CN112692578B - Safe shaping and detection intelligent processing system for coated grains - Google Patents
Safe shaping and detection intelligent processing system for coated grains Download PDFInfo
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- CN112692578B CN112692578B CN202011519749.9A CN202011519749A CN112692578B CN 112692578 B CN112692578 B CN 112692578B CN 202011519749 A CN202011519749 A CN 202011519749A CN 112692578 B CN112692578 B CN 112692578B
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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
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/005—Devices for removing chips by blowing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B31/00—Packaging articles or materials under special atmospheric or gaseous conditions; Adding propellants to aerosol containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/08—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof using solid propellants
- F02K9/24—Charging rocket engines with solid propellants; Methods or apparatus specially adapted for working solid propellant charges
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- Optics & Photonics (AREA)
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- Microelectronics & Electronic Packaging (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a coated explosive column safe shaping and detection intelligent processing system which comprises a first explosive column box positioning device, an explosive column box transferring mechanical arm, a first empty explosive column box positioning device, a first empty explosive column carrying mechanical arm, a feeding transmission mechanism, an explosive column shaping detection device, a weighing device, a laser speckle shearing interference detection device, a shell temporary storage bracket, a discharging transmission mechanism, a flame-retardant isolation wall, a second empty explosive column box positioning device, a second explosive column box positioning device and a second explosive column carrying mechanical arm, wherein the first explosive column box positioning device is arranged on the shell temporary storage bracket; three sets of the explosive column shaping and detecting devices are arranged between the feeding transmission mechanism and the discharging transmission mechanism side by side, so that the explosive columns can be conveniently transferred into the clamping units of the explosive column shaping and detecting devices from the feeding transmission mechanism. According to the invention, through an unmanned and intelligent production mode, the production efficiency and the intrinsic safety of the product are improved, the process is finely controlled, the quality consistency is further improved, and the shaping and manufacturing period of the coated grain is shortened.
Description
Technical Field
The invention relates to a safe shaping and detecting intelligent processing system for a coated grain, which is used for the charge manufacturing of the coated grain of a solid rocket engine.
Background
The solid rocket engine coating grain is an inflammable and explosive dangerous article, generally adopts a structure that 6 silver wires are uniformly distributed in the circumferential direction of end face combustion, and a blind hole with certain diameter and depth is longitudinally drilled at the tail part of the coating grain along the direction of the silver wires. The coating explosive column shaping comprises the process flows of explosive column transportation, fixed-length turning, end face silver wire alignment drilling, physical quantity detection, interface bonding quality detection, explosive column internal quality detection, packaging and the like.
At present, the processes of coating explosive column transferring, turning, drilling, detecting, packaging and the like completely depend on manual face-to-face operation, and the problems of low production efficiency, low intrinsic safety, poor consistency of the technical process and the product quality and the like exist.
Disclosure of Invention
The invention solves the technical problems that: the defects of the prior art are overcome, the intelligent processing system for safely shaping and detecting the coated grains is provided, and the production efficiency and the intrinsic safety of products are improved.
The technical scheme of the invention is as follows:
a coated explosive column safe shaping and detection intelligent processing system comprises a first explosive column box positioning device, an explosive column box transferring manipulator, a first empty explosive column box positioning device, a first empty explosive column carrying manipulator, a feeding transmission mechanism, an explosive column shaping detection device, a weighing device, a laser speckle shearing interference detection device, an explosive column temporary storage bracket, a discharging transmission mechanism, a flame-retardant isolation wall, a second empty explosive column box positioning device, a second explosive column box positioning device and a second explosive column carrying manipulator;
The three charge column shaping and detecting devices are arranged between the feeding transmission mechanism and the discharging transmission mechanism in parallel, so that the charge columns can be conveniently transported into the clamping units of the charge column shaping and detecting devices from the feeding transmission mechanism;
the weighing device is arranged between the two sets of the explosive column shaping and detecting devices, so that the first empty explosive column carrying manipulator can grab the explosive columns shaped by the explosive column shaping and detecting devices onto the weighing device conveniently;
the laser speckle shearing interference detection devices and the temporary medicine column storage bracket are arranged on one side of the weighing device in a line, the medicine column supporting structures are all arranged on the same axis, and the medicine columns are transferred from the weighing device, the laser speckle shearing interference detection devices to the temporary medicine column storage bracket through the roller mechanism;
the weighing device is used for weighing the weight of the explosive columns;
the laser speckle shearing interference detection device is used for detecting the debonding state of the coated grain interface and the internal silver wire state, and can transmit the grain to the temporary grain storage bracket along the axis direction;
the temporary storage bracket for the explosive columns is used for temporarily storing the shaped and detected explosive columns and waiting for the first empty explosive column carrying manipulator to grab the explosive columns;
the feeding and conveying mechanism is divided into a first section and a first end section, and can complete the conveying of the column box between the first section and the end section;
The blanking transmission mechanism adopts roller transmission and is divided into a second first section, a middle section and a second end section, and the transmission of the explosive column box among the second first section, the middle section and the second end section can be completed;
the fire-retardant division wall is installed between first empty explosive column transport manipulator and the explosive column case manipulator of transporting.
