CN109227554B - Automatic processing and detecting device for energy-containing columnar material for aerospace initiating explosive device - Google Patents
Automatic processing and detecting device for energy-containing columnar material for aerospace initiating explosive device Download PDFInfo
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- CN109227554B CN109227554B CN201811007776.0A CN201811007776A CN109227554B CN 109227554 B CN109227554 B CN 109227554B CN 201811007776 A CN201811007776 A CN 201811007776A CN 109227554 B CN109227554 B CN 109227554B
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B25J11/005—Manipulators for mechanical processing tasks
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Abstract
The invention discloses an energy-containing columnar material automatic processing and detecting device for an aerospace initiating explosive device, which comprises a detecting module, a robot module and a feeding and discharging module, wherein the detecting module comprises a measuring head, a top plug, a V-shaped block, a baffle plate and a first sliding rail which are positioned on a detecting platform, the energy-containing columnar material is placed on the V-shaped block and consists of at least two V-shaped structures, the measuring head positioned above the V-shaped block is of a ball head structure, the measuring head is connected with a displacement sensor, and the displacement of the measuring head moving in the direction vertical to the detecting platform is measured to obtain the diameter of the energy-containing columnar material; the top plug is arranged on the first sliding rail and connected with the displacement sensor, and moves along the first sliding rail to obtain the length of the energy-containing columnar material; the robot module is used for clamping the energy-containing columnar material; the feeding and discharging module comprises an unqualified product collecting box, a qualified product collecting box, a feeding sliding table, a mechanical arm, a discharging sliding table, a storage box, a second sliding rail and a third sliding rail.
Description
Technical Field
The invention relates to an energy-containing columnar material automatic processing and detecting device for an aerospace initiating explosive device, and belongs to the field of assembly of aerospace initiating explosive devices.
Background
The energy-containing columnar material is the main charge of a typical small solid rocket of the aerospace initiating explosive device and is a solid substance. When the device works, the igniter ignites the ignition medicine box, the energy-containing columnar material is ignited through the ignition medicine box, the energy-containing columnar material burns to generate high-temperature and high-pressure gas, chemical energy is converted into heat energy, the gas expands and accelerates through the spray pipe, the heat energy is converted into kinetic energy, and the kinetic energy is discharged from the spray pipe at a very high speed so as to generate thrust to push the missile or rocket to fly forwards. The energy-containing columnar material is widely applied to various fields of aerospace vehicles and plays a role in playing a role.
At the present stage, the machining is mainly carried out on a common lathe in a manual mode, and after the machining is finished, a vernier caliper is used for detecting, so that the following problems mainly exist:
1) potential safety hazards exist in the processing process of the energy-containing columnar material, the intrinsic safety is not high, and meanwhile potential occupational health hazards also exist. The energy-containing columnar material is an energy-containing non-metallic material and is limited by a process mode, and the temperature can be controlled only by adopting a mode of controlling cutting parameters in the turning process.
2) The processing efficiency of the energy-containing columnar material is low.
In the production process, in order to control the processing quality of the energy-containing columnar material and simultaneously consider the safety, the processing efficiency of the energy-containing columnar material is not high; meanwhile, when the energy-containing columnar material is cut, the temperature is increased to generate toxic and harmful gas and dust, so that an operator is uncomfortable, at present, the operator can only work for less than 4 hours every day, and when a production task is urgent, the operator can only operate by shift, overtime and emergency personnel to meet the requirement of field volume production.
3) The detection means of the energy-containing columnar material lags behind.
After the energy-containing columnar material is processed, the size of the energy-containing columnar material needs to be detected in total because of the importance of the energy-containing columnar material in a small solid rocket. At present, after the first piece is processed, the energy-containing columnar material is placed at the temperature of 20-35 ℃ for heat preservation for 2 hours, the size of the energy-containing columnar material is measured in a manual mode of measuring the inner diameter, the outer diameter and the length by using a vernier caliper, and the processing is allowed to continue after the size is qualified. After a batch of energy-containing columnar materials are processed, the materials are placed at the temperature of 20-35 ℃ for standing for 2 hours, and then the energy-containing columnar materials are detected. The manual detection mode can not meet the increasing production requirements, and the problems of low manual detection efficiency and lagged detection means are urgently needed to be solved.
