A servo numerical control spiral charging method

Abstract

The present invention discloses a servo numerical control spiral charging method, comprising the following steps: step 1, charging; step 2, placing a cartridge case; step 3, clamping the cartridge case; step 4, pushing the screw into the cartridge case; step 5, transporting ammunition and controlling the temperature; step 6, charging the cartridge case; step 6-1, setting a loading extrusion pressure threshold; step 6-2, rotating the screw forward; step 6-3, monitoring the loading extrusion pressure; step 6-4, retracting the screw linearly; and step 6-5, repeating steps 6-2 to 6-4 until the cartridge case is fully filled with ammunition and overflows from the cartridge case head clamping end. The present invention can control the extrusion pressure of the filled ammunition at the front end of the screw and the rear end of the cartridge case to a set value, and the filling temperature is controllable, thereby controlling the ammunition filling density to a desired value and filling uniformly, effectively improving the charge quality, increasing production efficiency, and reducing production energy consumption.

Description

Technical Field

[0001] The invention relates to the field of automatic charging of mortar shells and howitzer shells, in particular to a servo numerically controlled spiral charging method. Background Art

[0002] During the production of mortar shells and howitzer shells, ammunition needs to be automatically loaded into shells. Chinese utility model patent application number 202122872534.1 discloses a spiral charging machine, which includes a bed for mounting and fixing various components, a clamping device for fixing the projectile body, a drug leakage device for charging, a back pressure mechanism for pressure relief, and a spindle box for material transportation; wherein the spindle box includes a clamping plate, a fixing bracket, a box body, a drug delivery mechanism, and two hydraulic cylinders. This spiral charging machine has a simple structure, an adjustable drug delivery speed, a material shortage prompt, and no material waste.

[0003] However, the above spiral charging machine still has the following deficiencies during use, which need to be improved:

[0004] 1. Since the extrusion pressure of the filled ammunition between the front end of the screw and the rear end of the cartridge case is uncontrollable, the filling density of the ammunition is uncontrollable. On the one hand, the filling density of the ammunition is low and does not meet the requirements; on the other hand, the filling density of the ammunition is uneven.

[0005] 2. The cartridge case and ammunition rely on preheating by the preceding equipment, and the temperature during charging is uncontrollable, resulting in uncontrollable ammunition filling density.

[0006] 3. The cartridge case clamping position is inaccurate, which makes it difficult to control the subsequent charging depth and ammunition filling density.

[0007] 4. It is difficult to accommodate different types of cartridge cases or the changeover is complicated, and there is no error detection for incoming materials.

[0008] 5. The hydraulic system has high energy consumption and is prone to oil leakage.

[0009] 6. There is no equipment temperature monitoring and in-machine fire protection system, so the safety is low.

[0010] 7. Without process data traceability, it is impossible to optimize the charging process parameters later. Summary of the Invention

[0011] The technical problem to be solved by the present invention is to address the deficiencies of the above-mentioned prior art and provide a servo numerically controlled spiral charging method. The servo numerically controlled spiral charging method can control the extrusion pressure between the front end of the screw and the rear end of the cartridge case filled with ammunition at a set value, and the filling temperature is controllable, so that the ammunition filling density is controlled at the required value and the filling is uniform, effectively improving the charging quality, improving production efficiency, and reducing production energy consumption.

[0012] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0013] A servo numerical control spiral charging machine comprises a frame structure, a shell floating support mechanism, a shell clamping mechanism, a spiral charging mechanism, a screw propulsion mechanism, a machine top monitoring system and a control system.

[0014] The shell floating support mechanism is arranged on the frame structure, and is used for supporting the shell and placing it horizontally.

[0015] The cartridge case clamping mechanism is arranged on the frame structure and is used to clamp the cartridge case placed horizontally on the cartridge case floating support mechanism; the cartridge case clamping mechanism includes a cartridge case head clamping end, a cartridge case tail clamping end, a cartridge case clamping drive assembly, a clamping pressure sensor and a cartridge case axial position detection assembly.

[0016] The cartridge case head clamping end is fixed in position, is used for clamping the cartridge case head, and has a screw through hole.

[0017] The cartridge case tail clamping end is used for clamping the cartridge case tail and can slide back and forth along the cartridge case axis under the drive of the cartridge case clamping drive assembly.

[0018] The clamping pressure sensor is used to detect the driving pressure of the cartridge case clamping drive assembly.

[0019] The cartridge case axial position detection assembly is used to detect the axial position of the cartridge case tail clamping end.

