutter is matched with the scraper for use, and the stepwise feeding design of the cutter avoids the damage of the cutter to the shell and the grain; the die-stripping and shaping device can be universally used for die-stripping and shaping of workpieces with wide size range and wide shaping height through the design of the positioning pin; the port positioning mode with the vent holes is designed, so that the cleaning gas can be matched for cleaning scraps; the weighing adaptation is integrated through a simple design, so that the high efficiency of the working procedure is improved; the integral design is matched through demolding, shaping and weighing, so that the informatization degree is high; the positioning of three fixed points in the workpiece transferring process is realized by the mode that the movable ends of the two telescopic cylinders are connected; through the design of the top plug station in the workpiece transferring process, the repeated overturning of the workpiece is avoided; the station capability is improved through the integrated design of the plug ring cutting and the plug discharging; through the cooperation of the rotary cylinder and the telescopic cylinder, the synchronization of the rotation and the downward movement in the process of unloading the base is realized; through the design of a manipulator, an integral structure of feeding and discharging is realized; through the corresponding design of the workpiece support table and each station, a simple and effective workpiece grabbing and positioning mode is realized; the lower end of the workpiece is fixed in the demolding process by means of the base structure of the workpiece; the mandrel is collected to a designated point horizontally through the design of the slide way, so that the mandrel is conveniently pushed into the regular box. The invention can realize unmanned operation through remote control, the shaping speed is 4 rounds per minute, the shaping precision is +/-0.5 mm, and the automatic demoulding and shaping requirements of similar products with the appearance within phi 100 multiplied by 300mm can be met.

Drawings

FIG. 1 is a schematic diagram of a miniature solid-push engine before demolding and shaping.

Fig. 2 is a top view of the present invention.

FIG. 3 is a schematic diagram of the demolding station of the core rod, the demolding station of the positioning ring, the ring cutting station of the plug and the demolding station of the base.

Fig. 4 is a cross-sectional view of a plug ring cutting station.

Fig. 5 is a schematic view of a base demolding station.

Fig. 6 is a schematic diagram of a plug ejection station.

Fig. 7 is a schematic diagram of an end face shaping station.

Fig. 8 is a top view of an end face shaping station.

Fig. 9 is a partial cross-sectional view of an end face shaping station.

FIG. 10 is a schematic view of a weigh adaptation station.

Detailed Description

As shown in fig. 1, the core rod 84, the positioning ring 86 and the explosive column 88 are all installed in the miniature solid pushing engine from the large opening end of the miniature solid pushing engine shell 87, the small opening end of the miniature solid pushing engine shell 87 is provided with the plug 89, and the small opening end of the miniature solid pushing engine is blocked by adopting the threaded connection of the base 90 and the threaded connection part 85 of the plug 89 to carry out threaded connection during normal explosive charging.