Further, transport the manipulator at the explosive column case and snatch the within range and be first section, first explosive column case positioner and first empty explosive column case positioner are installed respectively to its both sides, first explosive column case positioner is used for placing the explosive column case of treating the plastic of filling with of treating the line of going up, and first empty explosive column case positioner is used for placing the empty explosive column case of following the line of material loading transport mechanism.
Furthermore, the first tail section is arranged in the grabbing range of the first empty explosive column carrying mechanical hand, and the first empty explosive column carrying mechanical hand can grab and transfer explosive columns in the box with the shaping explosive columns on the tail section.
Furthermore, the second head section is arranged in the grabbing range of the first empty medicine column carrying mechanical arm and used for finishing grabbing, shaping and detecting the medicine column by the first empty medicine column carrying mechanical arm to the empty medicine column box at the tail end.
Further, it is the middle section to snatch the within range at the charge box transfer manipulator, and the empty charge box positioner of second and second charge box positioner are placed respectively to its middle section both sides, the empty charge box positioner of second is used for placing the empty charge box of waiting to reach the unloading conveying mechanism, second charge box positioner is used for from the charge box of filling with the plastic charge that places unloading conveying mechanism rolls off the production line.
The second end section is arranged in the grabbing range of the second explosive column carrying mechanical arm, and the end part of the second end section is sequentially provided with the labeling and bagging device and the vacuum plastic packaging device, so that the second explosive column carrying mechanical arm grabs the explosive columns in the explosive column box which is transmitted to the end section and filled with the shaped explosive columns to the labeling and bagging device and the vacuum plastic packaging device to finish labeling, bagging and plastic packaging.
Further, a rectangular coordinate mechanism, a clamping unit and a grain length measuring assembly are mounted on the grain shaping and detecting device frame, and the clamping unit is mounted and fixed between the rectangular coordinate mechanism and the grain length measuring assembly.
Furthermore, the rectangular coordinate mechanism is a three-degree-of-freedom servo drive moving mechanism with an X axis, a Y axis and a Z axis, and the Z axis moving mechanism is provided with an installation plate.
Further, a turning tool assembly, a polishing assembly, a silver wire recognition camera, a drilling assembly, an infrared temperature sensor, a medicine scrap blowing and sucking cleaning assembly, a blind hole detection camera and a blind hole depth measuring assembly are mounted on the mounting plate; the clamping unit is of a three-jaw chuck structure and can realize clamping and rotation of the explosive column; the explosive column length measuring component adopts a positioning detection sensor to measure the length of the explosive column; the turning tool assembly is used for cutting off the explosive column; the grinding assembly is used for grinding the cut end face of the explosive column; the silver wire recognition camera is used for recognizing and uploading the position of the silver wire on the end face of the explosive column; the drilling assembly is used for drilling silver wires on the end face of the explosive column in an alignment manner; the infrared temperature sensor is used for monitoring the temperature of the turning tool and the drill bit in the process of shaping the explosive column; the medicine scrap blowing and sucking cleaning assembly is used for cleaning residual medicine scrap and silver wires in the blind hole; the blind hole detection camera is used for detecting and judging the excess in the blind hole after drilling; the blind hole depth measuring assembly detects the hole depth by adopting a hysteresis ruler displacement sensor.
Furthermore, the feeding transmission mechanism and the discharging transmission mechanism are fixed on the ground, roller wheels driven by the servo motors are used for transmission, and the roller wheels penetrate through a flame-retardant partition wall arranged between the drug column box transferring mechanical arm and the first empty drug column carrying mechanical arm, so that the transmission of the drug column boxes can be completed.
