An automatic propellant grain coating apparatus

Abstract

The application provides a kind of propellant grain automatic coating equipment, including automatic coating assembly and drying box arranged at one side of automatic coating assembly;Automatic coating assembly includes workbench and three-axis linkage structure arranged on workbench, three-axis linkage structure is equipped with clamping structure for clamping propellant grain, first opening and second opening are opened on the table top of workbench, propellant grain soaking structure is arranged on the side away from the table top of first opening, propellant grain turnover structure is arranged on the side away from the table top of second opening, propellant grain turnover structure is used to change the position of clamping structure clamping propellant grain in cooperation with clamping structure;The upper end surface of drying box is provided with third opening, and the third opening is provided with detachable jig tray, the jig tray is used to collect coated propellant grain, and the inside of drying box is provided with drying equipment.The technical problem that the existing technology adopts manual coating propellant grain, resulting in low reliability of charging work and great safety risk is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment, and in particular to automated propellant grain coating equipment. Background Art

[0002] The cladding is a layer of ablative material applied to different parts of the propellant grain to limit the grain's burning surface. The cladding's function is to control the propellant grain's burning area, stabilize its burning rate, and facilitate burning rate testing.

[0003] Currently, the bagging process is all manual operation, which has the following problems: the quality consistency of manual loading and coating is poor, the reliability of loading work is low, and people are in direct contact with the powder column, chemical materials, chemical solvents, etc., which poses a great safety risk. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to provide an automated propellant grain coating device to solve the technical problem in the prior art of manually coating grains, which leads to low reliability of the loading process and great safety risks.

[0005] The present invention provides an automatic coating device for propellant grains, comprising an automatic coating component and a drying box provided on one side of the automatic coating component;

[0006] The automatic coating assembly includes a workbench and a three-axis linkage structure provided on the workbench, wherein a clamping structure for clamping a medicine column is provided on the three-axis linkage structure, and the clamping structure moves in three directions XYZ under the drive of the three-axis linkage structure. A first opening and a second opening are provided on the workbench, and a medicine column immersion structure is provided on the side of the first opening facing away from the workbench, and the medicine column immersion structure is used to wrap a coating layer on the surface of the medicine column. A medicine column flipping structure is provided on the side of the second opening facing away from the workbench, and the medicine column flipping structure is used to cooperate with the clamping structure to change the position of the medicine column clamped by the clamping structure;

[0007] A third opening is provided on the upper end surface of the drying box, in which a detachable fixture tray is provided. The fixture tray is used to collect the coated medicine columns, and a drying device is provided inside the drying box corresponding to the bottom of the fixture tray.

[0008] The above-mentioned automatic coating equipment for propellant grains drives the clamping structure through a three-axis linkage structure to automatically grab the grains and transfer them to the grain immersion structure for immersion and coating. After waiting for a period of time, the grains are transferred to the grain flipping structure, turned around and sent back to the grain immersion structure for immersion and coating, ensuring that the grains can be fully wrapped by the coating liquid. After repeating a certain number of times, they are finally sent to the drying box for drying. The grains are produced by mechanical automation throughout the entire process, replacing the traditional manual coating solution, and solving the technical problem of the existing technology using manual coating of grains, which leads to low reliability of loading work and greater safety risks.

[0009] Furthermore, in the automated propellant grain coating equipment, the three-axis linkage structure includes a Y-axis moving device provided on the workbench, an X-axis moving device connected to the Y-axis moving device, and a Z-axis moving device connected to the X-axis moving device, and the clamping structure is provided on the Z-axis moving device.

[0010] Furthermore, the automated propellant grain coating equipment, wherein the clamping structure includes a first telescopic cylinder vertically arranged on the Z-axis moving device, a first slide rail is provided on the side wall of the first telescopic cylinder, a slide plate is slidably connected to the first slide rail, one end of the slide plate is provided with a fixed plate fixedly connected to the telescopic rod of the first telescopic cylinder, a first opening and closing cylinder and a second opening and closing cylinder are provided on the fixed plate, wherein corresponding card grooves are respectively provided on the two adjacent clamping surfaces of the clamping fingers in the second opening and closing cylinder.

[0011] Furthermore, the propellant grain automated coating equipment, wherein the grain immersion structure includes a vertical support plate arranged below the first opening, the vertical support plate is provided with two second slide rails parallel to each other, and a second telescopic cylinder arranged between the two second slide rails, a lifting plate is slidably connected to the second slide rail, the telescopic rod of the second telescopic cylinder is fixedly connected to the lifting plate to drive the lifting plate to slide on the second slide rail, the lifting plate is slidably connected to a supporting platform, two centrally symmetrical limit blocks are provided on the supporting platform, and a immersion box is provided between the two limit blocks.