4) The energy-containing columnar material is easy to deform due to temperature rise in the processing process.
During the turning process of the energy-containing columnar material, the turning friction force during the turning process inevitably raises the temperature of the energy-containing columnar material, and due to the creep property of the viscoelastic body of the energy-containing columnar material, the temperature rises to deform the size of the energy-containing columnar material, the longer the processing time is, the larger the generated accumulated temperature rise is, so that the size deformation of the energy-containing columnar material is larger, the processing size of the energy-containing columnar material is obviously different from the predicted processing size value, the difference can be about 0.2mm, and the deformation caused by the temperature rise during the processing process exceeds the tolerance of the partial size of the energy-containing columnar material. At this stage, the machining can only be carried out by using experienced operators. Before each batch of processing, a process piece is required to be adopted for process trial run, after the trial run is finished, the dimension of the energy-containing columnar material is measured after the trial run is stood for two hours at the temperature of 20-35 ℃, the processing is allowed to continue after the dimension is qualified, but the final dimension of the energy-containing columnar material is difficult to control quantitatively in the processing process, and the risk of full-batch out-of-tolerance exists.
In conclusion, the energy-containing columnar material for the aerospace initiating explosive device has the problems of low intrinsic safety, low processing efficiency, backward detection means, easy occurrence of deformation and out-of-tolerance and the like.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the defects of low intrinsic safety, low processing efficiency, backward detection means, easy deformation and out-of-tolerance and the like existing in the processing process of the energy-containing columnar material for the aerospace initiating explosive device, the automatic processing mode is adopted for processing and detecting, the processing consistency is ensured, the processing and detecting efficiency is improved, the labor intensity is reduced, the man-machine isolation is fundamentally realized, and the operation safety risk is avoided.
The technical solution of the invention is as follows:
an energy-containing columnar material automatic processing and detecting device for an aerospace initiating explosive device;
the robot comprises a detection module, a robot module and a feeding and discharging module;
the detection module comprises a measuring head, a top plug, a V-shaped block, a baffle and a first slide rail, wherein the measuring head, the top plug, the V-shaped block, the baffle and the first slide rail are positioned on the detection platform;
energy-containing columnar materials are placed on the V-shaped blocks and consist of at least two V-shaped structures, and the interval between the V-shaped structures is larger than the width of the double V-shaped clamping jaws of the robot module;
the baffle is used as the reference of the initial position of the measuring tool;
the measuring head above the V-shaped block is of a ball head structure, the measuring head is connected with the displacement sensor, and the displacement of the measuring head moving in the direction vertical to the detection platform is measured to obtain the diameter of the energy-containing columnar material;
the first slide rail is parallel to the center line of the V-shaped surface of the V-shaped block, the top plug is arranged on the first slide rail and connected with the displacement sensor, and the top plug moves along the first slide rail to obtain the length of the energy-containing columnar material;
the robot module is used for clamping the energy-containing columnar material;
the feeding and discharging module comprises an unqualified product collecting box, a qualified product collecting box, a feeding sliding table, a manipulator, a discharging sliding table, a storage box, a second sliding rail and a third sliding rail;
the second slide rail and the third slide rail are vertically arranged;
the manipulator can slide along the third slide rail to clamp the energy-containing columnar material;
the feeding sliding table and the discharging sliding table are respectively arranged on the two parallel second sliding rails, the feeding sliding table and the discharging sliding table are both used for placing energy-containing columnar materials in a V-shaped block mode, and the feeding sliding table and the discharging sliding table can move relative to the second sliding rails.
