Automatic feeding and discharging system of initiating explosive device curing oven

Abstract

An initiating explosive device curing oven automatic feeding and discharging system comprises an oven, a skip car, an AGV trolley and a control system. A positioning tool for positioning the skip car is arranged at the bottom of the inner cavity of the oven; one side of the skip car is provided with at least one group of handles; a positioning plate matched with the positioning tool for positioning is arranged at the bottom of the skip car; the AGV trolley is provided with a navigation positioning unit and a hanging frame capable of translating and lifting along with the driving mechanism, the navigation positioning unit is used for positioning and determining the positions of the skip car, the drying oven and the AGV trolley and attitude information of the AGV trolley, and one side of the hanging frame is provided with hanging teeth capable of hooking a handle; the control system is used for sending a control instruction according to the starting instruction and the position and posture information returned by the navigation positioning unit, and controlling the moving track of the AGV and opening and closing of a drying oven door of the drying oven. For a production site of an initiating explosive device dangerous area, due to unmanned and automatic whole process, the man-machine isolation safety operation of a high-safety-risk working procedure of charging and discharging of the skip car is realized, the intrinsic safety of the process is improved, the safety risk is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of pyrotechnic production equipment, specifically relating to an automatic loading and unloading system for a pyrotechnic curing oven. Background Technology

[0002] In the current production process of solid rocket motors (solid propellants), composite solid propellants need to be cured in an oven for several days after casting. Unlike conventional products, solid propellants are hazardous pyrotechnic materials, and no collisions are allowed during transportation. Their curing position in the oven must also be consistent to avoid uneven curing or inconsistencies between different batches. The emergence of AGV technology promises to achieve unmanned loading and unloading in the oven process. However, in the field of pyrotechnic material production, safety, confidentiality, and explosion-proof requirements prevent the use of wireless / 5G signals. This hinders the navigation and positioning of AGVs on pyrotechnic material production lines, making accurate navigation and positioning difficult. This may lead to collisions or interference between the loaded materials and the oven, or even deviations in the material loading position, resulting in inconsistent curing performance of the product during the curing process. Therefore, although AGV automated loading and unloading is widely used in civilian industries, in the field of pyrotechnics, loading and unloading still rely on manual labor. First, the oven door is manually opened, and the material cart is manually pushed into the oven cavity using a pallet jack. The lifting control lever on the pallet jack handle is operated to slowly lower the height of the pallet jack's forks, placing the material cart stably on the bottom surface of the oven cavity. Then, the pallet jack's forks are pulled out from the bottom of the material cart, and the oven door is closed, completing the manual loading of the material cart. After the material cart has been kept warm in the oven for the prescribed time, the oven door is manually opened, the pallet jack's forks are pushed under the material cart, and the lifting control lever on the pallet jack handle is operated to slowly raise the height of the pallet jack's forks, raising the material cart to an appropriate height and detaching it from the bottom surface of the oven cavity. Then, the material cart is manually pulled out of the oven using the pallet jack, and the oven door is closed, completing the manual unloading of the material cart. For production sites in hazardous areas of pyrotechnics, this manual operation method presents problems such as high labor intensity, high safety risks, and low production efficiency. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic loading and unloading system for pyrotechnic ovens.

[0004] An automatic loading and unloading system for a pyrotechnic curing oven includes an oven, a material cart, an AGV trolley, and a control system.

[0005] The oven is equipped with an automatically opening and closing oven door on one side, and a positioning fixture for positioning the material cart is located at the bottom of the oven cavity.

[0006] The positioning fixture includes a base plate, which is supported in the oven cavity by adjustable feet. A limit plate is erected on the side of the base plate away from the oven door, and at least one positioning pin is erected on the base plate.

[0007] The material cart is used to place explosive materials in groups, and the material cart has at least one set of handles on one side;

[0008] The bottom of the material cart has a positioning plate that cooperates with the positioning fixture for positioning, and the positioning plate has positioning holes that correspond one-to-one with the positioning pins on the bottom plate.