[0012] Furthermore, in the automated propellant grain coating equipment, a limit frame is provided on the support platform, a drop collection box is provided in the limit frame, and a grain placement rack is provided directly above the drop collection box.

[0013] Furthermore, the automated propellant grain coating equipment, wherein a support frame is provided below the second opening, the support frame comprises a first vertical plate and a second vertical plate arranged opposite to each other and a horizontal plate connecting the two, the horizontal plate is arranged corresponding to the position of the second opening, the grain flipping structure comprises a flipping cylinder provided on the first vertical plate and a first clamping cylinder connected to the flipping cylinder, a second clamping cylinder corresponding to the first clamping cylinder is rotatably provided on the second vertical plate, and a clamping structure for clamping the grain is connected between the first clamping cylinder and the second clamping cylinder.

[0014] Furthermore, the automated propellant grain coating equipment, wherein the clamping structure includes a first clamping plate and a fixed frame arranged opposite to each other, the fixed frame is provided with a plurality of spaced-apart clamping cylinders, and the telescopic rods of the plurality of clamping cylinders are fixedly connected to a second clamping plate corresponding to the first clamping plate.

[0015] Furthermore, in the automated propellant grain coating equipment, a limiting cylinder corresponding to the clamping structure is provided on the horizontal plate, and a lifting arm is fixed on the telescopic rod of the limiting cylinder.

[0016] Furthermore, in the automated propellant grain coating equipment, a guide cylinder is fixedly provided at the edge of the second opening, the guide cylinder having two symmetrically arranged rotation angles, a clamping arm being provided on the rotation angles, and the guide cylinder being used to drive the rotation angles to rotate so that the two clamping arms perform opening and closing movements.

[0017] Furthermore, in the automated propellant grain coating equipment, the drying equipment is a U-shaped steam pipe, the drying box is located between the U-shaped steam pipe and the jig plate and is fixed with a partition, and a drip collection tray is provided on the partition. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of the automated propellant grain coating apparatus of the present invention;

[0019] Figure 2 Schematic diagram of the specific structure of the three-axis linkage structure in the present invention;

[0020] Figure 3 Schematic diagram of the specific structure of the clamping structure of the present invention;

[0021] Figure 4 This is a schematic diagram of the specific structure of the Chinese medicine column soaking structure of the present invention;

[0022] Figure 5 This is a schematic diagram of the specific structure of the Chinese medicine column flip structure of the present invention;

[0023] Figure 6 is a specific structure diagram of the clamping structure in the application;

[0024] Figure 7 is a specific structure diagram of the guide cylinder in the application;

[0025] Figure 8 is a specific structure diagram of the drying box in the application;

[0026] Figure 9 is a specific structure diagram of the transfer module in the application;

[0027] Main component symbol explanation:

[0028] 100, automatic coating assembly; 200, drying box; 20, three-axis linkage structure; 30, bullet soaking structure; 40, bullet turnover structure; 21, Y-axis moving device; 22, X-axis moving device; 23, Z-axis moving device; 24, clamping structure; 241, first telescopic cylinder; 242, first sliding rail; 243, sliding plate; 244, fixed plate; 245, first opening and closing cylinder; 246, second opening and closing cylinder; 31, vertical support plate; 32, second sliding rail; 33, second telescopic cylinder; 34, lifting plate; 35, bearing platform; 36, limiting block; 37, soaking box; 38, limiting frame; 39, drip collecting box; 310, bullet placing rack; 51, first vertical plate; 52, second vertical plate; 53, horizontal plate; 41, turnover cylinder; 42, first clamping cylinder; 43, second clamping cylinder; 44, clamping structure; 441, first clamping plate; 442, fixed frame; 443, clamping cylinder; 444, second clamping plate; 61, limiting cylinder; 62, lifting arm; 71, guide cylinder; 72, rotation angle; 73, clamping arm; 81, jig disc; 82, U-shaped steam pipeline; 83, drip collecting disc; 91, main plate; 92, fixed clamp; 93, connecting plate; 94, clamping block.