Furthermore, the lifting window structure is installed at the joint of the feeding transmission mechanism and the discharging transmission mechanism and the flame-retardant isolation wall, the lifting window can be in butt joint sealing with three edges of a window arranged on the flame-retardant isolation wall after being lifted for falling down when the feeding transmission mechanism and the discharging transmission mechanism transmit the drug column box, and the lifting window is lifted after the drug column box is in place, so that the internal and external isolation in the shaping process is realized, and the flame-retardant effect is realized.
Furthermore, the outer layer of the flame-retardant partition wall is a color steel plate, the inner material of the flame-retardant partition wall is flame-retardant cotton, two windows are arranged at the joint of the flame-retardant partition wall and the feeding transmission mechanism and the blanking transmission mechanism, and the edges of the windows are aluminum alloy frames and can be in butt joint sealing with lifting windows of the feeding transmission mechanism and the blanking transmission mechanism.
Further, the weighing device contains base, gyro wheel mechanism, lifting devices, explosion-proof electronic scale and V type piece, and lifting devices fixes on the base, and explosion-proof electronic scale fixes on lifting devices, and the V type piece is installed on explosion-proof electronic scale, and gyro wheel mechanism installs on the base, is located explosion-proof electronic scale both sides, and lifting devices rises after the explosive column is placed on gyro wheel mechanism, and the V type piece holds up the explosive column and accomplishes weighing, and lifting devices descends after weighing, and gyro wheel mechanism can be with the explosive column along the axis direction transmission to laser speckle shearing interference detection device in.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention realizes the on-site unmanned automatic flow production operation of the coated grain by the high integration of the whole technological process of the transfer, shaping, detection and packaging of the coated grain;
(2) according to the invention, through the explosive column shaping and detecting device, a series of explosive column shaping and detecting processes of cutting, silver wire position detection, drilling, chip cleaning, hole depth detection, excess detection in the hole and temperature real-time monitoring can be automatically completed, so that the safety and the production efficiency of coated explosive column manufacturing are improved;
(3) the invention adopts machine vision to realize the position identification and positioning of the end face silver wire and the detection of the redundant materials in the blind hole, and effectively improves the consistency of the processing quality and the production efficiency through the adaptive control of the processing parameters based on temperature regulation; through the application of a refined integrated control platform, a processing technology based on quality closed-loop control is formed, and the production quality control capability of online monitoring is formed;
(4) according to the invention, the laser speckle shearing interference detection device is used for automatically and accurately and efficiently detecting the interface defects of the explosive column, so that the production quality control capability based on online monitoring is formed, the detection efficiency and quality consistency of the coated explosive column interface defects are improved, and the effective management and control of the adhesion quality of the explosive column interface are realized;
(5) According to the automatic bagging and labeling device, automatic bagging and labeling and vacuum plastic packaging are completed through the labeling and bagging device and the vacuum plastic packaging device, so that automatic streamlined operation is realized;
(6) according to the invention, through an unmanned and intelligent production mode, the production efficiency and the intrinsic safety of the product are improved, the process is finely controlled, the quality consistency is further improved, and the shaping and manufacturing period of the coated grain is shortened.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Detailed Description
The invention is further illustrated by the following examples.