During operation, the columnar material containing energy to be processed in the manipulator clamping storage box is placed in the feeding sliding table, the feeding sliding table carries the columnar material containing energy to be processed to enter a material waiting area, the columnar material containing energy to be processed is clamped by the robot module and is fed into a processing lathe for turning, the columnar material containing energy after being clamped and processed by the robot module after being processed is fed into the detection module, after being judged by the detection module, a pass instruction and an unqualified instruction are transmitted to the manipulator, the detected columnar material containing energy is fed into the discharging sliding table by the robot module, the detected columnar material containing energy is placed into the corresponding unqualified product collection box or qualified product collection box by the manipulator according to a received signal, and the detected columnar material containing energy in the qualified product collection box is clamped by the manipulator and is placed into the storage box.
During turning, the excircle and the end face of the cylindrical material to be processed can be turned at one time; or firstly processing the excircle of the energy-containing columnar material to be processed according to the whole flow, and then processing the end face of the energy-containing columnar material to be processed according to the whole flow.
The V-shaped surface of the V-shaped block is vertical to the baffle plate, and the verticality is not more than 0.01 mm.
The robot module comprises a six-axis robot, double V-shaped clamping jaws and an ejector rod, wherein the double V-shaped clamping jaws and the ejector rod are in threaded connection on the six-axis robot, and the size of the V-shaped surface of each double V-shaped clamping jaw is matched with the outer diameter of the energy-containing columnar material so as to clamp the energy-containing columnar material.
Unqualified product collecting box, certified products collecting box, manipulator, material loading slip table, unloading slip table lie in same straight line when zero point, and the straightness accuracy error is not more than 5 mm.
The expansion core jacking sleeve is positioned at the tail part of the jacking plug and jacks the end face of the energy-containing columnar material when the energy-containing columnar material is processed.
Turning is carried out according to preset technological parameters, wherein the technological parameters comprise back-cut amount, feed speed, rotating speed, deformation of the energy-containing columnar material, air quantity of air cooling and alarm temperature.
The inside width of storage box is adjustable, and inside width is greater than can the column material length.
The cylinder drives the reciprocating turnover mechanism to overturn so as to realize automatic feeding of the energy-containing columnar material.
Compared with the prior art, the invention has the advantages that:
(1) the invention realizes the processing and detection by adopting an automatic processing mode, thereby ensuring the processing consistency, improving the processing and detection efficiency, reducing the labor intensity, fundamentally realizing the man-machine isolation and putting an end to the operation safety risk;
(2) the technological parameters required to be provided after the automatic processing device is adopted by an operator according to the experience in the original processing process are the back-cut amount, the feeding speed, the rotating speed, the deformation amount of the energy-containing columnar material, the air quantity of air cooling and the alarm temperature. Each process parameter is obtained through process means and calculation, and after the processing parameters of the energy-containing columnar material are input once, the processing parameters can be guaranteed to be called at any time in the subsequent batch processing;
(3) the invention is feasible in the engineering range by selecting a certain energy-containing columnar material to carry out comparison test and analyzing the test result.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a block diagram of a detection module according to the present invention;
FIG. 3 is a view showing the structure of a V-block of the present invention;
FIG. 4 is a block diagram of a robot module according to the present invention;
FIG. 5 is a structural view of the double V-shaped clamp and the ejector rod of the invention;
FIG. 6 is a structural diagram of a loading and unloading module according to the present invention;
FIG. 7 is a structural view of the magazine of the present invention;
FIG. 8 is a diagram of a flip architecture of the present invention;
FIG. 9 is a structural diagram of a loading sliding table and a blanking sliding table according to the present invention;
FIG. 10 is a diagram of an exemplary energetic pillar material of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
An automatic processing and detecting device for energy-containing columnar material for aerospace initiating explosive device, the shape of the energy-containing columnar material is shown in figure 10,
comprises a detection module, a robot module and a feeding and discharging module,
as shown in fig. 2, the detection module includes a probe 11, a top plug 14, a V-shaped block 16, a baffle 17 and a first slide rail 19, which are located on the detection platform, wherein a V-shaped surface of the V-shaped block 16 is perpendicular to the baffle 17, and a perpendicularity is not greater than 0.01 mm. Still including expanding core top cover 13, expand core top cover 13 and be located the 14 afterbody of ejector plug, processing contains can the columnar material excircle often, uses two expand core top cover 13 little excircles to insert respectively in the hole that contains can the columnar material both ends to the tight top of top contains can the columnar material terminal surface, expand the little excircle of core top cover with contain can the columnar material hole phase-match, little excircle diameter is less than and contains can the columnar material hole lower limit within 0.02 mm.