[0029] The following specific embodiments will further illustrate the application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0030] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The drawings show several embodiments of the present application. However, the present application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0031] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] See also Figures 1 to 9 The automatic coating equipment for propellant grains of the present invention comprises an automatic coating component 100 and a drying box 200 provided on one side of the automatic coating component 100;

[0034] The automatic coating assembly 100 includes a workbench and a three-axis linkage structure 20 provided on the workbench. Specifically, the three-axis linkage structure 20 includes a Y-axis moving device 21 provided on the workbench, an X-axis moving device 22 cooperated with the Y-axis moving device 21, and a Z-axis moving device 23 cooperated with the X-axis moving device 22. A clamping structure 24 is provided on the Z-axis moving device 23. The clamping structure 24 can move in the three directions of X, Y, and Z under the drive of the three-axis linkage structure 20 to ensure that the medicine columns at different positions can be accurately clamped. A first opening and a second opening adjacent to each other are provided on the surface of the workbench. A medicine column soaking structure 30 is provided on the side of the first opening facing away from the table surface. The medicine column soaking structure 30 is used to wrap a coating layer on the surface of the medicine column. A medicine column flipping structure 40 is provided on the side of the second opening facing away from the table surface. The medicine column flipping structure 40 is used to cooperate with the clamping structure 24 to change the position of the medicine column clamped by the clamping structure 24.

[0035] The drying box 200 has a third opening on its upper end, within which is located a removable jig tray 81 for collecting coated pellets. A drying device is provided within the drying box 200, corresponding to the bottom of the jig tray 81. In this embodiment, the drying device comprises a U-shaped steam duct 82. A partition is fixedly installed within the drying box 200 between the U-shaped steam duct 82 and the jig tray 81. A drip collection tray 83 is provided on the partition to collect liquid that drips from the surface of the pellets during the drying process.

[0036] Specifically, the clamping structure 24 includes a first telescopic cylinder 241 vertically arranged on the Z-axis moving device 23, a first slide rail 242 is provided on the side wall of the first telescopic cylinder 241, a slide plate 243 is slidably connected to the first slide rail 242, and one end of the slide plate 243 is provided with a fixed plate 244 fixedly connected to the telescopic rod of the first telescopic cylinder 241, and a first opening and closing cylinder 245 and a second opening and closing cylinder 246 are provided on the fixed plate 244. The first telescopic cylinder 241 is used to increase the moving distance of the first opening and closing cylinder 245 and the second opening and closing cylinder 246 in the Y-axis direction, so that the second opening and closing cylinder 246 can clamp the drug column at a farther distance on the fixture plate 81. Corresponding card slots are respectively provided on the two adjacent clamping surfaces of the clamping fingers in the second opening and closing cylinder 246.

[0037] It should be explained that in this embodiment, the drug column needs to be pre-clamped on a transport module, and the clamping structure 24 realizes the transport of multiple drug columns by clamping the transport module. For details, please refer to Figure 9 The transfer module includes a main board 91 with five openings formed thereon, each of which is provided with a fixing clamp 92 for clamping the medicine column. The five fixing clamps 92 are connected in series on a connecting shaft, and a torsion spring is provided on the connecting shaft for applying a clamping force to the fixing clamp 92. The ends of the five fixing clamps 92 away from the clamping end are connected as a whole by a connecting plate. Therefore, the five fixing clamps 92 can open and close synchronously. In addition, a clamping block 94 is also provided on the main board 91. It can be understood that the second opening and closing cylinder 246 can achieve stable clamping of the main board 91 and further clamping of the medicine column by controlling the closing of the two clamping fingers so that the clamping block 94 is clamped into the clamping groove of the clamping fingers, while the first opening and closing cylinder 245 is mainly used to clamp the fixing clamp 92 to expand it so that the medicine column can be released from the clamping of the fixing clamp 92.

[0038] Specifically, the drug column soaking structure 30 includes a vertical support plate 31 provided below the first opening, two second slide rails 32 parallel to each other are provided on the vertical support plate 31, and a second telescopic cylinder 33 provided between the two second slide rails 32, a lifting plate 34 is slidably connected to the second slide rail 32, and a telescopic rod of the second telescopic cylinder 33 is fixedly connected to the lifting plate 34 to drive the lifting plate 34 to slide on the second slide rail 32, and a support 35 is slidably connected to the lifting plate 34, and two centrally symmetrical limiting blocks 36 are provided on the support 35, and a soaking box 37 is provided between the two limiting blocks 36, which is used to store the coating liquid. It can be understood that the limiting blocks 36 are stuck on both sides of the soaking box 37, which can play a certain limiting role, ensuring that the position of the soaking box 37 on the support 35 will not shift.

[0039] In actual application, when the coating liquid in the immersion box 37 needs to be replaced, the operator can control the lifting plate 34 to descend through the second telescopic cylinder 33, and then pull out the support platform 35. At this time, the immersion box 37 can be easily taken out and the coating liquid inside it can be replaced.