[0009] The AGV is equipped with a navigation and positioning unit and a bracket that can move and rise with the drive mechanism. The navigation and positioning unit is used to locate and determine the position of the material cart, the drying oven and the AGV, as well as the attitude information of the AGV. One side of the bracket has a hook tooth for hooking a handle.

[0010] The control system is used to send control commands based on the start command and the position and attitude information returned by the navigation and positioning unit, to control the running trajectory of the AGV and the opening and closing of the oven door.

[0011] The material cart is equipped with multiple layers of pallets for loading materials.

[0012] The handle on the material cart includes a connecting shaft, a bracket, and multiple positioning ring groups. The connecting shaft is horizontally mounted on one side of the material cart via two brackets. The positioning ring group consists of two positioning rings fitted onto the connecting shaft. A hanging point is formed between the two positioning rings in each positioning ring group. The opposite faces of the two positioning rings in each positioning ring group are provided with guide chamfers.

[0013] The connecting shaft at the hanging point is fitted with a copper sleeve.

[0014] The ovens are multiple, and the ovens are stacked in pairs to form a group.

[0015] The navigation and positioning unit includes a navigation system for navigating the running trajectory of the AGV and a high-precision positioning system for positioning and parking the AGV.

[0016] The high-precision positioning system includes a QR code recognition camera mounted on the bottom of the AGV trolley and QR code labels affixed to the bottom front of the AGV trolley parking station, material picking station, and each set of drying ovens. The QR code labels contain position and initial posture information.

[0017] The navigation system includes a lidar mounted on a rotating motor, which is located at the top center of the AGV trolley.

[0018] The drive mechanism includes a Z-axis lifting mechanism and an X-axis translation mechanism;

[0019] The Z-axis lifting mechanism includes a frame and a Z-axis lifting drive module. The frame is a frame structure assembled from two vertical rods and two horizontal plates. The frame is fixed on the AGV trolley, and the Z-axis lifting drive module is vertically mounted between the two vertical rods.

[0020] The X-axis translation mechanism is fixedly mounted on the lifting platform of the Z-axis lifting mechanism. The X-axis translation mechanism includes a motor mounting bracket with a mounting plate that can be moved with the translation drive device. The bracket is fixed on the motor mounting bracket.

[0021] The translation drive device includes a drive gear, a driven gear, and a transmission rack. The drive gear is connected to the servo motor via a reducer. There are two driven gears, which are located at both ends of the driven shaft. One of the driven gears meshes with the drive gear. The driven shaft is mounted in the motor mounting bracket via a bearing with a seat. There are two transmission racks, which are fixed side by side on the mounting plate. The two transmission racks correspond one-to-one with the two driven gears.

[0022] The mounting plate has a guide groove on both its upper and lower end faces, and the motor mounting bracket has guide wheels that cooperate with the guide grooves for guidance.

[0023] Both vertical rods have a slide rail on their front side, and the mounting plate has a slider on the back that mates with the slide rail.

[0024] This invention, considering the current state of pyrotechnics production, uses vehicle-mounted LiDAR navigation and a QR code camera to precisely locate the positions of the AGV, material cart, and oven. This ensures the positional relationship between the loaded material and the oven, preventing collisions, friction, or other phenomena that could ignite pyrotechnics. The positioning and fixing of the material cart within the oven is achieved through a guiding positioning structure on the positioning fixture inside the oven, which automatically compensates for positional deviations, ensuring the consistency of the material cart's position each time within the oven, facilitating docking and grabbing by the AGV. The positioning of the material cart on the AGV relies on the guide and hooking structure between the AGV's mounting bracket and the material cart's handle, which automatically and mechanically compensates for positional deviations.

[0025] This invention ensures the consistency of the material cart's position within the AGV and oven each time, and prevents interference between the AGV and the oven's positional relationship. This ensures that the loaded material does not collide, rub, or interfere with the process, thus realizing automatic loading and unloading of the AGV within the oven and improving the safety of the solidification loading and unloading process.