As shown in fig. 3, the V-block 16 on which the energetic columnar material 31 is placed is composed of at least two V-shaped structures, the V-shaped structures having a spacing larger than the width of the double V-shaped gripper 41 of the robot module;
the baffle 17 is used as the primary position reference of the measuring tool;
the measuring head 11 positioned above the V-shaped block 16 is of a ball head structure, the measuring head 11 is connected with a displacement sensor, and the displacement of the measuring head 11 moving in the direction vertical to the detection platform is measured to obtain the diameter of the energy-containing columnar material;
the first slide rail 19 is parallel to the center line of the V-shaped surface of the V-shaped block 16, the top plug 14 is arranged on the first slide rail 19 and connected with the displacement sensor, and the top plug 14 moves along the first slide rail 19 to obtain the length of the energy-containing columnar material;
the robot module is used for clamping the energy-containing columnar material, and as shown in fig. 4 and 5, the robot module comprises a six-axis robot 43, a double-V-shaped clamping jaw 41 and an ejector rod 42, the double-V-shaped clamping jaw 41 and the ejector rod 42 are in threaded connection with the six-axis robot 43, and the size of the V-shaped surface of the double-V-shaped clamping jaw 41 is matched with the outer diameter of the energy-containing columnar material so as to clamp the energy-containing columnar material.
The feeding and discharging module comprises a unqualified product collecting box 21, a qualified product collecting box 22, a feeding sliding table 23, a manipulator 24, a discharging sliding table 25, a storage box 26, a second slide rail 27 and a third slide rail 28;
the second slide rail 27 and the third slide rail 28 are vertically arranged;
the robot 24 can slide along the third slide rail 28 to clamp the energetic cylindrical material;
as shown in fig. 6 and 9, the feeding sliding table 23 and the discharging sliding table 25 are respectively disposed on two parallel second slide rails 27, the feeding sliding table 23 and the discharging sliding table 25 both adopt a V-block manner to dispose energy-containing columnar materials, and the feeding sliding table 23 and the discharging sliding table 25 can move relative to the second slide rails 27. The unqualified product collection box 21, the qualified product collection box 22, the manipulator 24, the feeding sliding table 23 and the discharging sliding table 25 are positioned on the same straight line at zero point, and the straightness error is not more than 5 mm.
During operation, the manipulator 24 clamps the to-be-processed energy-containing columnar material in the storage box 26 and puts the to-be-processed energy-containing columnar material into the feeding sliding table 23, the feeding sliding table 23 carries the to-be-processed energy-containing columnar material to enter a to-be-processed area, the robot module clamps the to-be-processed energy-containing columnar material and sends the to-be-processed energy-containing columnar material to a processing lathe for turning, and the turning is performed according to preset technological parameters, wherein the technological parameters comprise back-cut amount, feeding speed, rotating speed, energy-containing columnar material deformation, air cooling air quantity.
The processed energy-containing columnar material is clamped by the robot module and sent into the detection module, after being judged by the detection module, a pass and fail instruction is transmitted to the mechanical arm 24, the detected energy-containing columnar material is sent into the discharging sliding table 25 by the robot module, the detected energy-containing columnar material is placed into the corresponding unqualified product collection box 21 or qualified product collection box 22 by the mechanical arm 24 according to the received signal, and the detected energy-containing columnar material in the qualified product collection box 22 is clamped by the mechanical arm 24 and placed into the storage box 26.
During turning, the excircle and the end face of the cylindrical material to be processed can be turned at one time; or firstly processing the excircle of the energy-containing columnar material to be processed according to the whole flow, and then processing the end face of the energy-containing columnar material to be processed according to the whole flow.
