Column loading method

Abstract

This application provides a method for loading propellant, comprising: performing at least one propellant layer loading operation within an inner cavity until a first distance between the upper surface of the current propellant layer and the opening reaches a preset first threshold; allowing the shell to stand until the propellant layer solidifies, thus completing the propellant loading; one propellant layer loading operation includes: injecting a flowing adhesive into the inner cavity; loading a propellant layer into the inner cavity; and axially pressing the propellant layer along the inner cavity until adhesive overflows from between the inner wall of the shell and the propellant layer. The propellant loading method provided in this application rationally breaks down and optimizes the process of manually loading propellant, enabling the entire process to be completed systematically through standardized steps. This makes it possible for an industrial control computer to control automated equipment to complete the process of loading propellant into the shell, facilitating human-machine isolation, effectively reducing operator operational risks, enhancing the safety and stability of fire-related assembly, and reducing operator workload.

Description

Technical Field

[0001] This application relates to the field of ammunition processing technology, and in particular to a method for loading propellant charges. Background Technology

[0002] Filling the ammunition casing with propellant charges is a crucial process in ammunition manufacturing. In related technologies, this process is mostly manual; however, it involves multiple steps, resulting in high labor intensity for workers. Furthermore, because propellant charges are flammable products, manual filling carries significant operational risks. This is especially true for large casings with diameters exceeding 200mm, where the large quantity of propellant required further increases the difficulty and risk. Summary of the Invention

[0003] In view of this, the purpose of this application is to propose a method for loading propellant columns.

[0004] To achieve the above objectives, this application provides a method for loading propellant, wherein the propellant is loaded into a housing, the housing including an inner cavity with an opening; the propellant comprises at least one propellant layer, and the method includes:

[0005] Perform at least one drug cartridge layer loading operation within the inner cavity until the first distance between the upper surface of the current drug cartridge layer and the opening reaches a preset first threshold. Allow the shell to stand until the drug cartridge layer solidifies, at which point the drug cartridge filling is complete; The primary charge loading operation includes: Injecting a flowing adhesive into the cavity; A drug cartridge layer is loaded into the inner cavity; The drug cartridge layer is squeezed axially along the inner cavity until an adhesive overflows from between the inner wall of the housing and the drug cartridge layer.

[0006] Optionally, the drug column layer includes a central drug column and at least two peripheral drug columns arranged around the central drug column, and the loading of the provided drug column layer into the inner cavity includes: All of the peripheral drug cartridges are loaded into the inner cavity; All the peripheral drug columns are pushed toward the inner wall of the cavity to form a central space; wherein all the peripheral drug columns surround the central space; The central propellant column is loaded into the central space.

[0007] Optionally, multiple peripheral drug columns are provided, and loading all of the peripheral drug columns into the inner cavity includes: A portion of all the peripheral drug columns is loaded into the inner cavity; wherein, the portion includes at least two peripheral drug columns; The outer portion of the drug column is pushed and gathered towards the inner wall of the cavity to reduce the gap between adjacent outer drug columns, thus forming an outer space between the beginning and end of the outer portion of the drug column. The remaining portion of all the peripheral drug columns is loaded into the peripheral space.

[0008] Optionally, before axially compressing the drug cartridge layer along the inner cavity, the method further includes: A paper pad is placed on the surface of the drug cartridge layer in the inner cavity.

[0009] Optionally, injecting the flowing adhesive into the cavity includes: The adhesive is injected into the inner cavity at least once by the adhesive injection mechanism to form an adhesive layer until the thickness of the adhesive layer is not less than 3 mm.

[0010] Optionally, the dispensing speed of the dispensing mechanism is 48 ml / s.

[0011] Optionally, the shell may be left to stand for at least 13 hours.

[0012] Optionally, before allowing the housing to stand until the drug cartridge layer solidifies, the method further includes: The cavity containing the adhesive and the drug cartridge layer is evacuated.

[0013] Optionally, the vacuum degree of the vacuuming process is less than or equal to -0.08 MPa, and the vacuuming time is greater than 8 minutes.