[0040] Furthermore, a limit frame 38 is provided on the support platform 35, and a drip collection box 39 is provided in the limit frame 38. A drug pillar placement rack 310 is provided directly above the drip collection box 39. In this embodiment, two slots are provided on the placement rack for placing the main board 91. It can be understood that a drug pillar that has completed a certain number of coatings can be placed on the placement rack first, and the drip collection box 39 collects the liquid dripping from the surface of the drug pillar. After the drug pillar stops dripping, the clamping structure 24 transfers the drug pillar to the drying box 200. During the waiting process for dripping, the normal operation of the clamping structure 24 is not affected, thereby greatly improving production efficiency.

[0041] Specifically, a support frame is provided below the second opening, and the support frame includes a first vertical plate 51 and a second vertical plate 52 arranged opposite to each other, and a horizontal plate 53 connecting the two. The horizontal plate 53 is provided corresponding to the position of the second opening. The charge flipping structure 40 includes a flipping cylinder 41 provided on the first vertical plate 51 and a first clamping cylinder 42 connected to the flipping cylinder 41. A second clamping cylinder 43 corresponding to the first clamping cylinder 42 is rotatably provided on the second vertical plate 52. A clamping structure 44 for clamping the charge is connected between the first clamping cylinder 42 and the second clamping cylinder 43. Among them, the flipping cylinder 41 serves as the main power source for controlling the rotation of the clamping structure 44. In this embodiment, the clamping structure 44 can be rotated 180° under the drive of the flipping cylinder 41 to realize the U-turn process of the charge.

[0042] Specifically, the clamping structure 44 includes a first clamping plate 441 and a fixing frame 442 that are arranged opposite to each other. The first clamping plate 441 is fixed to one pair of clamping fingers corresponding to the first clamping cylinder 42 and the second clamping cylinder 43, and the fixing frame 442 is fixed to the other pair of clamping fingers corresponding to the first clamping cylinder 42 and the second clamping cylinder 43. The fixing frame 442 is provided with a plurality of spaced-apart clamping cylinders 443, and the telescopic rods of the plurality of clamping cylinders 443 are fixedly connected to the second clamping plates 444 corresponding to the first clamping plates 441. It can be understood that the first clamping cylinder 42 and the second clamping cylinder 43 not only fix the first clamping plate 441 and the fixing frame 442, but also adjust the distance between them to accommodate different specifications of the drug column. The clamping cylinder 443 is mainly used to drive the second clamping plate 444 to engage with the first clamping plate 441 to achieve clamping and fixing of the drug column.

[0043] Furthermore, a limiting cylinder 61 corresponding to the clamping structure 44 is provided on the horizontal plate 53, and a lifting arm 62 is fixed on the telescopic rod of the limiting cylinder 61. The lifting arm 62 is used to adjust the relative position between the drug column and the clamping plate. Specifically, when the clamping structure 24 moves the drug column to the top of the clamping structure 44, the first opening and closing cylinder 245 is closed, the fixed clamp 92 is opened, and the drug column naturally falls and is inserted between the first clamping plate 441 and the second clamping plate 444, and finally stops on the end face of the lifting arm 62. At this time, the lifting arm 62 lifts the drug column a certain distance and resets after the two clamping plates are closed, ensuring that the end of the drug column no longer contacts the lifting arm 62, preventing the drug column from rubbing against the lifting arm 62 and breaking during the flipping process.

[0044] Furthermore, a guide cylinder 71 is fixedly mounted at the edge of the second opening. The guide cylinder 71 has two symmetrically arranged rotation angles 72, each of which is provided with a clamping arm 73. The guide cylinder 71 is used to drive the rotation angles 72 to rotate so that the two clamping arms 73 can open and close. In actual application, when the clamping structure 24 moves the charge directly above the clamping structure 44, the two clamping arms 73 can first clamp the charge to align each charge, ensuring that the charge can be accurately inserted into the gap between the first clamping plate 441 and the second clamping plate 444, thereby improving positioning accuracy.

[0045] In summary, the automatic coating equipment for propellant grains in the above-mentioned embodiments of the present invention drives the clamping structure to automatically grab the grains through the three-axis linkage structure and transfer them to the grain immersion structure for immersion and coating. After waiting for a period of time, the grains are transferred to the grain flipping structure, turned around and sent back to the grain immersion structure for immersion and coating, ensuring that the grains can be fully wrapped by the coating liquid. After repeating a certain number of times, they are finally sent to the drying box for drying. The grains are produced by mechanical automation throughout the entire process, replacing the traditional manual coating solution of the grains, and solving the technical problem of the existing technology of using manual coating of the grains, resulting in low reliability of the loading work and greater safety risks.