The interior width of the magazine 26 is adjustable and the interior width is greater than the length of the energetic columnar material.
As shown in fig. 7 and 8, the reciprocating turnover mechanism 52 is driven by the cylinder 53 to turn over, so that the energy-containing columnar material is automatically fed.
As shown in fig. 1, the automatic processing and detecting device for the energy-containing columnar material for the aerospace initiating explosive device, provided by the invention, comprises the following working steps of distributed turning:
(a) before processing, establishing a processing database, wherein the database stores the code of each energy-containing columnar material to be processed and corresponding process parameters, and the process parameters mainly comprise but are not limited to back cutting amount, feeding speed, rotating speed, energy-containing columnar material deformation, air cooling air volume, alarm temperature and the like;
(b) processing the energy-containing columnar material by using the process parameters in the step (a);
(c) adjusting the width of the storage box to enable the length of the storage box to be matched with that of the energy-containing columnar material, and then putting the energy-containing columnar material into the storage box; the automatic feeding mechanism in the storage box automatically turns the energy-containing columnar material into a feeding area;
(d) clamping the energy-containing columnar material in the storage box by the manipulator, and then transversely moving the manipulator to place the energy-containing columnar material into a V-shaped groove area of the feeding sliding table; the feeding sliding table conveys the energy-containing columnar material to a material waiting area through a conveying mechanism;
(e) the six-axis robot cylinder drives the double V-shaped clamping jaws to clamp the middle part of the energy-containing columnar material in the material waiting area and sends the material into a spring chuck of the numerical control lathe, the sending length of the material is 40% of that of the energy-containing columnar material, the six-axis robot loosens the energy-containing columnar material and moves to the end face of the energy-containing columnar material on the outer side, the six-axis robot drives a push rod on the side face of the double V-shaped clamping jaws to move towards the energy-containing columnar material and pushes the energy-containing columnar material to move towards the inner side of the spring chuck until a pressure sensor on the push rod on the six-axis robot alarms, and the spring chuck clamps the;
(f) automatically operating the numerical control lathe, turning the end face of the energy-containing columnar material, and reserving the allowance of 1 mm;
(g) stopping the numerical control lathe, loosening the collet chuck, driving the double-V-shaped clamping jaws to clamp the energy-containing columnar material to slide towards the outer side of the collet chuck by the six-axis robot cylinder, enabling the energy-containing columnar material to be exposed by 40%, loosening the energy-containing columnar material by the six-axis robot, re-clamping the middle part of the energy-containing columnar material, pulling out the energy-containing columnar material from the collet chuck, repeating the step of feeding the energy-containing columnar material into the collet chuck of the numerical control lathe after rotating by 180 degrees, automatically operating the numerical control lathe, and turning the end face of the energy-containing columnar material to a required value;
(h) repeating the step of taking out the energy-containing columnar material in the step "(g)", and feeding the energy-containing columnar material into the V-shaped groove of the area to be detected;
(i) the servo motor drives a top plug positioned at the tail part of the V-shaped groove to tightly push the energy-containing columnar material, whether the processing length of the energy-containing columnar material is qualified is automatically judged, and after the detection is finished, the six-axis robot clamps the energy-containing columnar material and sends the energy-containing columnar material into the V-shaped groove of the blanking sliding table positioned in the material waiting area;
(j) the blanking sliding table drives the energy-containing columnar material to slide towards the material receiving area;
(k) the manipulator picks up the energy-containing columnar material, and if the energy-containing columnar material is judged to be qualified in the step (i), the energy-containing columnar material is placed into a qualified product box, and if the energy-containing columnar material is judged to be unqualified in the step (i), the energy-containing columnar material is placed into an unqualified product box;
(l) Transferring the material box positioned in the qualified product box into a material storage box, and repeating the steps (c) and (d);
(m) the six-axis robot cylinder drives the double-V-shaped clamping jaws to clamp the expansion core jacking sleeve positioned at the tail of the platform of the area to be detected, the expansion core jacking sleeve is sent into a spring chuck of the numerical control lathe, the spring chuck clamps the expansion core jacking sleeve, and the six-axis robot loosens the expansion core jacking sleeve;