[0026] This invention uses AGVs to replace manual labor for the automatic loading and unloading of material carts inside the oven cavity. The oven door is also automatically opened and closed. The AGV has high repeatability and positioning fixtures are installed on the bottom of the oven cavity. Under the comprehensive management and control of the control system, the fully automatic loading and unloading of material carts inside the oven is accurately realized.

[0027] For production sites in hazardous areas of pyrotechnics, the fully unmanned and automated process enables safe operation of the high-risk material loading and unloading process by separating humans from machines, improving the inherent safety of the process, reducing safety risks, and increasing production efficiency. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the material cart structure of the present invention. Figure 1 ;

[0030] Figure 3 This is a schematic diagram of the material cart structure of the present invention. Figure 2 ;

[0031] Figure 4 This is a schematic diagram of the positioning tooling of the present invention;

[0032] Figure 5 The three-dimensional representation of the AGV vehicle of this invention Figure 1 ;

[0033] Figure 6 This is a side view of the AGV vehicle of the present invention;

[0034] Figure 7 The three-dimensional representation of the AGV vehicle of this invention Figure 2 . Detailed Implementation

[0035] like Figure 1-7 The automatic loading and unloading system for the pyrotechnic curing oven of the present invention mainly comprises the following components:

[0036] 1) Material cart 2: Used for grouping pyrotechnic materials, facilitating material collection and transfer.

[0037] 2) Oven 1: Used to heat and keep the materials on the material cart warm in order to achieve the material curing process.

[0038] 3) Positioning fixture 4: Installed on the bottom surface of the oven cavity, used for positioning the material cart inside the oven.

[0039] 4) AGV trolley 3: Used for automatic loading and unloading of material carts.

[0040] 5) Control system: Comprehensive management and control of all equipment to achieve automated and orderly operation of the system.

[0041] The components are described below:

[0042] like Figure 2-3Material cart 2 is used to place pyrotechnic materials in groups, facilitating material collection and transfer. Material cart 2 is equipped with multi-layer pallets 22 for loading materials. One side of material cart 2 has two sets of handles 21, upper and lower, used to grip materials with the AGV trolley 3's mounting bracket. These handles mainly consist of brackets 214, positioning rings 213, copper sleeves 212, and connecting shafts 211. The connecting shaft 211 is horizontally positioned on one side of material cart 2 via two brackets 214. Two positioning rings 213 form a group and are fitted onto the connecting shaft 211. The area between the two positioning rings 213 is the corresponding hook point for the hook teeth on the AGV trolley 3's mounting bracket. The copper sleeve 212 is fitted over the connecting shaft 211 at hook point 215. The opposing surfaces of the two positioning rings 213 in each group of positioning rings have chamfers to ensure smooth insertion with the hook teeth on the AGV mounting bracket. The design of the hook teeth and handle insertion structure allows for automatic mechanical compensation of positional deviations, ensuring smooth and reliable docking. Casters are provided at the bottom of the material cart for manual and flexible handling in case of equipment failure. The bottom of the material cart 2 has a positioning plate 23 that cooperates with the positioning fixture 4 for positioning. The positioning plate 23 has positioning holes that correspond one-to-one with the positioning pins 43 on the base plate 41.

[0043] like Figure 1 Oven 1 is used to heat and keep the materials on the AGV warm to achieve the material curing process. The main components of oven 1 include the oven body, oven door, oven door cylinder 12, and a heating system. The oven uses oil bath thermal radiation heating. Eight independent ovens are arranged in two layers, forming four rows. Each oven has five heating surfaces; the oven door side does not have a heating function. A positioning fixture 4 is fixed to the bottom of each oven 1 to position a material cart. The automatic oven door 11 of each oven 1 opens and closes automatically through the synchronous movement of two cylinders 12, which is a conventional technology and will not be elaborated further in this embodiment. Each independent oven 1 operates independently during AGV loading and unloading to ensure a uniform and constant internal temperature field.