A coated explosive column safe shaping and detection intelligent processing system is shown in figure 1 and comprises a first explosive column box positioning device 1, an explosive column box transferring mechanical arm 2, a first empty explosive column box positioning device 3, a first empty explosive column carrying mechanical arm 4, a feeding transmission mechanism 5, an explosive column shaping detection device 6, a weighing device 7, a laser speckle shearing interference detection device 8, an explosive column temporary storage bracket 9, a discharging transmission mechanism 10, a flame-retardant isolation wall 11, a second empty explosive column box positioning device 12, a second explosive column box positioning device 13, a second explosive column carrying mechanical arm 14, a labeling and bagging device 15 and a vacuum plastic packaging device 16;
three sets of the explosive column shaping detection devices 6 are arranged between the feeding transmission mechanism 5 and the discharging transmission mechanism 10 side by side, so that the explosive columns are conveniently transferred from the feeding transmission mechanism 5 to the clamping units of the explosive column shaping detection devices 6;
The weighing device 7 is arranged between the two sets of the explosive column shaping and detecting devices 6, so that the first empty explosive column carrying manipulator 4 can grab the explosive columns shaped by the explosive column shaping and detecting devices 6 onto the weighing device 7 conveniently;
the laser speckle shearing interference detection devices 8 and the temporary medicine column storage bracket 9 are arranged on one side of the weighing device 7 in a line, the medicine column supporting structures are all on the same axis, and the medicine columns are transferred from the weighing device 7, the laser speckle shearing interference detection devices 8 to the temporary medicine column storage bracket 9 through the roller mechanism;
the laser speckle shearing interference detection device 8 is used for detecting the debonding of the coated grain interface and the internal silver wire state, and transmitting the grains to the grain temporary storage bracket 9 along the axis direction;
the temporary storage bracket 9 for the explosive columns is used for temporarily storing the shaped and detected explosive columns and waiting for the first empty explosive column carrying manipulator 4 to grab the explosive columns;
the feeding transmission mechanism 5 is divided into a first section and a first end section, and can complete the transmission of the column box between the first section and the end section; the first section is arranged in the grabbing range of the charge box transferring manipulator 2, a first charge box positioning device 1 and a first empty charge box positioning device 3 are respectively installed on two sides of the first section, the first charge box positioning device 1 is used for placing a charge box to be shaped which is filled with charges to be fed, and the first empty charge box positioning device 3 is used for placing an empty charge box which is fed from the feeding transmission mechanism 5; the grabbing range of the first empty explosive column carrying manipulator 4 is a first end section, and the first empty explosive column carrying manipulator 4 can grab and transfer the explosive columns in the box with the shaped explosive columns on the end section;
The blanking transmission mechanism 10 is of an aluminum alloy frame structure, adopts roller transmission and is divided into a second first section, a middle section and a second end section, and can complete the transmission of the explosive column box among the second first section, the middle section and the second end section; the grabbing range of the first empty explosive column carrying manipulator 4 is a second first section which is used for finishing grabbing, shaping and detecting the first empty explosive column carrying manipulator 4 to an empty explosive column box on the tail end; the grabbing range of the powder column box transferring manipulator 2 is a middle section, a second empty powder column box positioning device 12 and a second powder column box positioning device 13 are respectively placed on two sides of the middle section, the second empty powder column box positioning device 12 is used for placing an empty powder column box to be loaded to the blanking conveying mechanism 10, and the second powder column box positioning device 13 is used for placing a powder column box loaded with shaped powder columns and loaded from the blanking conveying mechanism 10;
a second tail section is arranged in the grabbing range of the second explosive column carrying manipulator 14, and a labeling and bagging device 15 and a vacuum plastic packaging device 16 are sequentially installed at the end part of the second tail section and used for completing grabbing the explosive columns in the explosive column box which is transmitted to the tail section and filled with the shaped explosive columns to the labeling and bagging device 15 and the vacuum plastic packaging device 16 by the second explosive column carrying manipulator 14 so as to complete labeling, bagging and plastic packaging;
The flame-retardant partition wall 11 is arranged between the first empty explosive column carrying manipulator 4 and the explosive column box transferring manipulator 2;
the device comprises a powder column shaping and detecting device 6, a rectangular coordinate mechanism, a clamping unit and a powder column length measuring assembly, wherein the clamping unit is fixedly installed between the rectangular coordinate mechanism and the powder column length measuring assembly, the rectangular coordinate mechanism is an X-axis, Y-axis and Z-axis three-degree-of-freedom servo drive moving mechanism, an installation plate is arranged on the Z-axis moving mechanism, and a turning tool assembly, a polishing assembly, a silver wire recognition camera, a drilling assembly, an infrared temperature sensor, a powder scrap blowing and sucking cleaning assembly, a blind hole detection camera and a blind hole depth measuring assembly are installed on the installation plate; the clamping unit is of a three-jaw chuck structure and can realize clamping and rotation of the explosive column; the explosive column length measuring component adopts a positioning detection sensor to measure the length of the explosive column; the turning tool assembly is used for cutting off the explosive column; the grinding assembly is used for grinding the cut end face of the explosive column; the silver wire recognition camera is used for recognizing and uploading the position of the silver wire on the end face of the explosive column; the drilling assembly is used for drilling silver wires on the end face of the explosive column in an alignment manner; the infrared temperature sensor is used for monitoring the temperature of the turning tool and the drill bit in the process of shaping the explosive column; the medicine scrap blowing and sucking cleaning assembly is used for cleaning residual medicine scrap and silver wires in the blind hole; the blind hole detection camera is used for detecting and judging the excess in the blind hole after drilling; the blind hole depth measuring assembly detects the hole depth by adopting a hysteresis ruler displacement sensor.