[0020] The spiral charging mechanism includes a hopper, a screw, a screw rotation drive assembly and an ammunition temperature control assembly.

[0021] The hopper contains preheated ammunition ready for loading.

[0022] The screw is horizontally located below the hopper, and the tail end extends into the cartridge case through the screw through-hole at the clamping end of the cartridge case head; the screw can actively rotate under the drive of the screw rotation drive assembly to transport the ammunition in the hopper into the cartridge case.

[0023] The ammunition temperature control component can control the temperature of the ammunition conveyed by the screw.

[0024] The screw propulsion mechanism includes a screw mounting slide and a screw sliding servo electric cylinder.

[0025] The spiral charging mechanism is installed on the top surface of the screw mounting slide, and the screw mounting slide is slidably installed on the frame structure and can slide along the axial direction of the cartridge case under the drive of the screw sliding servo electric cylinder.

[0026] The screw sliding servo electric cylinder comprises an electric cylinder body, a sliding piston rod and a charging pressure sensor.

[0027] The sliding piston rod extends from the electric cylinder body and is connected to the screw mounting slide through the charge pressure sensor.

[0028] The top monitoring system includes an infrared temperature measuring camera, which can be used to monitor the temperature of the shell on the shell floating support mechanism.

[0029] The control system is respectively connected with the shell floating support mechanism, the shell clamping mechanism, the spiral charging mechanism, the screw propulsion mechanism and the machine top monitoring system.

[0030] The shell floating support mechanism includes a floating slide, a shell support frame and a sliding drive assembly; the floating slide is slidably connected to the frame structure and can slide along the axial direction of the shell under the drive of the sliding drive assembly.

[0031] There are at least two shell support racks, which are parallel and detachably mounted on the top of the floating slide, and a shell placement slot is provided on the top of each shell support rack.

[0032] The cartridge case clamping mechanism also includes a hinged push-pull slide assembly; one end of the hinged push-pull slide assembly is hinged to the frame structure, and the other end is hinged to the cartridge case tail clamping end; the middle part of the hinged push-pull slide assembly is hinged to the cartridge case clamping drive assembly.

[0033] The top-mounted monitoring system also includes a visual inspection camera that can be used to detect the external structure of the cartridge case.

[0034] The top-mounted monitoring system also includes a surveillance camera that can be used to monitor the entire shell loading process.

[0035] A servo numerically controlled spiral charging method comprises the following steps.

[0036] Step 1: Loading: Fill the hopper with ammunition preheated to temperature T1.

[0037] Step 2: Place the cartridge case: Place the preheated cartridge case on the cartridge case floating support mechanism; use an infrared temperature measuring camera to detect the temperature of the cartridge case on the cartridge case floating support mechanism;

[0038] Step 3: Clamping the cartridge case, specifically including the following steps:

[0039] Step 3-1, the cartridge case tail clamping end slides: When the cartridge case temperature detected in step 2 is equal to the set temperature T2, the cartridge case clamping drive assembly is started, and the cartridge case tail clamping end slides toward the cartridge case and engages with the cartridge case head; wherein T2>T1.

[0040] Step 3-2, the cartridge case tail clamping end slides again: driven by the cartridge case clamping drive assembly, the cartridge case tail clamping end drives the floating slide to slide synchronously toward the cartridge case head clamping end until the cartridge case head is engaged with the cartridge case head clamping end.

[0041] Step 3-3, axial position monitoring: During the sliding process of the cartridge case tail clamping end, the cartridge case axial position detection component can detect the axial position of the cartridge case tail clamping end in real time.

[0042] Step 3-4, clamping drive pressure monitoring: When the cartridge case head is engaged with the cartridge case head clamping end, the cartridge case clamping drive assembly continues to drive, and the clamping pressure sensor can monitor the clamping drive pressure of the cartridge case clamping drive assembly in real time.

[0043] Step 3-5, judging successful clamping: when the axial position monitored in step 3-3 reaches the set position, and the clamping drive pressure monitored in step 3-4 reaches the set clamping force threshold, the cartridge case is considered to be successfully clamped; otherwise, the cartridge case clamping is stopped.

[0044] Step 4. Push the screw into the cartridge case: The screw sliding servo electric cylinder in the screw advancing mechanism is started, pushing the screw mounting slide and the spiral charging mechanism located on the screw mounting slide to slide toward the cartridge case synchronously, and the screw passes through the screw hole in the clamping end of the cartridge case head and enters the specified depth of the cartridge case head.