[0044] like Figure 4The positioning fixture 4 is installed and fixed on the bottom surface of the inner cavity of the oven 1 for positioning the material cart 2 inside the oven 1. The main components of the positioning fixture 4 include a base plate 41, positioning pins 43, a limiting plate 44, and feet. The base plate 41 is supported in the inner cavity of the oven 1 by adjustable feet. A limiting plate 44 is erected on the side of the base plate 41 away from the oven door 11. Two positioning pins 43 are erected on the base plate 41. The positioning plate 23 at the bottom of the material cart 2 has positioning holes that correspond one-to-one with the positioning pins 43 on the base plate 41. The two positioning pins 44 are used to guide and position the material cart during its descent to ensure the consistency of the material cart's position in the inner cavity of the oven and to achieve smooth docking between the AGV frame and the material cart handle during loading and unloading. The limiting plate 44 is used for mechanical hard limiting of the end of the AGV as it extends the material cart to the top of the positioning fixture in the oven, to prevent the AGV from going out of control and colliding with the rear wall of the oven. All four support feet are universally self-adjusting to absorb and compensate for any deformation that may occur on the bottom surface of the oven cavity during use, ensuring the levelness of the positioning fixture's contact surface. The material cart is positioned on the positioning fixture inside the oven. The guiding and positioning structure of the fixture automatically compensates for positional deviations, ensuring consistent material cart positioning and facilitating docking and gripping by the AGV's three-hook mechanism. All four support feet of the positioning fixture are universally self-adjusting to absorb and compensate for any deformation that may occur on the bottom surface of the oven cavity during use, ensuring the levelness of the positioning fixture's contact surface.

[0045] like Figure 5-7 The AGV trolley 3 is used for automatic loading and unloading of materials. The main components of the AGV trolley 3 include a navigation and positioning unit mounted on the AGV trolley 3, and a mounting bracket 5 that can move and rise with the drive mechanism. The rising mechanism uses a combination of hydraulic cylinders and chain guides for linear drive, or is driven by a linear module. The moving mechanism uses a combination of servo motors and rack and pinion guides for linear drive. The mounting bracket uses a toothed hook-and-hook mechanism. The connection between the AGV trolley 3 mounting bracket and the material cart handle uses a toothed hook-and-hook structure, which automatically compensates for positional deviations, ensuring smooth docking and is simple and reliable.

[0046] The navigation and positioning unit is used to locate and determine the positions of the material cart 2, the drying oven 1, and the AGV trolley 3, as well as the attitude information of the AGV trolley 3. The drive mechanism includes a Z-axis lifting mechanism and an X-axis translation mechanism. The Z-axis lifting mechanism includes a frame 30 and a Z-axis lifting drive module 32 (a linear module or a linear drive using a combination of a servo motor and a rack and pinion guide rail, both of which are existing technologies). The frame 30 is a frame structure assembled from two vertical rods and two horizontal plates. The frame 30 is fixed on the AGV trolley 3. The Z-axis lifting drive module 32 is vertically mounted between the two vertical rods. The X-axis translation mechanism is fixedly mounted on the lifting platform 31 of the Z-axis lifting mechanism. The X-axis translation mechanism includes a mounting plate 33 and a motor mounting bracket 35 that can move with the translation drive device. The hanger 5 is fixed on the motor mounting bracket 35. A slide rail is provided on the front side of each of the two vertical rods, and a slider that cooperates with the slide rail is on the back of the mounting plate 33. The translation drive device includes a driving gear 38, a driven gear 39, and a transmission rack 36. The driving gear is connected to the servo motor 34 via a reducer 54. There are two driven gears 39, located at both ends of the driven shaft 37. One of the driven gears 39 meshes with the driving gear 38. The driven shaft 37 is mounted in the motor mounting bracket 35 via a bearing with a seat. There are two transmission racks 36, fixed side by side on the mounting plate 33. The two transmission racks 36 correspond one-to-one with the two driven gears 39. The upper and lower end faces of the mounting plate 33 are provided with guide grooves 53, and the motor mounting bracket 35 has guide wheels 52 that are guided by the guide grooves 53. The hanger has four hanging teeth 51, which correspond to the four hanging points on the material cart, achieving stable and reliable docking and picking.