The feeding transmission mechanism 5 and the discharging transmission mechanism 10 are of aluminum alloy frame structures, are fixed on the ground through foundation bolts, are transmitted by rollers driven by a servo motor and pass through a flame-retardant partition wall arranged between the column box transferring manipulator 2 and the first empty column carrying manipulator 4, and can complete the transmission of the column box; the lifting window structure is arranged at the joint of the feeding transmission mechanism 5 and the discharging transmission mechanism 10 and the flame-retardant isolation wall, and the lifting window can be butted and sealed with three edges of a window arranged on the flame-retardant isolation wall after being lifted for falling down when the feeding transmission mechanism 5 and the discharging transmission mechanism 10 transmit the drug column box, and the lifting window is lifted after the drug column box is in place, so that the internal and external isolation in the shaping process is realized, and the flame-retardant effect is realized;
the outer layer of the flame-retardant partition wall 11 is a color steel plate, the inner material is flame-retardant cotton, two windows are arranged at the joint of the flame-retardant partition wall and the feeding transmission mechanism 5 and the blanking transmission mechanism 10, the edges of the windows are aluminum alloy frames, and the windows can be in butt joint sealing with the lifting windows of the feeding transmission mechanism 5 and the blanking transmission mechanism 10;
The working process of the invention is as follows:
the method comprises the following steps that a to-be-shaped explosive column box filled with the to-be-shaped explosive column box is placed on a first explosive column box positioning device 1, an explosive column box transferring manipulator 2 grabs the explosive column box onto a feeding transmission mechanism 5, then an empty explosive column box on a second empty explosive column box positioning device 12 is grabbed onto a discharging transmission mechanism 10, and the feeding transmission mechanism 5 and the discharging transmission mechanism 10 penetrate through a flame-retardant partition wall 11 to transfer the full explosive column box and the empty explosive column box to the position below a first empty explosive column carrying manipulator 4 respectively; the first empty explosive column carrying mechanical hand 4 grabs the explosive columns from the explosive column box and sequentially puts the explosive columns into a clamping unit of an explosive column shaping detection device 6, the explosive column shaping detection device 6 sequentially cuts, polishes the end surfaces, identifies silver wires, drills, cleans up the excess of blind holes, detects the excess and detects the length and aperture sizes of the explosive columns, after the explosive columns are shaped, the first empty explosive column carrying mechanical hand 4 grabs the explosive columns onto a roller of a weighing device 7, an explosion-proof electronic scale is driven by a lifting device to ascend for weighing, after the weighing, the roller rotates to convey the explosive columns into a laser speckle shearing interference detection device 8 to detect the interfacial debonding area of the coated explosive columns, after the detection, a roller conveying mechanism in the laser speckle shearing interference detection device 8 conveys the explosive columns to a temporary explosive column storage bracket 9, the first empty explosive column carrying mechanical hand 4 grabs the explosive columns into the empty explosive column box on a blanking conveying mechanism 10, after the packaging bag is filled, the discharging and conveying mechanism 10 transfers the medicine column box to the position below a second medicine column carrying mechanical arm 14, the second medicine column carrying mechanical arm 14 grabs the medicine column to a labeling and bagging device 15, the labeling and bagging device 15 labels and opens a bag of a packaging bag to be used, the second medicine column carrying mechanical arm 14 is matched for bagging, after bagging, the second medicine column carrying mechanical arm 14 grabs the medicine column to a vacuum plastic sealing device 16 for plastic sealing, and after plastic sealing, the second medicine column carrying mechanical arm 14 grabs the medicine column with the packaging bag into the medicine column box; after the whole bagging-off of the cartridge in the cartridge case, material loading transport mechanism 5 will empty the cartridge case and pass back under the cartridge case transports manipulator 2, and cartridge case transports manipulator 2 will empty the cartridge case and grab first empty cartridge case positioner 3 on, cartridge case transports manipulator 2 and snatchs the cartridge case to second cartridge case positioner 13 on, accomplish the unloading.