[0045] Step 5: Ammunition delivery and temperature control: The screw rotates to deliver the preheated ammunition in the hopper to the ammunition temperature control component, which heats the ammunition to the set temperature T2.

[0046] Step 6, charging the cartridge case, specifically includes the following steps:

[0047] Step 6-1, setting the loading extrusion pressure threshold: according to the cartridge case type, set the loading extrusion pressure threshold N0 corresponding to the cartridge case at different axial positions.

[0048] Step 6-2, screw rotation forward: The screw rotation drive assembly continues to drive the screw to rotate, transporting and pressing the ammunition at temperature T2 into the cartridge case.

[0049] Step 6-3, Loading Extrusion Pressure Monitoring: As the ammunition is pressed into the cartridge case, a loading extrusion pressure N is generated at the screw head. This loading extrusion pressure N is transmitted via the screw mounting slide to the charging pressure sensor in the screw sliding servo cylinder. Therefore, the charging pressure sensor can monitor the loading extrusion pressure N in real time. The control system compares the monitored loading extrusion pressure N with the loading extrusion pressure threshold value N0 at the corresponding axial position of the cartridge case set in Step 6-1.

[0050] Step 6-4: Screw moves backward linearly: When N>N0, the screw will slide backward by the set distance L driven by the screw sliding servo cylinder, so that N≤N0.

[0051] Step 6-5: Repeat steps 6-2 to 6-4 until the ammunition fills the cartridge case and overflows from the cartridge case head clamping end.

[0052] The screw rotation drive assembly in step 6-2 can provide real-time feedback of the rotation load force F, so at the current moment, N0<F.

[0053] The set temperature T2 ranges from 66 to 72°C.

[0054] In step 6-1, the loading extrusion pressure thresholds N0 of the cartridge case at different axial positions are the same. In step 6-4, the set distance L of each screw retreat is the same, which is 2 to 10 mm.

[0055] In step 6-1, the loading extrusion pressure thresholds N0 of the cartridge case at different axial positions are different and vary in a curve; in step 6-4, the set distance L of each screw retreat is 2 to 10 mm.

[0056] The present invention has the following beneficial effects:

[0057] 1. The present invention utilizes a charge pressure sensor built into the screw-sliding servo cylinder to monitor the extrusion pressure between the front end of the screw and the rear end of the filled cartridge case in real time, controlling it within a charge extrusion pressure threshold, N0. This pressure threshold, N0, is set based on the desired packing density and is typically less than the screw's rotational load force, F. By precisely retracting the screw-sliding servo cylinder by a set distance, L, the present invention ensures the desired ammunition packing density and uniform packing, effectively improving charge quality.

[0058] 2. The setting of the ammunition temperature control component and the infrared temperature measuring camera in the present invention can control the ammunition charge temperature and monitor the shell temperature, so that the filling temperature can be controlled, and the ammunition filling density can be controlled at the required value and the filling can be uniform, thereby improving the charge quality.

[0059] 3. The charging process of the present invention is automatic charging, with high production efficiency and low production energy consumption.

[0060] 4. The present invention utilizes a precise cartridge case clamping mechanism, along with the combined action of a screw-sliding servo electric cylinder and a screw-rotating drive assembly, to precisely control the cartridge case charge depth and the screw's axial travel position. Furthermore, the screw-sliding servo electric cylinder reduces energy consumption and is environmentally friendly.

[0061] 5. The cartridge case floating support mechanism and cartridge case clamping mechanism of the present invention are compatible with cartridge cases of different models and have strong versatility.

[0062] 6. The visual inspection camera in the present invention can be used to detect the external structure of the cartridge case and perform visual error-proofing inspection on incoming cartridge cases.

[0063] 7. The present invention can quickly replace screw outer sleeves and screws of different diameters, and the spiral charging mechanism can be rotated horizontally as a whole for easy maintenance.

[0064] 8. The equipment has temperature monitoring and internal fire protection system, which is highly safe.

[0065] 9. The surveillance camera in the present invention can be used to monitor the entire cartridge charging process, trace the process data, and intelligently optimize the charging process parameters in the later stage; at the same time, the equipment has a high degree of integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 The schematic diagram shows the structure of a servo numerically controlled spiral charging machine of the present invention.

[0067] Figure 2 A structural schematic diagram showing the maintenance status of a servo numerically controlled spiral charging machine of the present invention is shown.

[0068] Figure 3 Shown is a structural schematic diagram of the rack structure in the present invention.