[0047] The navigation and positioning unit is a key component of the electrical control unit of the AGV trolley 3, used to achieve high-precision loading and unloading docking. The navigation and positioning unit includes a navigation system and a high-precision positioning system. The navigation system primarily handles the vehicle's trajectory navigation using LiDAR, while the high-precision positioning system primarily handles precise vehicle positioning and parking using a QR code camera. The LiDAR 6 is mounted on a rotary motor 7, which is located at the top center of the AGV trolley 3. The high-precision positioning system consists of a QR code recognition camera mounted on the bottom of the AGV trolley 3 and QR code labels affixed to the bottom front of the AGV trolley 3 at the parking station, material handling station, and each set of drying ovens 1. The QR code labels at the parking station, material handling station, and each set of drying ovens 1 contain position and initial attitude information.

[0048] LiDAR navigation (reflector) uses a laser emitter to continuously emit laser pulses, which are then rotated by a mechanism to project the laser pulses from the LiDAR 6 at specific angular intervals (angular resolution) in various directions within the scanning angle, forming a reference two-dimensional scanning surface. The LiDAR identifies the position information of the laser reflector by recognizing the reflectivity of object surfaces within the scanning range, and then determines the position and attitude information of the AGV 3 where the LiDAR is located by analyzing the positions of at least three reflectors. LiDAR navigation is existing technology and will not be described in detail in this embodiment.

[0049] LiDAR navigation technology has advantages such as high navigation accuracy, strong environmental adaptability, high flexibility, good safety, and long service life. It does not require other positioning facilities on the ground, and the driving path can be flexible and changeable, making it suitable for various on-site environments.

[0050] QR code camera positioning technology is used for precise positioning of the AGV at parking stations, material picking stations, and drying oven stations. Each parking station, material picking station, and drying oven station has a corresponding QR code label fixed to the ground. These QR codes contain information such as position and orientation. When the AGV 3 arrives at these stations, the QR code camera installed on the AGV 3 starts working, capturing the image information of the QR code label through its lens and extracting the position coordinate information of the recognized QR code. This allows the AGV 3 to determine its coordinates and orientation angles. After obtaining the relative orientation of the AGV 3 to the station, the AGV 3's control system generates control commands based on the preset target position and orientation, automatically adjusting the AGV 3's drive wheels to precisely park at the station, completing the precise positioning process.

[0051] 5) Control System

[0052] The control system (PLC / microcontroller / industrial computer) is used to send control commands based on the start command and the position and attitude information returned by the navigation and positioning unit, and to control the running trajectory of the AGV trolley 3 and the opening and closing of the oven door 11 of the oven 1.

[0053] The automatic feeding process is as follows:

[0054] 1) The control system sends a feeding instruction to AGV trolley 3, and AGV trolley 3 starts automatic feeding operation.

[0055] 2) According to the system instructions, the AGV trolley 3 accurately locates and stops at the material picking station using onboard LiDAR navigation and QR code camera.

[0056] 3) The AGV trolley's third bracket automatically descends to the alignment height between the hook teeth and the material cart handle via the drive mechanism, then extends horizontally to the position where the hook teeth and material cart handle are aligned, and the hook teeth on the bracket engage with the material cart handle. As the lifting mechanism automatically rises, the hook teeth automatically engage with the corresponding hook points on the material cart handle, causing the material cart to lift off the ground at a certain height.

[0057] 4) The AGV trolley with the material cart automatically returns to its original position, completing the automatic material picking operation.

[0058] 5) Before the AGV trolley 3 arrives at the loading position of the drying oven with the material cart, the oven door will automatically open according to the instructions issued by the control system by the synchronous push of the upper and lower cylinders.

[0059] 6) The AGV trolley 3 uses onboard lidar navigation and a QR code camera to accurately locate and park at the loading position of the drying oven.