The invention realizes the on-site unmanned automatic flow production operation of the coated grain by the high integration of the whole technological process of the transfer, shaping, detection and packaging of the coated grain;
according to the invention, through the powder column shaping and detecting device, a series of powder column shaping and detecting processes of cutting, silver wire position detection, drilling, chip removal, hole depth detection, excess detection in the hole and temperature real-time monitoring can be automatically completed, so that the safety and the production efficiency of coated powder column manufacturing are improved;
the invention adopts machine vision to realize the position identification and positioning of the end face silver wire and the detection of the redundant materials of the blind hole, and effectively improves the consistency of the processing quality and the production efficiency through the self-adaptive control of the processing parameters based on temperature regulation; through the application of a refined integrated control platform, a processing technology based on quality closed-loop control is formed, and the production quality control capability of online monitoring is formed;
according to the invention, the laser speckle shearing interference detection device is used for automatically and accurately and efficiently detecting the interface defects of the grain, so that the production quality control capability based on online monitoring is formed, the detection efficiency and quality consistency of the interface defects of the coated grain are improved, and the effective control of the bonding quality of the grain interface is realized;
According to the automatic bagging and labeling device, automatic bagging and labeling and vacuum plastic packaging are completed through the labeling and bagging device and the vacuum plastic packaging device, and automatic streamlined operation is realized;
according to the invention, through an unmanned and intelligent production mode, the production efficiency and the intrinsic safety of the product are improved, the process is finely controlled, the quality consistency is further improved, and the shaping and manufacturing period of the coated grain is shortened.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (13)
1. A coated explosive column safe shaping and detection intelligent processing system is characterized by comprising a first explosive column box positioning device (1), an explosive column box transferring mechanical arm (2), a first empty explosive column box positioning device (3), a first empty explosive column carrying mechanical arm (4), a feeding transmission mechanism (5), an explosive column shaping detection device (6), a weighing device (7), a laser speckle shearing interference detection device (8), an explosive column temporary storage bracket (9), a discharging transmission mechanism (10), a flame-retardant isolation wall (11), a second empty explosive column box positioning device (12), a second explosive column box positioning device (13) and a second explosive column carrying mechanical arm (14);
The three charge column shaping and detecting devices (6) are arranged between the feeding transmission mechanism (5) and the discharging transmission mechanism (10) in parallel, so that the charge columns can be conveniently transferred into the clamping unit of the charge column shaping and detecting devices (6) from the feeding transmission mechanism (5);
the weighing device (7) is arranged between the two sets of the explosive column shaping and detecting devices (6), so that the first empty explosive column carrying manipulator (4) can grab the explosive columns shaped by the explosive column shaping and detecting devices (6) onto the weighing device (7);
laser speckle shearing interference detection devices (8) and a temporary medicine column storage bracket (9) are arranged in a row on one side of the weighing device (7), the medicine column supporting structures are all arranged on the same axis, and the medicine columns are transferred from the weighing device (7), the laser speckle shearing interference detection devices (8) to the temporary medicine column storage bracket (9) through a roller mechanism;
the weighing device (7) is used for weighing the weight of the explosive columns;
the laser speckle shearing interference detection device (8) is used for detecting the debonding of the coated grain interface and the state of the internal silver wire, and can transmit the grains to the temporary grain storage bracket (9) along the axis direction;
the temporary storage bracket (9) for the explosive columns is used for temporarily storing the shaped and detected explosive columns and waiting for the first empty explosive column carrying manipulator (4) to grab the explosive columns;
the feeding and conveying mechanism (5) is divided into a first section and a first end section, and can complete the conveying of the column box between the first section and the end section;
The blanking transmission mechanism (10) adopts roller transmission and is divided into a second first section, a middle section and a second end section, and the transmission of the column box among the second first section, the middle section and the second end section can be completed;
the flame-retardant partition wall (11) is arranged between the first empty explosive column carrying manipulator (4) and the explosive column box transferring manipulator (2).
2. The intelligent processing system for safely shaping and detecting coated explosive columns according to claim 1, wherein a first section is arranged in the grabbing range of the explosive column box transfer manipulator (2), a first explosive column box positioning device (1) and a first empty explosive column box positioning device (3) are respectively installed on two sides of the first section, the first explosive column box positioning device (1) is used for placing an explosive column box which is to be on-line and filled with the explosive columns to be shaped, and the first empty explosive column box positioning device (3) is used for placing an empty explosive column box which is off-line from the feeding and conveying mechanism (5).