As shown in fig. 2, the invention comprises a loading/unloading station, a rotary workbench station, a workpiece transferring station, a core rod demolding station, a positioning ring demolding station, an automatic plug disassembling station, a base disassembling station, a shaping station and a weighing adaptation station. The feeding/discharging station, the rotary workbench station, the workpiece transferring station, the core rod demolding station, the positioning ring demolding station, the plug automatic disassembling station, the base disassembling station, the shaping station and the weighing adaptation station can be controlled by intelligent switches or manually. The loading/unloading station comprises a loading/unloading vehicle 1, a loading/unloading table 3 and a first combined cylinder 5 for transferring the material tray. The loading/unloading vehicle 1 is provided with a plurality of layers of trays 2, and the loading/unloading table 3 is provided with a reject placement area 4. A manipulator 6 for transferring the miniature solid pushing engine is arranged between the feeding/discharging table 3 and the rotary table module. The rotary table comprises a rotary table top 7 and a base 8. The rotary table top 7 is uniformly provided with a plurality of brackets 9 which are provided with through holes along the circumference and matched with the shell of the miniature solid pushing engine. The base 8 is provided with a first base buckle, a second base buckle, a base collecting box 18, a plug collecting box 20 and the like for fixing the base of the miniature solid pushing engine. The feeding working mode is that a mechanical arm 6 is started to transfer a miniature solid pushing engine to be shaped and demoulded from a material tray 2 to a workpiece supporting table 9, so that a feeding station is completed; the blanking working mode is that the rotary table 7 is started to drive the workpiece to return to the feeding original point, and the manipulator 6 is started to transfer the workpiece from the workpiece supporting table 9 to the material tray 2 in-situ or unqualified product placing area 4. And finishing the loading and unloading working procedures. The core rod demolding station comprises a second combined cylinder 10 and a core rod collecting table 11, and a third pneumatic gripper 25 for gripping the core rod is arranged at the movable end of the second combined cylinder 10. The core rod collecting table 11 comprises a plurality of inclined fences 12, the depth of the grooves of the fences 12 is matched with that of the core rod of the miniature solid pushing engine, and the core rod collecting table 11 is provided with a third combined cylinder 13 for controlling the horizontal stepping motion of the fences 12. Starting the rotary table 7 to drive the workpiece in the workpiece support 9 to reach the core rod demolding station, wherein the base is blocked by the first base buckle 26; starting the second combined cylinder 10 to drive the third pneumatic gripper 25 to pull out the mandrel from the workpiece after grabbing, and transferring the mandrel into the fence 12 of the mandrel collection table 11; after the fence 12 collects a certain number of core rods, the third combined cylinder 13 is started to sequentially move the fence until the core rods are all regular. And (5) finishing the core rod demolding process. The positioning ring demolding station comprises a fourth combined air cylinder 14 and a positioning ring collecting box 15, and a fourth pneumatic gripper 27 for grabbing the positioning ring is arranged at the movable end of the fourth combined air cylinder 14. Starting the rotary table 7 to drive the workpiece in the workpiece support 9 to reach the positioning ring demolding station, wherein the base is blocked by the second base buckle; the fourth combined cylinder 14 is started to drive the fourth pneumatic gripper 27 to pull out the positioning ring from the workpiece after gripping and transfer the positioning ring into the positioning ring collecting box 15, so that the positioning ring demolding process is completed.

As shown in fig. 3, the mandrel stripping station comprises a second combination cylinder and a mandrel collection station. The movable end of the second combined cylinder is provided with a third pneumatic gripper 25 for gripping the core rod. The core rod collecting table comprises a plurality of inclined fences, and the depth of the fence grooves is matched with that of the core rods. The core rod collecting table is provided with a third combined cylinder for controlling the horizontal stepping movement of the fence. And starting the rotary table top to drive the miniature solid pushing engine in the supporting table to reach the core rod demolding station. The first base buckle 26 clamps the miniature solid pushing engine base; the second combined cylinder is started to drive the third pneumatic gripper 25 to pull the core rod out of the miniature solid pushing engine after grabbing and transfer the core rod into the fence of the core rod collecting table. After the fence collects a certain number of core rods, a third combined cylinder is started to sequentially move the fence until the core rods are all regular. And (5) finishing the core rod demolding process. The positioning ring demolding station comprises a fourth combined cylinder and a positioning ring collecting box, and a fourth pneumatic gripper 27 for grabbing the positioning ring is arranged at the movable end of the fourth combined cylinder. The rotary table is started to drive the miniature solid pushing engine in the supporting table to reach the demolding station of the positioning ring, and the base is clamped by the second base buckle 28. And starting the fourth combined cylinder to drive the fourth pneumatic gripper 27 to pull out the positioning ring from the miniature solid pushing engine after grabbing, and transferring the positioning ring into the positioning ring collecting box to complete the positioning ring demoulding process.