[0014] Optionally, the housing containing the propellant layer is further provided with a first mounting position, the first mounting position including a threaded structure, and after performing at least one propellant layer loading operation in the inner cavity, the method further includes: The thread feature information and position information of the first mounting position are obtained through a visual recognition system; The first component is selected using a visual recognition system based on thread feature information and / or position information. The first accessory is installed in the first mounting position by tightening mechanism.

[0015] As can be seen from the above, the propellant loading method provided in this application reasonably breaks down and optimizes the process of loading propellant by manual labor in related technologies, so that the entire process can be completed in an orderly manner through standardized steps. This makes it possible for an industrial control computer to control automated equipment to complete the process of loading propellant into the shell according to the method, which helps to achieve human-machine isolation between the operator and the ammunition, effectively reduces the operator's operational risks, enhances the safety and stability of assembly in fire-related links, and also reduces the operator's labor intensity. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a cross-sectional schematic diagram of a shell containing multiple propellant layers in the propellant loading method of this application embodiment; Figure 2 This is a schematic flowchart of the drug delivery method according to an embodiment of this application; Figure 3 This is a flowchart illustrating a single propellant layer loading operation in the propellant loading method of this application embodiment; Figure 4 This is a schematic diagram showing the distribution of multiple operating stations in the catalytic cartridge loading method of this application embodiment; Figure 5 This is a cross-sectional schematic diagram of the injection of adhesive into the casing in the propellant loading method of this application embodiment; Figure 6 This is a cross-sectional schematic diagram of the loading of a propellant layer into a shell in the propellant loading method of this application embodiment; Figure 7 This is a cross-sectional schematic diagram of the catalytic cartridge filling method according to an embodiment of the present application, showing the compression of the catalytic cartridge layer to cause the adhesive to overflow. Figures 8a to 8c This is a top view schematic diagram of three propellant layer structures in the propellant loading method of this application embodiment; Figure 9 This is a schematic diagram of the process of loading a drug column layer into the inner cavity in the drug column loading method of this application embodiment; Figure 10 and Figure 11 This is a schematic diagram of the process of loading a drug column layer into the inner cavity in the drug column loading method of this application embodiment; Figure 12 This is a schematic diagram of the process of loading peripheral drug columns into the inner cavity in the drug column loading method of this application embodiment; Figure 13 and Figure 14 This is a schematic diagram of the process of loading peripheral drug columns into the inner cavity in the drug column loading method of this application embodiment; Figure 15 This is a schematic diagram of the process of installing the first accessory in the drug cartridge loading method of this application embodiment.

[0018] Explanation of reference numerals in the attached figures: 1. Shell; 101. Opening; 102. Cavity; 2. Propellant column layer; 201. Central propellant column; 202. Peripheral propellant column; 203. Central space; 204. Peripheral space; 3. Adhesive; 4. Paper pad. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0020] It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components described in these embodiments do not limit the scope of this application.

[0021] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0022] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0023] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0024] like Figure 1 As shown, the shell 1 can be a cylindrical structure with one end closed and the other end having an opening 101. During filling, the drug cartridge layer 2 can be filled into the inner cavity 102 of the shell 1 through the opening 101. Depending on the height of the shell 1, the contents of the inner cavity 102 along its axial direction (e.g., Figure 1 (in the X direction) can accommodate one, two or more drug column layers 2.

[0025] like Figure 2 As shown in the embodiments of this application, the method for filling propellant columns includes: Step S100: Perform at least one drug cartridge filling operation in the inner cavity until the first distance between the upper surface of the current drug cartridge layer and the opening reaches a preset first threshold.

[0026] The structure of the opening 101 of the housing 1 can be as follows: Figure 1 As shown, the first distance is the distance between the upper surface of the current drug column layer 2 in the inner cavity 102 and the bottom surface of the opening 101. Figure 1 The distance is represented by H.

[0027] For example, to obtain the first distance, a detection device such as a distance sensor or rangefinder can be used for measurement. The measurement timing can be performed after each loading operation of the propellant layer 2, or after two or more loading operations of the propellant layer 2.

[0028] The first threshold can be determined before loading the propellant column according to process requirements. For example, the first threshold can be a numerical range, such as H < 10 mm, or 5 mm < H < 10 mm.