[0069] Figure 4 The schematic diagram of the structure of the floating support mechanism of the cartridge case in the present invention is shown.

[0070] Figure 5 The figure shows the structure of the cartridge case clamping mechanism when it is opened.

[0071] Figure 6 The figure shows the structure of the cartridge case clamping mechanism of the present invention when clamping the cartridge case.

[0072] Figure 7 Shown is a schematic structural diagram of the spiral charging mechanism of the present invention.

[0073] Figure 8 Shown is a structural schematic diagram of the screw propulsion mechanism in the present invention.

[0074] Figure 9 Shown is a schematic structural diagram of the protective cover in the present invention.

[0075] Figure 10 Shown is a structural diagram of the set-top monitoring system in the present invention.

[0076] Among them are:

[0077] 1. Frame structure;

[0078] 11. Main frame; 12. Tail frame; 13. Material receiving box; 14. Explosion-proof electric control cabinet;

[0079] 2. Cartridge case floating support mechanism;

[0080] 21. Floating slide; 22. Shell support frame; 23. Return cylinder;

[0081] 3. Cartridge case clamping mechanism;

[0082] 31. Double-column base frame; 32. Hinged push-pull slide assembly; 33. Cartridge case clamping cylinder; 34. Electronic ruler; 35. Cartridge case head clamping end; 36. Cartridge case tail clamping end;

[0083] 4. Spiral charging mechanism;

[0084] 41. Hopper; 42. Screw rotation drive assembly; 43. Ammunition temperature control assembly; 44. Outer sleeve; 45. Screw;

[0085] 5. Screw propulsion mechanism; 51. Screw mounting slide; 52. Screw sliding servo cylinder;

[0086] 6. Protective cover;

[0087] 61. Main frame guard; 62. Tail frame guard; 63. Clamping mechanism guard; 64. Air source box; and 65. Warning light;

[0088] 7. In-flight fire protection system;

[0089] 8. Top monitoring system; 81. Surveillance camera; 82. Visual inspection camera; 83. Infrared temperature measurement camera;

[0090] 9. Explosion-proof control station;

[0091] 10. Control system. DETAILED DESCRIPTION

[0092] The present invention will be further described in detail below with reference to the accompanying drawings and specific preferred embodiments.

[0093] In the description of the present invention, it should be understood that the terms "left side," "right side," "upper," "lower," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Terms such as "first" and "second" do not indicate the importance of components and therefore should not be construed as limitations on the present invention. The specific dimensions used in this embodiment are intended only to illustrate the technical solution and do not limit the scope of protection of the present invention.

[0094] like Figure 1 As shown, a servo CNC spiral charging machine includes a frame structure 1, a shell floating support mechanism 2, a shell clamping mechanism 3, a spiral charging mechanism 4, a screw propulsion mechanism 5, a protective cover 6, an in-machine fire protection system 7, a top monitoring system 8, an explosion-proof control station 9 and a control system 10.

[0095] like Figure 3As shown, the frame structure 1 includes a main frame 11, a tail frame 12, a material receiving box 13, and an explosion-proof electrical control cabinet 14. The material receiving box is located within the main frame and is used to receive overflow from cartridge case loading. The explosion-proof electrical control cabinet 14 is used for electrical control of the servo CNC screw charging machine.

[0096] The shell floating support mechanism is arranged on the frame structure, and is used for supporting the shell and placing it horizontally.

[0097] like Figure 4 As shown, the shell floating support mechanism 2 preferably includes a floating slide 21, a shell support frame 22 and a sliding drive assembly.

[0098] The floating slide is slidably connected to the main frame of the frame structure and can slide along the axial direction of the shell under the drive of the sliding drive component. Wherein, the sliding drive component is preferably a return cylinder 23.

[0099] There are at least two cartridge case support racks, preferably two in this embodiment, which are parallel and detachably mounted on the top of the floating slide. Each cartridge case support rack has a V-shaped or U-shaped cartridge case placement slot on the top. The height and spacing of the two cartridge case support racks can be adjusted according to the cartridge case type.

[0100] The cartridge case clamping mechanism is arranged on the frame structure and is used for clamping the cartridge case placed horizontally on the cartridge case floating support mechanism.

[0101] like Figure 5 and Figure 6 As shown, the cartridge case clamping mechanism 3 preferably includes a double-column base frame 31, a hinged push-pull slide assembly 32, a cartridge case clamping drive assembly, a clamping pressure sensor, a cartridge case axial position detection assembly, a cartridge case head end clamping assembly 35 and a cartridge case tail end clamping assembly 36.