As shown in fig. 4, the first telescopic cylinder 16 drives the fixed sleeve 34 to further drive the sliding sleeve 35 and the first guide rod 39 to move up and down, the third telescopic cylinder is provided with a fifth pneumatic gripper 31 for gripping the micro solid pushing engine, the movable end of the first telescopic cylinder 16 is provided with the fixed sleeve 34, the first guide rod 39 and the sliding sleeve 35 which are coaxial, the first guide rod 39 is fixed at the center of the fixed sleeve 34 through a bolt 40, the middle part of the first guide rod 39 is provided with a first clamp 43, and the bottom is provided with a ring cutter 45 of a punch structure matched with the plug of the micro solid pushing engine; the fixed sleeve 34 is internally provided with a first spring 41 surrounding the first guide rod 39, the upper end of the first spring 41 is connected with the fixed sleeve 34, and the lower end is connected with the upper end of the first clamp 43. The sliding sleeve 35 is positioned in the fixed sleeve 34, the outer edge of the lower end is provided with a first positioning disk 44 matched with the large-mouth end of the miniature solid pushing engine, and the inner edge is of a sleeve structure matched with the first guide rod 39. The sliding sleeve 35 is provided with a second spring 42 surrounding the first guide rod 39, the upper end of the second spring 42 is connected with the lower end of the first clamp 43, and the lower end is connected with the lower end of the sliding sleeve 35. Starting the rotary table top 7 to drive the miniature solid pushing engine in the supporting table 9 to reach the head blocking annular cutting station, starting the fifth pneumatic gripper 31 to grasp and fix the miniature solid pushing engine, starting the first telescopic cylinder 16 to drive the first positioning disc 44 to press the large opening end of the miniature solid pushing engine, and simultaneously driving the annular cutter 45 to continuously downwards perform head blocking annular cutting operation; and the first telescopic cylinder 16 is reset after the plugging head in the miniature solid pushing engine is annularly cut to a certain depth, and the first positioning disk 44 and the annular cutter 45 are driven to reset, so that the plugging head annular cutting of the miniature solid pushing engine is completed.

As shown in fig. 5, the base demolding station comprises a first pneumatic gripper 17, an overrunning clutch 38, a first rotary cylinder 37, a second telescopic cylinder 32, a first slideway 46 and the like; the first pneumatic gripper 17 is matched with a threaded connection base of the miniature solid pushing engine and is fixed at the movable end above the overrunning clutch 38; the lower end of the first pneumatic gripper 17 is connected with a first slideway 46; the overrunning clutch 38 and the first rotary cylinder 37 are respectively fixed on the upper side and the lower side of the movable end of the second telescopic cylinder 32, and the bottom of the overrunning clutch 38 is connected with the periphery of the movable end of the first rotary cylinder 37. Firstly, starting the second telescopic cylinder 32 to drive the first pneumatic gripper 17 to rise to a designated position; then starting the first pneumatic gripper 17 to grasp the threaded connection base; then closing the second telescopic cylinder 32 while discharging the air pressure; starting a first rotary cylinder 37, converting the rotary motion into intermittent same-direction rotary motion of 90 degrees each time through an overrunning clutch 38, and driving a first pneumatic gripper 17 to rotate and be connected with a base in a threaded manner; closing the second telescopic cylinder 32, unloading air pressure in the second telescopic cylinder 32, wherein the movable end of the second telescopic cylinder is in a free falling state, and the second telescopic cylinder can synchronously fall down while rotating the threaded connection base until the threaded connection base is detached. Finally, after the threaded connection base is disassembled, the first pneumatic gripper 17 loosens the base, the base falls into the first slide way 46 under the action of gravity and slides into the base collecting box, and the base demoulding of the miniature solid pushing engine is completed.