[0029] When multiple drug cartridge layers 2 need to be filled into the inner cavity 102 of the housing 1, they can be filled in order from bottom to top.

[0030] For example, when the shell 1 is a cylindrical structure, the outer diameter of each drug grain layer 2 is the same. When the shell 1 is a conical structure, the outer diameter of each drug grain layer 2 can be different.

[0031] Step S200: Let the shell stand until the drug column layer solidifies, and the drug column filling is completed.

[0032] After multiple drug cartridge layers 2 are loaded into the housing 1, they need to form a whole in the inner cavity 102 of the housing 1. To this end, an adhesive can be placed between two adjacent drug cartridge layers 2. After the adhesive is cured, all drug cartridge layers 2 can form a whole.

[0033] like Figure 3 As shown, the primary propellant layer loading operation includes: Step S110: Inject flowing adhesive into the inner cavity.

[0034] For example, in a scenario where propellant charges are loaded into a munition casing, multiple operating stations may be included. A ground rail is provided between the multiple operating stations, and a jig for clamping the casing 1 is mounted on the ground rail. This jig can drive the casing 1 to reciprocate between the multiple operating stations via the ground rail. Each operating station is equipped with automated equipment for performing different process operations. An industrial control computer (or server) can control the automated equipment in each operating station separately by executing the method of this application embodiment to complete the propellant charge loading process.

[0035] For example, the fixture can clamp a housing 1 with a diameter of 200mm to 800mm. Depending on the clamping method, the diameter can be the inner diameter or the outer diameter of the housing 1.

[0036] For example, the fixture drives the housing 1 to rotate at a speed of approximately 1 m / s between multiple operating stations, and the rotation time between two adjacent operating stations is proportional to the distance between those two stations. Of course, this rotation speed can be adjusted according to process requirements.

[0037] Multiple operating stations may include a dispensing station, a cartridge filling station, an auxiliary assembly station, a vacuuming station, a component assembly station, a screw tightening station, a product transfer and curing station, etc. A floor plan of each operating station is shown below. Figure 4 As shown.

[0038] Step S110 can be performed at the glue injection station. A glue injection mechanism is provided at the glue injection station. When the fixture moves the housing 1 to the glue injection station, the glue injection mechanism can inject flowing glue 3 into the inner cavity 102 of the housing 1, such as... Figure 5 .

[0039] Step S120: Insert the drug cartridge layer into the inner cavity.

[0040] Step S120 can be performed at the pharmacopoeia loading station, which is equipped with a suction cup mechanism. After the fixture moves the housing 1 containing the flowing adhesive 3 to the pharmacopoeia loading station, the pharmacopoeia layer 2 is loaded into the inner cavity 102 of the housing 1 via the suction cup mechanism. The bottom surface of the pharmacopoeia layer 2 can contact the adhesive 3 in the inner cavity 102. Figure 6 .

[0041] Step S130: The drug cartridge layer is squeezed along the axial direction of the inner cavity until an adhesive overflows from between the inner wall of the housing and the drug cartridge layer.

[0042] For example, such as Figure 7 The distance L between the drug grain layer 2 and the inner wall of the shell 1 is less than or equal to 2 mm.

[0043] The propellant loading station also includes a clamping device that pushes the propellant layer 2 downwards from above. The propellant layer 2 compresses the adhesive 3 beneath it, forcing the adhesive 3 to flow and fill the gap between the propellant layer 2 and the housing 1. When the adhesive 3 extends beyond the upper surface of the propellant layer 2, it indicates that the gap between the propellant layer 2 and the housing 1 has been completely filled with the adhesive 3. Figure 7 Once the adhesive 3 has cured, the position of the drug cartridge layer 2 within the housing 1 will be fixed.

[0044] The propellant loading method provided in this application embodiment reasonably breaks down and optimizes the process of loading propellant by manual labor in related technologies, so that the entire process can be completed in an orderly manner through standardized steps. This makes it possible for an industrial control computer to control automated equipment to complete the process of loading propellant into the casing 1 according to the method. This helps to achieve human-machine isolation between the operator and the ammunition, effectively reduces the operator's operational risks, enhances the safety and stability of assembly in fire-related links, and also reduces the operator's labor intensity.