3. The intelligent processing system for safely shaping and detecting coated explosive columns according to claim 1, wherein the first empty explosive column carrying manipulator (4) is a first end section within the grabbing range of the first empty explosive column carrying manipulator (4), and the first empty explosive column carrying manipulator (4) can complete grabbing and transferring of the explosive columns to be shaped in the explosive column boxes on the end section.
4. The intelligent processing system for safely shaping and detecting coated explosive columns according to claim 1, wherein the grabbing range of the first empty explosive column carrying manipulator (4) is a second first section for finishing grabbing shaped and detected explosive columns by the first empty explosive column carrying manipulator (4) to an empty explosive column box at the tail end.
5. The coated explosive column safety shaping and detecting intelligent processing system according to claim 1, wherein a middle section is arranged in a grabbing range of the explosive column box transfer manipulator (2), a second empty explosive column box positioning device (12) and a second explosive column box positioning device (13) are respectively arranged on two sides of the middle section, the second empty explosive column box positioning device (12) is used for placing an empty explosive column box to be fed to the feeding conveying mechanism (10), and the second explosive column box positioning device (13) is used for placing an explosive column box which is fed from the feeding conveying mechanism (10) and is filled with shaped explosive columns.
6. The coated explosive column safety shaping and detecting intelligent processing system according to claim 1, further comprising a labeling and bagging device (15) and a vacuum plastic packaging device (16), wherein a second end section is arranged in a grabbing range of the second explosive column carrying manipulator (14), and the end part of the second end section is sequentially provided with the labeling and bagging device (15) and the vacuum plastic packaging device (16) for finishing labeling, bagging and plastic packaging by grabbing the explosive columns in the explosive column boxes filled with the shaped explosive columns, which are transmitted to the end section, onto the labeling and bagging device (15) and the vacuum plastic packaging device (16) by the second explosive column carrying manipulator (14).
7. The coated grain safety shaping and detecting intelligent processing system according to claim 1, wherein a rectangular coordinate mechanism, a clamping unit and a grain length measuring assembly are installed on a frame body of the grain shaping and detecting device (6), and the clamping unit is installed and fixed between the rectangular coordinate mechanism and the grain length measuring assembly.
8. The coated grain safety shaping and detecting intelligent processing system as claimed in claim 7, wherein the rectangular coordinate mechanism is an X-axis, Y-axis and Z-axis three-degree-of-freedom servo drive moving mechanism, and a mounting plate is arranged on the Z-axis moving mechanism.
9. The coated grain safety shaping and detecting intelligent processing system according to claim 8, wherein a turning tool assembly, a grinding assembly, a silver wire recognition camera, a drilling assembly, an infrared temperature sensor, a medicine scrap blowing and sucking cleaning assembly, a blind hole detection camera and a blind hole depth measuring assembly are mounted on the mounting plate; the clamping unit is of a three-jaw chuck structure and can realize clamping and rotation of the explosive column; the explosive column length measuring component adopts a positioning detection sensor to measure the length of the explosive column; the turning tool assembly is used for cutting off the explosive column; the grinding assembly is used for grinding the cut end face of the explosive column; the silver wire recognition camera is used for recognizing and uploading the position of the silver wire on the end face of the explosive column; the drilling assembly is used for drilling silver wires on the end face of the explosive column in an alignment manner; the infrared temperature sensor is used for monitoring the temperature of the turning tool and the drill bit in the process of shaping the explosive column; the medicine scrap blowing and sucking cleaning assembly is used for cleaning residual medicine scrap and silver wires in the blind hole; the blind hole detection camera is used for detecting and judging the excess in the blind hole after drilling; the blind hole depth measuring assembly detects the hole depth by adopting a hysteresis ruler displacement sensor.
10. The coated explosive column safety shaping and detecting intelligent processing system according to claim 1, wherein the feeding transmission mechanism (5) and the discharging transmission mechanism (10) are fixed on the ground, and are transmitted by rollers driven by a servo motor and pass through a flame-retardant partition wall arranged between the explosive column box transfer manipulator (2) and the first empty explosive column carrying manipulator (4), so that the transmission of an explosive column box can be completed.