[0102] The cartridge case head clamping end is fixed in position and is used to clamp the cartridge case head. The cartridge case head clamping end preferably includes a head clamping base and a head clamp. The head clamping base is preferably detachably mounted on the main frame on the right side of the floating slide, and the head clamp is preferably detachably connected to the left center of the head clamping base. Both the head clamping base and the head clamp preferably have screw holes in their centers.

[0103] The cartridge case tail clamping end is used for clamping the cartridge case tail and can slide back and forth along the cartridge case axis under the drive of the cartridge case clamping drive assembly.

[0104] The cartridge case tail clamping end preferably includes a tail clamping base and a tail clamp; the tail clamping base is slidably arranged on the main frame on the left side of the floating slide, and the tail clamp is preferably detachably connected to the right center of the tail clamping base.

[0105] The head clamp and tail clamp can be quickly replaced to adapt to different types of cartridge cases.

[0106] The above-mentioned cartridge case clamping drive assembly is preferably a cartridge case clamping cylinder 33.

[0107] The clamping pressure sensor is used to detect the driving pressure of the cartridge case clamping drive assembly.

[0108] The cartridge case axial position detection component is used to detect the axial position of the cartridge case tail clamping end, and is preferably an electronic ruler 34 or the like.

[0109] One end of the hinged push-pull slide assembly is hinged to the frame structure, and the other end is hinged to the cartridge case tail clamping end. The middle of the hinged push-pull slide assembly is hinged to the cartridge case clamping drive assembly. The hinged push-pull slide assembly can amplify the output force of the cartridge case clamping cylinder.

[0110] like Figure 7 As shown, the spiral charging mechanism 4 includes a hopper mounting seat, a hopper 41, a screw rotation drive assembly 42, an ammunition temperature control assembly 43, an outer sleeve 44 and a screw 45, etc.

[0111] The hopper is installed on the top left side of the hopper mounting base, and the hopper contains preheated ammunition to be loaded.

[0112] The screw is horizontally located below the hopper, the head of the screw is preferably connected to a screw rotation drive assembly built into the hopper mounting seat, and the tail end of the screw preferably extends into the cartridge case through a screw through-hole at the cartridge case head clamping end.

[0113] The outer sleeve is preferably coaxially sleeved on the middle part of the screw, and the side wall is provided with an ammunition inlet connected to the hopper discharge port.

[0114] The spiral charging mechanism can quickly replace the screw outer sleeve and screw of different diameters to adapt to different types of cartridge cases and their charging process requirements.

[0115] The ammunition temperature control component is preferably arranged on one side of the hopper mounting seat and coaxially arranged on the outer periphery of the outer sleeve, which can control the temperature of the ammunition conveyed by the screw.

[0116] The screw can actively rotate under the drive of the screw rotation drive assembly to transport the ammunition in the hopper into the cartridge case.

[0117] like Figure 8 As shown, the screw propulsion mechanism 5 is mainly composed of a screw mounting slide 51 and a screw sliding servo electric cylinder 52.

[0118] The spiral charging mechanism is preferably rotatably mounted on the top surface of the screw mounting slide, and the spiral charging mechanism can be rotated horizontally as a whole for easy maintenance. Figure 2 As shown, when the servo numerical control spiral charging machine is maintained, the screw propulsion mechanism 5 is retracted to the tail of the machine, and the protective cover 6 is opened so that the spiral charging mechanism 4 can be rotated horizontally as a whole for easy maintenance.

[0119] The screw mounting slide is installed on the frame structure and can slide along the axial direction of the cartridge case under the drive of the screw sliding servo electric cylinder.

[0120] The screw sliding servo electric cylinder comprises an electric cylinder body, a sliding piston rod and a charging pressure sensor.

[0121] The sliding piston rod extends from the electric cylinder body and is connected to the screw mounting slide through the charge pressure sensor.

[0122] like Figure 3 As shown, the in-flight firefighting system 7 is built into the mainframe and includes a flame retardant cylinder and multi-point spray lines. When the device detects that the temperature of cartridge cases, ammunition, or related components of the device reaches an alarm threshold, the device stops operating and sounds an alarm. The flame retardant cylinder is then opened, and the flame retardant is sprayed through the multi-point spray lines to the temperature-sensitive areas.