[0045] In some embodiments, each drug column layer 2 includes a central drug column 201 and peripheral drug columns 202 surrounding the central drug column 201, such as... Figure 8a , Figure 8b and Figure 8c As shown.

[0046] Both the central propellant column 201 and the outer propellant column 202 are structures with a certain height (or thickness).

[0047] For example, the cross-sectional shape of the central propellant column 201 perpendicular to its height direction can be circular, such as... Figure 8a and Figure 8b Or it can be circular, such as Figure 8c .

[0048] For example, the cross-sectional shape of the outer propellant column 202 can be annular, such as... Figure 8a Or it could be a semi-circular ring, such as Figure 8b Or it could be curved, such as Figure 8c .

[0049] In some embodiments, such as Figure 8a As shown, the drug column layer 2 includes a central drug column 201 and a peripheral drug column 202. When loading the drug column layer 2 into the inner cavity 102, the peripheral drug column layer 202 is loaded first, and then the central drug column layer 201 is loaded.

[0050] In some embodiments, such as Figure 8b and Figure 8c As shown, each of the drug column layers 2 includes a central drug column 201 and at least two peripheral drug columns 202 arranged around the central drug column 201.

[0051] For example, all peripheral propellant columns 202 can have the same structure, such as Figure 8b They can also be different, such as Figure 8c .

[0052] like Figure 9 As shown, in some embodiments, step S120 may include: Step S121: Load all the peripheral drug columns into the inner cavity.

[0053] In the cartridge loading station, a suction cup mechanism picks up the outer cartridge 202 and loads it into the inner cavity 102 containing the adhesive 3. For example, in order to reliably pick up the outer cartridge 202, the suction load of the suction cup mechanism is greater than or equal to 80 kg.

[0054] by Figure 10 The structure shown is illustrated by way of example. When the outer propellant columns 202 are filled but the central propellant column 201 has not yet been filled, the outer propellant columns 202 may converge toward the center of the inner cavity 102 under their own gravity. This will make the space enclosed by all the outer propellant columns 202 small, which is not enough to accommodate the central propellant column 201. Therefore, it is necessary to expand the space.

[0055] Step S122: Push all the peripheral drug columns toward the inner wall of the cavity to form a central space; wherein all the peripheral drug columns surround the central space.

[0056] After all the peripheral propellant charges 202 have been filled into the inner cavity 102, the housing 1 is moved to the auxiliary assembly station by a jig. The auxiliary assembly station is equipped with an external support mechanism (e.g., a mechanical gripper). This mechanism extends into the small space enclosed by all the peripheral propellant charges 202 and pushes them outward (towards the inner wall of the inner cavity 102), thereby increasing the original space and forming a central space 203 sufficient to accommodate the central propellant charge 201. Figure 11 As shown.

[0057] Step S123: The central drug column is loaded into the central space.

[0058] The shell 1, which has a central space 203, is moved to the cartridge filling station via a jig. A suction cup mechanism picks up the central cartridge 201 and inserts it into the central space 203 to form a cartridge. Figure 8c The structure shown.

[0059] In some embodiments, the peripheral propellant column 202 is provided with multiple (at least three) such as Figure 8c .

[0060] like Figure 12 Step S121 includes: Step S1211: A portion of all the peripheral drug columns is loaded into the inner cavity; wherein, the portion includes at least two peripheral drug columns.

[0061] by Figure 13The structure shown is illustrated as an example. In the propellant loading station, a portion of the outer propellant columns 202 are loaded into the inner cavity 102 via a suction cup mechanism. For example, if there are a total of 6 outer propellant columns 202, 5 outer propellant columns 202 can be loaded into the inner cavity 102 first. Under the action of their own gravity, the 5 outer propellant columns 202 will converge together to form a shape like... Figure 13 In this structure, the remaining space on the periphery is insufficient to accommodate the sixth peripheral drug column 202, and the remaining space on the periphery needs to be expanded.

[0062] Step S1212: Push and gather the peripheral drug column towards the inner wall of the cavity to reduce the gap between adjacent peripheral drug columns in the peripheral drug column, forming a peripheral space between the beginning and end of the peripheral drug column.