[0046] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0047] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. An automated propellant grain coating device, characterized in that: It includes an automatic covering component and a drying box arranged on one side of the automatic covering component; The automatic coating assembly includes a workbench and a three-axis linkage structure provided on the workbench, wherein a clamping structure for clamping a medicine column is provided on the three-axis linkage structure, and the clamping structure moves under the drive of the three-axis linkage structure. A first opening and a second opening adjacent to each other are provided on the workbench surface, and a medicine column immersion structure is provided on the side of the first opening facing away from the workbench surface, and the medicine column immersion structure is used to wrap a coating layer on the surface of the medicine column, and a medicine column flipping structure is provided on the side of the second opening facing away from the workbench surface, and the medicine column flipping structure is used to cooperate with the clamping structure to change the position of the medicine column clamped by the clamping structure; The upper end surface of the drying box is provided with a third opening, in which a jig tray is provided, the jig tray being used to collect the coated pellets, and a drying device is provided inside the drying box corresponding to the bottom of the jig tray; A support frame is provided below the second opening, the support frame comprising a first vertical plate and a second vertical plate arranged opposite to each other and a horizontal plate connecting the two, the horizontal plate being arranged corresponding to the position of the second opening, the charge turning structure comprising a turning cylinder provided on the first vertical plate and a first clamping cylinder connected to the turning cylinder, a second clamping cylinder corresponding to the first clamping cylinder being rotatably provided on the second vertical plate, and a clamping structure for clamping the charge being connected between the first clamping cylinder and the second clamping cylinder; The clamping structure includes a first clamping plate and a fixing frame arranged opposite to each other, the fixing frame is provided with a plurality of spaced-apart clamping cylinders, and the telescopic rods of the plurality of clamping cylinders are fixedly connected with a second clamping plate corresponding to the first clamping plate.

2. The automatic propellant grain coating equipment according to claim 1, characterized in that: The three-axis linkage structure includes a Y-axis moving device arranged on the workbench, an X-axis moving device connected to the Y-axis moving device, and a Z-axis moving device connected to the X-axis moving device, and the clamping structure is arranged on the Z-axis moving device.

3. The automatic propellant grain coating equipment according to claim 2, characterized in that: The clamping structure includes a first telescopic cylinder vertically arranged on the Z-axis moving device, a first slide rail is provided on the side wall of the first telescopic cylinder, a slide plate is slidably connected to the first slide rail, one end of the slide plate is provided with a fixed plate fixedly connected to the telescopic rod of the first telescopic cylinder, and a first opening and closing cylinder and a second opening and closing cylinder are provided on the fixed plate, wherein corresponding card grooves are respectively provided on the two adjacent clamping surfaces of the clamping fingers in the second opening and closing cylinder.

4. The automatic propellant grain coating equipment according to claim 1, characterized in that: The drug column soaking structure includes a vertical support plate arranged below the first opening, two second slide rails parallel to each other and a second telescopic cylinder arranged between the two second slide rails, a lifting plate slidably connected to the second slide rail, a telescopic rod of the second telescopic cylinder is fixedly connected to the lifting plate to drive the lifting plate to slide on the second slide rail, a supporting platform slidably connected to the lifting plate, two centrally symmetrical limit blocks are provided on the supporting platform, and a soaking box is provided between the two limit blocks.

5. The automatic propellant grain coating equipment according to claim 4, characterized in that: The support platform is further provided with a limit frame, the limit frame is provided with a drop collection box, and a medicine column placement rack is provided just above the drop collection box.

6. The automatic propellant grain coating equipment according to claim 1, characterized in that: The horizontal plate is provided with a limiting cylinder corresponding to the material clamping structure, and a lifting arm is fixedly provided on the telescopic rod of the limiting cylinder.

7. The automatic propellant grain coating equipment according to claim 1, characterized in that: A guide cylinder is fixedly provided at the edge of the second opening. The guide cylinder has two symmetrically arranged rotation angles. Clamping arms are provided on the rotation angles. The guide cylinder is used to drive the rotation angles to rotate so that the two clamping arms perform opening and closing movements.

8. The automatic propellant grain coating equipment according to claim 1, characterized in that: The drying equipment is a U-shaped steam pipe, and the drying box is fixed with a partition between the U-shaped steam pipe and the fixture plate, and the partition is provided with a drip collection plate.

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