[0123] like Figure 9 As shown, the protective cover 6 is mainly composed of a main frame protective cover 61, a tail frame protective cover 62, a clamping mechanism protective cover 63, an air source box 64 and an alarm light 65.

[0124] like Figure 10 As shown, the set-top monitoring system 8 is mainly composed of a monitoring camera 81, a visual detection camera 82, an infrared temperature measurement camera 83 and monitoring software.

[0125] The above-mentioned infrared temperature measuring camera can be used to monitor the temperature of the cartridge case on the cartridge case floating support mechanism.

[0126] The above-mentioned visual inspection camera can be used to detect the external dimensions and structure of the cartridge case for error prevention.

[0127] The above-mentioned surveillance cameras can be used to monitor the entire cartridge case charging process for easy traceability.

[0128] The control system is connected to the shell floating support mechanism, shell clamping mechanism, spiral charging mechanism, screw propulsion mechanism, machine top monitoring system and explosion-proof control station. Among them, the explosion-proof control station can remotely monitor the servo CNC spiral charging machine.

[0129] A servo numerically controlled spiral charging method comprises the following steps.

[0130] Step 1: Loading: Fill the hopper with ammunition preheated to temperature T1.

[0131] Step 2: Place the shell

[0132] The preheated cartridge case is placed on the cartridge case floating support mechanism, and the visual inspection camera detects the external dimensions and structure of the cartridge case to prevent incorrect placement of materials; the monitoring camera records the entire process for easy traceability; and the infrared temperature measurement camera detects the temperature of the cartridge case on the cartridge case floating support mechanism.

[0133] Step 3: cartridge case clamping, specifically including the following steps.

[0134] Step 3-1, sliding of the cartridge case tail clamping end: When the cartridge case temperature detected in step 2 is equal to the set temperature T2, the cartridge case clamping drive assembly is started, and the cartridge case tail clamping end slides toward the cartridge case and engages with the cartridge case head; wherein T2>T1, and the set temperature T2 is preferably in the range of 66-72°C.

[0135] Step 3-2, the cartridge case tail clamping end slides again: driven by the cartridge case clamping drive assembly, the cartridge case tail clamping end drives the floating slide to slide synchronously toward the cartridge case head clamping end until the cartridge case head is engaged with the cartridge case head clamping end.

[0136] Step 3-3, axial position monitoring: During the sliding process of the cartridge case tail clamping end, the cartridge case axial position detection component can detect the axial position of the cartridge case tail clamping end in real time.

[0137] Step 3-4, clamping drive pressure monitoring: When the cartridge case head is engaged with the cartridge case head clamping end, the cartridge case clamping drive assembly continues to drive, and the clamping pressure sensor can monitor the clamping drive pressure of the cartridge case clamping drive assembly in real time.

[0138] Step 3-5, judging successful clamping: when the axial position monitored in step 3-3 reaches the set position, and the clamping drive pressure monitored in step 3-4 reaches the set clamping force threshold, the cartridge case is considered to be successfully clamped; otherwise, the cartridge case clamping is stopped.

[0139] Step 4. Push the screw into the cartridge case: The screw sliding servo electric cylinder in the screw advancing mechanism is started, pushing the screw mounting slide and the spiral charging mechanism located on the screw mounting slide to slide toward the cartridge case synchronously, and the screw passes through the screw hole in the clamping end of the cartridge case head and enters the specified depth of the cartridge case head.

[0140] Step 5: Ammunition delivery and temperature control: The screw rotates to deliver the preheated ammunition in the hopper to the ammunition temperature control component, which heats the ammunition to the set temperature T2.

[0141] Step 6, charging the cartridge case, specifically includes the following steps:

[0142] Step 6-1, setting the loading extrusion pressure threshold: according to the cartridge case type, set the loading extrusion pressure threshold N0 corresponding to the cartridge case at different axial positions.

[0143] Furthermore, the filling extrusion pressure thresholds N0 of the cartridge case at different axial positions may be the same or may vary in a curve, and may be set specifically according to the required filling density.

[0144] Step 6-2: Screw Rotation: The screw rotation drive assembly continues to drive the screw to rotate, transporting and pressing the ammunition at temperature T2 into the cartridge case. Furthermore, the screw rotation drive assembly can provide real-time feedback of the rotational load force F. Therefore, at this moment, N0 < F.