11. The coated explosive column safety shaping and detecting intelligent processing system according to claim 1, wherein a lifting window structure is arranged at the joint of the feeding transmission mechanism (5) and the discharging transmission mechanism (10) and the flame-retardant isolation wall, the lifting window can be in butt joint and sealing with three edges of a window arranged on the flame-retardant isolation wall after being lifted, the lifting window is used for falling when the feeding transmission mechanism (5) and the discharging transmission mechanism (10) transmit an explosive column box, and the lifting window is lifted after the explosive column box is in place, so that the inside and outside isolation in the shaping process is realized, and the flame-retardant effect is realized.
12. The coated grain safety shaping and detecting intelligent processing system according to claim 1, wherein the outer layer of the flame-retardant isolation wall (11) is a color steel plate, the inner material is flame-retardant cotton, two windows are arranged at the joint of the flame-retardant isolation wall and the feeding transmission mechanism (5) and the discharging transmission mechanism (10), the edges of the windows are aluminum alloy frames, and the windows can be in butt joint sealing with the lifting windows of the feeding transmission mechanism (5) and the discharging transmission mechanism (10).
13. The coated grain safe shaping and detecting intelligent processing system according to claim 1, wherein the weighing device (7) comprises a base, a roller mechanism, a lifting device, an explosion-proof electronic scale and a V-shaped block, the lifting device is fixed on the base, the explosion-proof electronic scale is fixed on the lifting device, the V-shaped block is installed on the explosion-proof electronic scale, the roller mechanism is installed on the base and located on two sides of the explosion-proof electronic scale, the lifting device ascends after the grain is placed on the roller mechanism, the V-shaped block supports the grain to complete weighing, the lifting device descends after weighing, and the roller mechanism can transmit the grain to the laser speckle shearing interference detection device (8) along the axial direction.
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| CN202011519749.9A CN112692578B (en) | 2020-12-21 | 2020-12-21 | Safe shaping and detection intelligent processing system for coated grains |
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| CN114022409B (en) * | 2021-09-30 | 2023-04-18 | 电子科技大学 | Coated medicine surface defect detection algorithm based on deep learning |
| CN114082679B (en) * | 2021-11-17 | 2023-07-21 | 佛山中科灿光微电子设备有限公司 | Full-automatic resistance tester |
| CN115266759B (en) * | 2022-05-25 | 2023-07-28 | 上海航天化工应用研究所 | Explosive column debonding defect online automatic identification method based on shearing speckle interference |
| CN115006710B (en) * | 2022-06-20 | 2024-05-14 | 楚天科技股份有限公司 | Grain filling system and grain filling method |
| CN117225929B (en) * | 2023-11-10 | 2024-04-12 | 成都飞机工业（集团）有限责任公司 | High-precision bent pipe forming and detecting integrated machine |
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| JP4494838B2 (en) * | 2004-03-26 | 2010-06-30 | 東芝機械株式会社 | Processing system and processing method |
| CN102826254B (en) * | 2012-08-07 | 2014-06-25 | 武汉人天包装技术有限公司 | Automatic box-packing equipment and process for industrial seismic explosive columns |
| CN204018796U (en) * | 2014-07-10 | 2014-12-17 | 上海新力动力设备研究所 | Grain with liner end face punching shaping drill bit assembly |
| CN108050938B (en) * | 2017-04-01 | 2019-12-17 | 中国五洲工程设计集团有限公司 | online detection device for explosive columns |
| CN108994949B (en) * | 2018-07-04 | 2020-09-04 | 上海航天化工应用研究所 | Drilling and shaping device for coated explosive columns |
| CN110066211A (en) * | 2019-04-12 | 2019-07-30 | 中国科学院力学研究所 | A kind of preparation system and method for solid-liquid rocket powder column |
| CN211522062U (en) * | 2019-05-31 | 2020-09-18 | 湖北航天化学技术研究所 | Solid rocket engine grain end face shaping device |
| CN110449577B (en) * | 2019-06-27 | 2023-07-25 | 天津中德应用技术大学 | Intelligent manufacturing technology and practical training system for application production |
| CN110405237B (en) * | 2019-08-14 | 2020-08-28 | 中国科学院沈阳自动化研究所 | Fixing device for ammunition grain forming and processing |
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