As shown in fig. 6, the fourth telescopic cylinder 53 controls the up-and-down movement, and the fourth telescopic cylinder 53 is provided with a fixed plate 58, a sliding plate 62 and a second guide rod 59. The second guide rod 59 is provided with a second clamp 61 at the middle part and a third spring 60 around the second clamp. The third spring 60 has a lower end connected to an upper end of the second clip 61 and an upper end connected to the fixing plate 58. The lower end of the sliding plate 62 is provided with a push rod 57, and the push rod 57 vertically passes through the second positioning disc 63. The second guide rod 59 vertically passes through the fixed plate 58 and the sliding plate 62, and a second positioning disk 63 matched with the small opening end of the miniature solid pushing engine is arranged at the lower end of the second guide rod 59. The fifth telescopic cylinder controls horizontal movement, the movable end of the fifth telescopic cylinder is provided with a second rotary cylinder, and the second rotary cylinder is provided with a sixth pneumatic gripper for grabbing the miniature solid pushing engine. The seventh telescopic cylinder 64 controls up-and-down movement, a third positioning disk 65 matched with the large-mouth end of the miniature solid-pushing engine is arranged at the movable end of the seventh telescopic cylinder 64, a second slide way 66 is arranged at the lower end of the third positioning disk 65, and a plug collecting box 20 is arranged below the second slide way 66. After the head blocking circular cutting module completes head blocking circular cutting, starting a sixth pneumatic gripper to grasp the miniature solid pushing engine, starting a second rotary cylinder to turn the sixth pneumatic gripper 180 degrees, and further driving the miniature solid pushing engine to turn 180 degrees; starting a fifth telescopic cylinder, translating the second rotary cylinder and the sixth pneumatic gripper, and further driving the miniature solid pushing engine to reach between the ejector rod 57 and the third positioning disk 65; then, starting a seventh telescopic cylinder 64, and moving a third positioning disk 65 upwards to support the large-opening end of the miniature solid-pushing engine; the fourth telescopic cylinder 53 is started, on one hand, the fixed plate 58 is moved downwards, the second positioning disc 63 is driven to move downwards under the action of the third spring 60 to press the small opening end of the miniature solid-pushing engine shell, on the other hand, the ejector rod 57 is moved downwards to eject the plug; finally, the ejected plug falls into the second slide way 66 under the action of gravity, slides into the plug collection box 20 along the second slide way 66, and simultaneously resets the fourth telescopic cylinder 53 and the seventh telescopic cylinder 64, thereby completing the plug ejection process.