[0145] Step 6-3, Loading Extrusion Pressure Monitoring: As the ammunition is pressed into the cartridge case, a loading extrusion pressure N is generated at the screw head. This loading extrusion pressure N is transmitted via the screw mounting slide to the charging pressure sensor in the screw sliding servo cylinder. Therefore, the charging pressure sensor can monitor the loading extrusion pressure N in real time. The control system compares the monitored loading extrusion pressure N with the loading extrusion pressure threshold value N0 at the corresponding axial position of the cartridge case set in Step 6-1.

[0146] Step 6-4: Screw moves backward linearly: When N>N0, the screw will slide backward by the set distance L driven by the screw sliding servo cylinder, so that N≤N0.

[0147] The set distance L is preferably in the range of 2 to 10 mm. In this embodiment, the set distance L is preferably the same for each retreat, preferably 5 mm. The value of the set distance L is preferably obtained by repeated cross-sectional density testing of loaded cartridge cases.

[0148] Step 6-5: Repeat steps 6-2 to 6-4 until the ammunition is fully loaded into the cartridge case and overflows from the cartridge case head clamping end into the receiving box.

[0149] The preferred embodiments of the present invention are described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the scope of protection of the present invention.

Claims

1. A servo numerical control spiral charging method, characterized in that: The steps include: Step 1: Loading: Fill the hopper with ammunition preheated to temperature T1; Step 2: Place the cartridge case: Place the preheated cartridge case on the cartridge case floating support mechanism; use an infrared temperature measuring camera to detect the temperature of the cartridge case on the cartridge case floating support mechanism; Step 3: Clamping the cartridge case, specifically including the following steps: Step 3-1, sliding of the cartridge case tail clamping end: When the cartridge case temperature detected in step 2 is equal to the set temperature T2, the cartridge case clamping drive assembly is activated, and the cartridge case tail clamping end slides toward the cartridge case and engages with the cartridge case head; wherein T2>T1; Step 3-2, sliding of the cartridge case tail clamping end again: Under the drive of the cartridge case clamping drive assembly, the cartridge case tail clamping end drives the floating slide to synchronously slide toward the cartridge case head clamping end until the cartridge case head engages with the cartridge case head clamping end; Step 3-3, axial position monitoring: during the sliding process of the cartridge case tail clamping end, the cartridge case axial position detection component can detect the axial position of the cartridge case tail clamping end in real time; Step 3-4, clamping drive pressure monitoring: When the cartridge case head is engaged with the cartridge case head clamping end, the cartridge case clamping drive assembly continues to drive, and the clamping pressure sensor can monitor the clamping drive pressure of the cartridge case clamping drive assembly in real time; Step 3-5, judging the success of clamping: when the axial position monitored in step 3-3 reaches the set position, and the clamping driving pressure monitored in step 3-4 reaches the set clamping force threshold, it is considered that the cartridge case is successfully clamped; otherwise, the cartridge case clamping is stopped; Step 4: Push the screw into the cartridge case: The screw sliding servo electric cylinder in the screw advancing mechanism is started, pushing the screw mounting slide and the spiral charging mechanism located on the screw mounting slide to slide synchronously toward the cartridge case, and the screw passes through the screw through-hole in the clamping end of the cartridge case head and enters the cartridge case head to a specified depth; Step 5, ammunition delivery and temperature control: The screw rotates to deliver the preheated ammunition in the hopper to the ammunition temperature control component, which heats the ammunition to the set temperature T2; Step 6, charging the cartridge case, specifically includes the following steps: Step 6-1, setting the loading extrusion pressure threshold: according to the cartridge case type, set the loading extrusion pressure threshold N0 corresponding to the cartridge case at different axial positions; Step 6-2, screw rotation forward: the screw rotation drive assembly continues to drive the screw to rotate, transporting the ammunition at temperature T2 and pressing it into the cartridge case; Step 6-3, Loading Squeeze Pressure Monitoring: As the ammunition is pressed into the cartridge case, a loading squeeze pressure N is generated at the screw head. This pressure N is transmitted via the screw mounting slide to the charge pressure sensor in the screw sliding servo cylinder. Therefore, the charge pressure sensor can monitor the loading squeeze pressure N in real time. The control system compares the monitored loading squeeze pressure N with the loading squeeze pressure threshold value N0 at the corresponding axial position of the cartridge case, set in Step 6-1. Step 6-4, the screw moves backward in a straight line: When N>N0, the screw will slide backward by the set distance L driven by the screw sliding servo cylinder, so that N≤N0; Step 6-5: Repeat steps 6-2 to 6-4 until the ammunition fills the cartridge case and overflows from the cartridge case head clamping end.