[0060] 7) The AGV trolley's third bracket, carrying the material cart, extends to directly above the oven positioning fixture. The AGV trolley's third bracket, carrying the material cart, automatically extends to the designated position directly above the positioning fixture via a translation mechanism. The AGV trolley's third bracket, carrying the material cart, descends and places it on the positioning fixture. The positioning plate pin holes on the bottom of the material cart engage with the positioning pins on the positioning fixture, allowing the bottom surface of the material cart to rest on the upper surface of the positioning fixture. Finally, the hook teeth on the AGV trolley's third bracket disengage from the handle hook points on the material cart, completing the automatic placement of the material cart inside the oven.

[0061] 8) The AGV trolley 3 hangers automatically return to their original positions via the translation mechanism.

[0062] 9) After completing the loading operation, the AGV trolley 3 automatically moves out of the oven loading position and moves to the operation waiting position to wait for the next operation instruction.

[0063] 10) After the AGV trolley 3 exits the oven loading position, the oven door will automatically close according to the instructions issued by the control system by the synchronous pulling of the upper and lower cylinders, thus completing the loading.

[0064] This application applies to the automatic loading and unloading operation of material carts between AGV trolley 3 and the drying oven. In production sites located in hazardous areas for pyrotechnics, the fully unmanned and automated process enables safe human-machine separation during the high-risk material loading and unloading operation, improving inherent process safety, reducing safety risks, and increasing production efficiency.

[0065] The automatic feeding process is as follows:

[0066] 1) The control system sends a feeding command to the AGV, and the AGV starts automatic feeding operation.

[0067] 2) Before the AGV arrives at the unloading position of the drying oven with the material cart, the oven door automatically opens according to the instructions issued by the control system by the synchronous push of the upper and lower cylinders.

[0068] 3) The AGV uses onboard LiDAR navigation and a QR code camera to accurately locate and park at the unloading position of the drying oven.

[0069] 4) The AGV rack automatically rises to the height where the hook teeth and the handle of the material cart are aligned via the drive mechanism, and then automatically moves horizontally to extend to the position where the hook teeth and the handle of the material cart are aligned.

[0070] 5) The AGV frame rises, and the gear automatically hooks onto the corresponding hook point on the handle of the feeding vehicle.

[0071] 6) The AGV frame lifts the material cart and disengages from the positioning fixture. As the lifting mechanism automatically rises, the pin hole of the positioning plate at the bottom of the material cart automatically disengages from the positioning pin on the positioning fixture, and finally the material cart is lifted a certain height away from the placement surface of the positioning fixture.

[0072] 7) The AGV hanger carrying the material cart automatically returns to its original position via the translation mechanism.

[0073] 8) After completing the unloading operation, the AGV automatically moves out of the oven unloading position.

[0074] 9) After the AGV exits the oven unloading position, the oven door will automatically close automatically by being pulled synchronously by the upper and lower cylinders according to the instructions issued by the control system.

[0075] 10) The AGV moves the material cart to the material cart transfer parking position. According to the system instructions, the AGV, carrying the material cart, uses onboard LiDAR navigation and a QR code camera to accurately locate and park the material cart at the transfer parking position.

Claims

1. An automatic loading and unloading system for a pyrotechnic curing oven, characterized in that: Includes an oven (1), a material cart (2), an AGV trolley (3), and a control system; The oven (1) is provided with an oven door (11) that can be opened and closed automatically on one side, and the bottom of the inner cavity of the oven (1) is provided with a positioning fixture (4) for positioning the material cart (2); The positioning fixture (4) includes a base plate (41), which is supported in the inner cavity of the oven (1) by adjustable feet. A limit plate (44) is erected on the side of the base plate (41) away from the oven door (11), and at least one positioning pin (43) is erected on the base plate (41). The material cart (2) is used to place pyrotechnic materials in groups, and the material cart (2) has at least one set of handles (21) on one side; The bottom of the material cart (2) has a positioning plate (23) that cooperates with the positioning fixture (4) for positioning. The positioning plate (23) has positioning holes that correspond one-to-one with the positioning pins (43) on the bottom plate (41). The AGV trolley (3) is equipped with a navigation and positioning unit and a hanging frame (5) that can move and rise with the drive mechanism. The navigation and positioning unit is used to locate and determine the position of the material trolley (2), the oven (1) and the AGV trolley (3) and the attitude information of the AGV trolley (3). The hanging frame (5) has a hook tooth (51) on one side that can hook the handle (21). The control system is used to send control commands based on the start command and the position and attitude information returned by the navigation and positioning unit, and to control the running trajectory of the AGV (3) and the opening and closing of the oven door (11) of the oven (1).