As shown in fig. 7, 8 and 9, the end face shaping station comprises a sixth telescopic cylinder 56, a shaping table 21, a rotary compression cylinder 22 and a shaping cutter assembly; the movable end of the sixth telescopic cylinder 56 is connected with the fifth telescopic cylinder 54; the rotary compression cylinder 22 is provided with a cambered plate 51, and one end of the cambered plate 51 is provided with a fifth positioning disk 79 which is made of soft materials and matched with the small opening end of the miniature solid pushing engine. The arcuate plate 51 has a concave aperture 50 for mounting a first bearing 74. The fifth positioning disk 79 is mounted in the through-hole first bearing 74, and the first bearing 74 is mounted in the concave hole 50 of the arcuate plate 51. The end face of the driven wheel 49 with the through hole is provided with a fourth positioning disk 73 matched with the large-opening end of the miniature solid pushing engine. The driving wheel 52 is assembled at the movable end of the third rotary cylinder 76, and the end surface of the driven wheel 49 is provided with a fourth positioning disk 73 matched with the large-opening end of the miniature solid pushing engine. The outer side of the lower end of the driven wheel 49 is provided with a second bearing 78, and the outer side of the second bearing 78 is provided with a shaping cover 75. The first slipway cylinder 67 is installed below the shaping table 21, the first slipway cylinder 67 controls the second slipway cylinder 68 to move horizontally, the second slipway cylinder 68 is installed on the movable end of the first slipway cylinder 67 to control the third slipway cylinder 77 to move up and down, and the third slipway cylinder 77 is installed on the movable end of the second slipway cylinder 68 to control the cutter A69 to move horizontally. The movable end of the third sliding table cylinder 77 is provided with a cutter A69 made of a wedge-shaped hard material; a scraper 70 made of soft materials is arranged on the movable end of the second sliding table cylinder 68. A first air pumping cover 71 with an air pumping interface, the inner edge of which is matched with the outer edge of the shaping cover 75, is arranged around the cutter A69. A second suction hood 72 with a suction interface is provided around the doctor blade 70 with an inner edge matching the outer edge of the shaping hood 75. The concrete working mode is as follows: in the first step, the sixth telescopic cylinder 56 is started to drive the fifth telescopic cylinder 54, and then drive the second rotary cylinder 55 and the sixth pneumatic gripper 36 to translate, and further drive the micro solid pushing engine to reach above the fourth positioning disc 73 on the shaping table 21. The rotating compression cylinder 22 drives the cambered plate 51 to rotate, so that the fifth positioning disk 79 reaches the upper part of the miniature solid pushing engine and then is compressed downwards to fix the miniature solid pushing engine, and meanwhile, the sixth pneumatic handle 36 loosens the miniature solid pushing engine. In the second step, the second sliding table cylinder 68 is started to drive the third sliding table cylinder 77 to move up to the designated position. The third sliding table cylinder 77 drives the cutter A69 to horizontally move to a designated position, and the cutter A69 is close to the inner wall of the miniature solid pushing engine shell. Third, the third rotary cylinder 76 is started to drive the driving wheel 52 to rotate, the driven wheel 49 is driven by the belt 47, and the micro solid pushing engine is driven to rotate, so that the medicine cutting process is completed. The cut-off sections are synchronously collected in the residual medicine collecting box through the first air suction cover 71. Fourth, the third sliding table cylinder 77 drives the cutter A69 to horizontally return to the original position; the second slipway cylinder 68 drives the third slipway cylinder 77 to move down to the original place. The first sliding table cylinder 67 is started to drive the second sliding table cylinder 68 to horizontally move to a designated position; the second slipway cylinder 68 is activated to drive the scraper 70 up to a designated position, close to the inner wall of the micro-thrust engine. Fifth, the third rotary cylinder 76 is started to drive the driving wheel 52 to rotate, the driven wheel 49 is driven by the belt 47, and the micro solid pushing engine is driven to rotate, so that the medicine scraping process is completed. The scraped drug segments are synchronously collected in the residual drug collection box by a second suction hood 72. Step six, the second sliding table cylinder 68 is started to drive the scraper 70 to move down to the original position; the first sliding table cylinder 67 is started to drive the second sliding table cylinder 68 to move horizontally to the original position. Seventh, the rotary compression cylinder 22 is started to drive the cambered plate 51 to ascend so as to separate the fifth positioning disk 79 from the miniature solid-pushing engine, and then the cambered plate 51 rotates back to the original position. Finally, the fifth telescopic cylinder 54 is started, the second rotary cylinder 55 and the sixth pneumatic gripper 36 are translated, the miniature solid pushing engine is driven to reach the fourth positioning disc 73 on the shaping table 21, the sixth pneumatic gripper 36 is started to grasp the miniature solid pushing engine, the second rotary cylinder 55 is started to drive the sixth pneumatic gripper 36 to rotate the miniature solid pushing engine by 180 degrees, and then the miniature solid pushing engine is returned and placed in the supporting table 9. And finishing the end face shaping process of the miniature solid pushing engine grain.