2. The servo numerical control spiral charging method according to claim 1, characterized in that: The screw rotation drive assembly in step 6-2 can provide real-time feedback of the rotation load force F, so at the current moment, N0<F.

3. The servo numerical control spiral charging method according to claim 1, characterized in that: The set temperature T2 ranges from 66 to 72°C.

4. The servo numerical control spiral charging method according to claim 1, characterized in that: In step 6-1, the loading extrusion pressure thresholds N0 of the cartridge case at different axial positions are the same. In step 6-4, the set distance L of each screw retreat is the same, which is 2 to 10 mm.

5. The servo numerical control spiral charging method according to claim 1, characterized in that: In step 6-1, the loading extrusion pressure thresholds N0 of the cartridge case at different axial positions are different and vary in a curve; in step 6-4, the set distance L of each screw retreat is 2 to 10 mm.

6. The servo numerical control spiral charging method according to claim 1, characterized in that: The servo numerical control spiral charging machine is used for charging. The servo numerical control spiral charging machine includes a frame structure, a shell floating support mechanism, a shell clamping mechanism, a spiral charging mechanism, a screw propulsion mechanism, a machine top monitoring system and a control system; The shell floating support mechanism is arranged on the frame structure and is used to support the shell and place it horizontally; The cartridge case clamping mechanism is arranged on the frame structure and is used to clamp the cartridge case placed horizontally on the cartridge case floating support mechanism; the cartridge case clamping mechanism includes a cartridge case head clamping end, a cartridge case tail clamping end, a cartridge case clamping drive assembly, a clamping pressure sensor and a cartridge case axial position detection assembly; The cartridge case head clamping end is fixed in position, used for clamping the cartridge case head, and has a screw hole; The cartridge case tail clamping end is used for clamping the cartridge case tail and can slide back and forth along the cartridge case axis under the drive of the cartridge case clamping drive assembly; the clamping pressure sensor is used to detect the driving pressure of the cartridge case clamping drive assembly; The cartridge case axial position detection assembly is used to detect the axial position of the cartridge case tail clamping end; The spiral charging mechanism includes a hopper, a screw, a screw rotation drive assembly and an ammunition temperature control assembly; The hopper contains preheated ammunition ready for loading; The screw is horizontally located below the hopper, and its tail end extends into the cartridge case through the screw hole at the cartridge case head clamping end; the screw can actively rotate under the drive of the screw rotation drive assembly to transport the ammunition in the hopper into the cartridge case; The ammunition temperature control component can control the temperature of the ammunition conveyed by the screw; The screw propulsion mechanism includes a screw mounting slide and a screw sliding servo electric cylinder; The spiral charging mechanism is installed on the top surface of the screw mounting slide, and the screw mounting slide is slidably mounted on the frame structure and can slide along the axial direction of the cartridge case under the drive of the screw sliding servo electric cylinder; The screw sliding servo electric cylinder includes an electric cylinder body, a sliding piston rod and a charging pressure sensor; The sliding piston rod extends from the electric cylinder body and is connected to the screw mounting slide through the charge pressure sensor; The top monitoring system includes an infrared temperature measuring camera, which can be used to monitor the temperature of the cartridge case on the cartridge case floating support mechanism; the control system is respectively connected to the cartridge case floating support mechanism, the cartridge case clamping mechanism, the spiral charging mechanism, the screw propulsion mechanism and the top monitoring system.

7. The servo numerical control spiral charging method according to claim 6, characterized in that: The shell floating support mechanism includes a floating slide, a shell support frame and a sliding drive assembly; the floating slide is slidably connected to the frame structure and can slide along the axial direction of the shell under the drive of the sliding drive assembly; There are at least two shell support racks, which are parallel and detachably mounted on the top of the floating slide, and a shell placement slot is provided on the top of each shell support rack.

8. The servo numerically controlled spiral charging method according to claim 6, characterized in that: The cartridge case clamping mechanism also includes a hinged push-pull slide assembly; one end of the hinged push-pull slide assembly is hinged to the frame structure, and the other end is hinged to the cartridge case tail clamping end; the middle part of the hinged push-pull slide assembly is hinged to the cartridge case clamping drive assembly.

9. The servo numerically controlled spiral charging method according to claim 6, characterized in that: The top-mounted monitoring system also includes a visual inspection camera that can be used to detect the external structure of the cartridge case.

10. The servo numerically controlled spiral charging method according to claim 9, characterized in that: The top-mounted monitoring system also includes a surveillance camera that can be used to monitor the entire shell loading process.

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