2. The automatic loading and unloading system for a pyrotechnic curing oven according to claim 1, characterized in that: The material cart (2) is equipped with multiple layers of pallets (22) for loading materials.

3. An automatic loading and unloading system for a pyrotechnic curing oven according to claim 1 or 2, characterized in that: The handle (21) on the material cart (2) includes a connecting shaft (211), a bracket (214) and multiple positioning ring groups. The connecting shaft (211) is horizontally set on one side of the material cart (2) via two brackets (214). The positioning ring group consists of two positioning rings (213) fitted onto the connecting shaft (211). A hanging point (215) is formed between the two positioning rings (213) in each positioning ring group. The opposite surfaces of the two positioning rings (213) in each positioning ring group are provided with guide chamfers.

4. The automatic loading and unloading system for a pyrotechnic curing oven according to claim 3, characterized in that: The connecting shaft (211) at the hanging point (215) is fitted with a copper sleeve (212).

5. The automatic loading and unloading system for a pyrotechnic curing oven according to claim 1, characterized in that: There are multiple ovens (1), and the multiple ovens (1) are stacked in pairs to form a group.

6. An automatic loading and unloading system for a pyrotechnic curing oven according to claim 1 or 5, characterized in that: The navigation and positioning unit includes a navigation system for navigating the running trajectory of the AGV (3) and a high-precision positioning system for positioning and parking the AGV (3); The high-precision positioning system includes a QR code recognition camera (8) installed on the bottom of the AGV (3) and QR code labels attached to the parking station, material picking station and the bottom surface of each oven (1). The QR code labels contain position and initial posture information.

7. The automatic loading and unloading system for a pyrotechnic curing oven according to claim 6, characterized in that: The navigation system includes a laser radar (6) on a rotating motor (7), which is mounted at the top center of the AGV trolley (3).

8. The automatic loading and unloading system for a pyrotechnic curing oven according to claim 1, characterized in that: The drive mechanism includes a Z-axis lifting mechanism and an X-axis translation mechanism; The Z-axis lifting mechanism includes a frame (30) and a Z-axis lifting drive module (32). The frame (30) is a frame structure assembled from two vertical rods and two horizontal plates. The frame (30) is fixed on the AGV trolley (3). The Z-axis lifting drive module (32) is vertically mounted between the two vertical rods. The X-axis translation mechanism is fixedly mounted on the lifting platform (31) of the Z-axis lifting mechanism. The X-axis translation mechanism includes a mounting plate (33) and a motor mounting bracket (35) that can be moved with the translation drive device. The bracket (5) is fixed on the motor mounting bracket (35). The translation drive device includes a drive gear (38), a driven gear (39), and a transmission rack (36). The drive gear (38) is connected to the servo motor (34) via a reducer (54). There are two driven gears (39) located at both ends of the driven shaft (37). One of the driven gears (39) meshes with the drive gear (38). The driven shaft (37) is mounted in the motor mounting bracket (35) via a bearing with a seat. There are two transmission racks (36) fixed side by side on the mounting plate (33). The two transmission racks (36) correspond one-to-one with the two driven gears (39).

9. The automatic loading and unloading system for a pyrotechnic curing oven according to claim 8, characterized in that: The mounting plate (33) has a guide groove (53) on both the upper and lower end faces, and the motor mounting bracket (35) has a guide wheel (52) that cooperates with the guide groove (53) for guidance.

10. An automatic loading and unloading system for a pyrotechnic curing oven according to claim 8, characterized in that: Both vertical rods have a slide rail on the front side, and the mounting plate (33) has a slider on the back that cooperates with the slide rail.

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