As shown in fig. 10, the weighing adaptation station includes a column-type weighing pallet 29 and an eighth telescopic cylinder 82. The middle part of the column type weighing support 29 is a through hole, the upper end of the weighing support 29 is provided with an annular belt which is completely contacted with the end face of the miniature solid pushing engine shell of the shaped inner cavity grain, the lower end of the weighing support 29 is connected with a weighing sensor 81, and the weighing sensor 81 is arranged on the weighing adaptation table 24. The third guide bar 83 is mounted on the weighing adapter table 24. The eighth telescopic cylinder 82 controls the adapting rod 80 to move up and down along the third guide rod 83 in the through hole of the weighing pallet 29, and the outer diameter of the adapting rod 80 is smaller than the inner diameter of the miniature solid pushing engine shell and can pass through the through hole of the weighing pallet 29 in a contactless manner. The sixth combination cylinder 23 is activated to drive the second pneumatic gripper 19 to remove the micro-thrust engine from the pallet and rotate 180 degrees to transfer the large mouth downward into the weigh pallet 29. The miniature solid pushing engine of the shaped inner cavity grain is placed on the weighing tray 29, so that the end face of the miniature solid pushing engine shell is in complete contact with the plane of the tray. The first weighing data M1, M1 is collected by the weighing sensor 81, which is the engine weight after shaping. Then the adapting rod 80 is pushed upwards and exceeds the plane of the supporting table by a certain height H under the drive of the eighth telescopic cylinder 82, the height H is smaller than or equal to the height between the end face of the miniature solid pushing engine shell and the shaping end face, and H is the target shaping depth. Collecting second weighing data M2 through a weighing sensor 81; the shaping depth is judged through background data processing, if M1 and M2 are equal, the adapter rod 80 is not contacted with the shaping end face of the explosive column of the engine, namely the actual shaping depth is higher than the target shaping depth, and the shaping depth is judged to be qualified, otherwise, the shaping depth is judged to be unqualified.

Claims (7)

1. The utility model provides a miniature solid automatic drawing of patterns plastic equipment that pushes away engine which characterized in that: the automatic plug disassembling device comprises a rotary workbench, an feeding/discharging station, a workpiece transferring station, a core rod demolding station, a positioning ring demolding station, an automatic plug disassembling station, a base disassembling station, a shaping station and a weighing adaptation station which are arranged along the circumference of the rotary workbench; the core rod demolding station comprises a second combined cylinder (10) for controlling a third pneumatic gripper (25) to grasp a core rod to be demolded, and a third combined cylinder (13) for controlling a fence (12) to horizontally move is arranged on a core rod collecting table (11); the positioning ring demolding station comprises a fourth combined cylinder (14) and a positioning ring collecting box (15) for controlling a fourth pneumatic gripper (27) to grasp a positioning ring to be demolded; the automatic plug disassembly station comprises a fixed sleeve (34), a first telescopic cylinder (16) for controlling the fixed sleeve (34) to move up and down, a sliding sleeve (35) and a first guide rod (39) are arranged in the fixed sleeve (34) and are coaxial with the fixed sleeve (34), a first spring (41) with a buffering effect is arranged in the fixed sleeve (34), a second spring (42) with a buffering effect is arranged in the sliding sleeve (35), a first positioning disc (44) is arranged at the outer edge of the lower end of the sliding sleeve (35), a circular cutting knife (45) is arranged at the bottom of the first guide rod (39), and a fifth pneumatic gripper (31) matched with the circular cutting knife (45) for use is further included; the device also comprises a fourth telescopic cylinder (53) for controlling the fixing plate (58), the ejector rod (57) and the second positioning disk (63) to move up and down; the fourth telescopic cylinder (53) is provided with a fixed plate (58), a sliding plate (62) and a second guide rod (59); a second clamp (61) is arranged in the middle of the second guide rod (59), and a third spring (60) is arranged around the second clamp; the lower end of the third spring (60) is connected with the upper end of the second clamp (61), and the upper end of the third spring is connected with the fixed plate (58); the lower end of the sliding plate (62) is provided with a push rod (57), and the push rod (57) vertically passes through the second positioning disc (63); the second guide rod (59) vertically passes through the fixed plate (58) and the sliding plate (62), and a second positioning disk (63) matched with the small opening end of the miniature solid pushing engine is arranged at the lower end of the second guide rod (59); also comprises a seventh telescopic cylinder (64); a third positioning disc (65) is arranged at the movable end of the seventh telescopic cylinder (64); a second slide way (66) is arranged at the lower end of the third positioning plate (65), and a plug collecting box (20) is arranged below the second slide way (66); the base dismounting station comprises a second telescopic cylinder (32) for driving the first pneumatic gripper (17) to move up and down, and a first rotary cylinder (37) for driving the first pneumatic gripper (17) to intermittently rotate in the same direction through an overrunning clutch (38), wherein the lower end of the first pneumatic gripper (17) is connected with a first slideway (46); the overrunning clutch (38) and the first rotary cylinder (37) are respectively arranged on the upper side and the lower side of the movable end of the through hole structure of the second telescopic cylinder (32) and are coaxial with the through hole of the movable end of the second telescopic cylinder (32); the shaping station comprises a third rotary air cylinder (76) for driving the driving wheel (52) to rotate, and the driving wheel (52) is assembled at the movable end of the third rotary air cylinder (76); the third rotary cylinder (76) drives the driven wheel (49) to rotate through the belt (47); the end face of the driven wheel (49) is provided with a fourth positioning disk (73) matched with the large opening end of the miniature solid pushing engine, one end of the arched plate (51) is provided with a fifth positioning disk (79) matched with the small opening end of the miniature solid pushing engine, the device also comprises a rotary compression cylinder (22) for controlling the arched plate (51) to horizontally rotate and the fifth positioning disk (79) to move up and down, a third sliding table cylinder (77) for driving a cutter A (69) for cutting off the medicine section on the inner wall of the miniature solid pushing engine to horizontally move and a second sliding table cylinder (68) for driving a scraper (70) for scraping the medicine section on the inner wall of the miniature solid pushing engine to move up and down; the rotary compression cylinder (22) is provided with a cambered plate (51); a cutter A (69) made of a wedge-shaped hard material is arranged at the movable end of the third sliding table cylinder (77); a scraper (70) made of soft materials is arranged at the movable end of the second sliding table cylinder (68); the device also comprises a first sliding table cylinder (67) for controlling the second sliding table cylinder (68) to move horizontally and a third sliding table cylinder (77) to move up and down; a first air suction cover (71) is arranged around the cutter A (69), and a second air suction cover (72) is arranged around the scraper (70); the weighing adaptation station comprises a column type weighing support table (29) with a through hole in the middle, an annular belt which is completely contacted with the end face of the miniature solid pushing engine shell of the shaped inner cavity grain is arranged at the upper end of the weighing support table (29), and the lower end of the weighing support table (29) is connected with a weighing sensor (81); the weighing device further comprises an eighth telescopic cylinder (82) for controlling the adapting rod (80) to move up and down along the third guide rod (83) in the through hole of the weighing tray (29).