(n) the six-axis robot cylinder drives the double-V-shaped clamp jaw clamp to clamp the energy-containing columnar material in the material waiting area, the inner hole of the double-V-shaped clamp jaw clamp is inserted into the expansion core jacking sleeve, meanwhile, the other expansion core jacking sleeve at the tail part of the energy-containing columnar material moves towards the energy-containing columnar material under the driving of the servo motor to jack the energy-containing columnar material tightly, and the six-axis robot loosens the energy-containing columnar material and returns to the original position;
(o) the numerically controlled lathe starts to process the excircle of the energy-containing columnar material, and stops after the processing is finished;
(p) the six-axis robot cylinder drives the double-V-shaped clamping claw to clamp the energy-containing columnar material, the energy-containing columnar material is sent into a V-shaped block to be detected, a measuring head positioned at the top of the V-shaped block falls to measure the outer diameter value of one end of the energy-containing columnar material, the measuring head rises again, the six-axis robot drives the energy-containing columnar material to lift, the cylinder drives the double-V-shaped clamping claw to rotate 180 degrees and then fall until the energy-containing columnar material falls into the V-shaped block to be detected, the measuring head falls at the moment to measure the outer diameter value of the other end of the energy-containing columnar material, the outer diameter values of the two ends are qualified within a; after the detection is finished, the six-axis robot clamps and feeds the energy-containing columnar material into a V-shaped groove of a blanking sliding table in the material waiting area;
(r) repeating the steps "(j)", "(k)", and completing the processing of the energy-containing columnar material.
Certain energy-containing columnar materials are selected by the method for testing, and the test results are shown in table 1.
Table 1 verification of test results
Aiming at the defects of low intrinsic safety, low processing efficiency, laggard detection means, easy occurrence of deformation and out-of-tolerance and the like existing in the processing process of the energy-containing columnar material for the aerospace initiating explosive device, the invention provides the automatic processing mode for processing and detecting, which ensures the processing consistency, improves the processing and detecting efficiency by more than 1 time, ensures the processing time of a single piece by about 10 minutes, improves the processing and detecting efficiency by more than half an hour in the conventional manual single piece, greatly saves the time, reduces the labor intensity, fundamentally realizes man-machine isolation, stops the operation safety risk and can be well applied in engineering.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (8)
1. An automatic processing and detecting device of energy-containing columnar material for an aerospace initiating explosive device is characterized in that,
the robot comprises a detection module, a robot module and a feeding and discharging module;
the detection module comprises a measuring head (11), a top plug (14), a V-shaped block (16), a baffle plate (17) and a first slide rail (19) which are positioned on the detection platform;
energy-containing columnar materials are placed on the V-shaped blocks (16), each V-shaped block (16) is composed of at least two V-shaped structures, and the interval of the V-shaped structures is larger than the width of a double-V-shaped clamping claw (41) of the robot module;
the baffle (17) is used as the reference of the initial position of the measuring tool;
the measuring head (11) positioned above the V-shaped block (16) is of a ball head structure, the measuring head (11) is connected with a displacement sensor, and the displacement of the measuring head (11) moving in the direction vertical to the detection platform is measured to obtain the diameter of the energy-containing columnar material;
the first slide rail (19) is parallel to the center line of the V-shaped surface of the V-shaped block (16), the top plug (14) is arranged on the first slide rail (19) and connected with the displacement sensor, and the top plug (14) moves along the first slide rail (19) to obtain the length of the energy-containing columnar material;
the robot module is used for clamping the energy-containing columnar material;
the feeding and discharging module comprises a defective product collecting box (21), a qualified product collecting box (22), a feeding sliding table (23), a manipulator (24), a discharging sliding table (25), a storage box (26), a second sliding rail (27) and a third sliding rail (28),
the second slide rail (27) and the third slide rail (28) are vertically arranged;
the manipulator (24) can slide along the third slide rail (28) to clamp the energy-containing columnar material;
the feeding sliding table (23) and the discharging sliding table (25) are respectively arranged on two parallel second sliding rails (27), the feeding sliding table (23) and the discharging sliding table (25) are used for placing energy-containing columnar materials in a V-shaped block mode, and the feeding sliding table (23) and the discharging sliding table (25) can move relative to the second sliding rails (27);
the robot module comprises a six-axis robot (43), double V-shaped clamping jaws (41) and an ejector rod (42), the double V-shaped clamping jaws (41) and the ejector rod (42) are in threaded connection on the six-axis robot (43), and the size of the V-shaped surface of each double V-shaped clamping jaw (41) is matched with the outer diameter of the energy-containing columnar material so as to clamp the energy-containing columnar material;
when in work, the manipulator (24) clamps the columnar material containing energy to be processed in the storage box (26) and puts the columnar material into the feeding sliding table (23), the feeding sliding table (23) carries the columnar material containing energy to be processed into the material waiting area, the robot module clamps the columnar material containing energy to be processed and sends the columnar material into the processing lathe for turning, the processed columnar material containing energy is sent into the detection module after the robot module clamps and processes, after the detection module judges the columnar material containing energy, the qualified and unqualified instructions are transmitted to a manipulator (24), the robot module sends the detected energy-containing columnar material into a blanking sliding table (25), the manipulator (24) puts the detected energy-containing columnar material into a corresponding unqualified product collecting box (21) or qualified product collecting box (22) according to the received signals, the manipulator (24) clamps the detected energetic columnar material in the qualified product collection box (22) and puts the material into the storage box (26).
2. The automatic processing and detecting device for the energy-containing columnar material for the aerospace initiating explosive device according to claim 1, wherein during turning, the outer circle and the end face of the energy-containing columnar material to be processed are turned once; or firstly processing the excircle of the energy-containing columnar material to be processed according to the whole flow, and then processing the end face of the energy-containing columnar material to be processed according to the whole flow.
3. The automatic processing and detecting device for the energy-containing columnar material for the aerospace initiating explosive device according to claim 1, wherein the V-shaped surface of the V-shaped block (16) is perpendicular to the baffle plate (17), and the perpendicularity is not more than 0.01 mm.
4. The automatic processing and detecting device for the energy-containing columnar material for the aerospace initiating explosive device according to claim 1, wherein the unqualified product collecting box (21), the qualified product collecting box (22), the manipulator (24), the feeding sliding table (23) and the discharging sliding table (25) are positioned on the same straight line at the zero point, and the straightness error is not more than 5 mm.
5. The automatic processing and detecting device for the energy-containing columnar material for the aerospace initiating explosive device according to claim 1, further comprising an expansion core jacking sleeve (13), wherein the expansion core jacking sleeve (13) is positioned at the tail part of the jacking plug (14) and is jacked on the end surface of the energy-containing columnar material when the energy-containing columnar material is processed.
6. The automatic processing and detecting device for the energy-containing columnar material for the aerospace initiating explosive device according to claim 1, wherein turning is performed according to preset process parameters, and the process parameters comprise the back-draft, the feeding speed, the rotating speed, the deformation of the energy-containing columnar material, the air volume of air cooling and the alarm temperature.
7. The automatic processing and detecting device for the energy-containing columnar material used for the aerospace initiating explosive device according to claim 1, wherein the width of the inner part of the storage box (26) is adjustable, and the width of the inner part is larger than the length of the energy-containing columnar material.
8. The automatic processing and detecting device for the energy-containing columnar material for the aerospace initiating explosive device according to claim 7, wherein the cylinder (53) drives the reciprocating turnover mechanism (52) to turn over so as to realize the automatic feeding of the energy-containing columnar material.
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| CN111922577B (en) * | 2020-05-29 | 2022-07-29 | 西安航天精密机电研究所 | Six-axis robot-based manipulator for welding polar needle and bridge belt of sealing body |
| CN112173712B (en) * | 2020-09-28 | 2022-04-19 | 安徽工业大学 | Automatic detection, stacking and stacking integrated production line for machine tool discharge drill bits and production method |
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