2. The automatic demolding and shaping device for the miniature solid-pushing engine, as claimed in claim 1, is characterized in that: the feeding/discharging station, the rotary workbench, the workpiece transferring station, the core rod demolding station, the positioning ring demolding station, the plug automatic disassembling station, the base disassembling station, the shaping station and the weighing adaptation station can be controlled by intelligent switches or manually.

3. The automatic demolding and shaping device for the miniature solid-pushing engine, as claimed in claim 1, is characterized in that: the feeding/discharging station comprises a feeding/discharging vehicle (1), a feeding/discharging table (3) and a first combined cylinder (5) for transferring the material tray.

4. The automatic demolding and shaping device for the miniature solid-pushing engine, as claimed in claim 1, is characterized in that: the rotary workbench comprises a rotary table top (7) and a base (8).

5. The automatic demolding and shaping device for the miniature solid-pushing engine, as claimed in claim 1, is characterized in that: the groove depth of the fence (12) is matched with the core rod to be demolded.

6. The automatic demolding and shaping device for the miniature solid-pushing engine, according to claim 3, is characterized in that: a manipulator (6) is arranged between the feeding/discharging table (3) and the rotary workbench.

7. The automatic demolding and shaping device for the miniature solid-pushing engine, as claimed in claim 4, is characterized in that: the base (8) is provided with a base collecting box (18) and a plug collecting box (20).

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