[0063] After the outer propellant columns 202 are loaded into the inner cavity 102 at the propellant column loading station, the housing 1 is moved to the auxiliary assembly station by a jig fixture. An external support mechanism pushes the outer propellant columns 202 in the current inner cavity 102 towards the inner wall of the inner cavity 102, so that the outer propellant columns 202 are as close as possible to the inner wall of the inner cavity 102. Simultaneously, the outer propellant columns 202 are brought together to form a relatively compact arc-shaped arrangement, such as... Figure 14 At this point, the space between the first and last ends of the outermost pills 202 arranged in an arc increases, forming an outer space 204 large enough to accommodate the sixth outermost pill 202.

[0064] Step S1213: Load the remaining portion of all the peripheral drug columns into the peripheral space.

[0065] The shell 1, which has an outer space 204, is moved to the cartridge filling station by a jig. The sixth outer cartridge 202 is picked up by a suction cup mechanism and inserted into the outer space 204 to form a cartridge as shown in the image. Figure 11 The structure shown.

[0066] It should be noted that regardless of the cross-sectional shape of the outer propellant column 202 and the central propellant column 201 as described above, the outer propellant column 202 and the central propellant column 201 used to form the propellant column layer 2 can be loaded into the inner cavity 102 by the above method. The above method has good compatibility and a high degree of flexibility.

[0067] like Figure 1 and Figure 7As shown, in some embodiments, paper pads 4 are placed between adjacent propellant layers 2 and on the surface of the uppermost propellant layer 2 in the inner cavity 102. Under normal circumstances, especially during transport and transfer, the paper pads 4 can be used to secure the propellant layers 2, prevent them from shifting, and protect them from damage. Simultaneously, they also prevent the propellant layers 2 from shifting within the inner cavity 102 during loading.

[0068] Before step S130, the method further includes placing a paper pad on the surface of the drug cartridge layer in the inner cavity.

[0069] For example, the orthographic projection of the paper pad 4 onto the drug cartridge layer 2 can cover the surface of the drug cartridge layer 2.

[0070] In the propellant loading station, after the propellant layer 2 is loaded into the inner cavity 102, a paper pad 4 can be placed on top of the propellant layer 2, ensuring that the paper pad 4 is placed flat and in contact with the upper surface of the propellant layer 2. Then, a clamping fixture pushes the paper pad 4 and the propellant layer 2 from top to bottom to compress them. During the compression process, the paper pad 4 will prevent some of the adhesive 3 from overflowing from the center of the propellant layer 2 (i.e., the gap between the central propellant 201 and the outer propellant 202, and the gap between adjacent outer propellant 202) onto the upper surface of the propellant layer 2.

[0071] In some embodiments, step S110 includes: injecting flowing adhesive into the inner cavity at least once through an adhesive injection mechanism to form an adhesive layer until the thickness of the adhesive layer is not less than 3 mm.

[0072] To minimize the introduction of air into the inner cavity 102 during the injection of adhesive 3, the adhesive 3 should be injected slowly using the injection mechanism. Simultaneously, the injected adhesive 3 should be positioned at the center of the inner cavity 102. This ensures that the adhesive 3 flows evenly from the center outwards within the inner cavity 102, resulting in a more uniform thickness of the formed adhesive layer.

[0073] To ensure that the adhesive 3 can fully fill the gap between the drug cartridge layer 2 and the inner wall of the inner cavity 102 after being squeezed, the thickness of the adhesive layer should be greater than or equal to 3 mm.

[0074] In some embodiments, the amount of adhesive injected (or dispensed) by the dispensing mechanism each time is approximately 240 ml, and the dispensing speed (or dispensing speed) is 48 ml / s.

[0075] In some embodiments, the housing is left to stand for at least 13 hours.

[0076] After all the propellant layer 2 filling operations are completed, the housing 1 is moved to the product transfer and curing station by a fixture for static curing. The resulting product (i.e., ammunition) is then ready to be removed from the production line. For example, the capacity of the product transfer and curing station should meet the daily production output. To ensure complete curing of the flowing adhesive 3 within the housing 1, the static curing time must be greater than or equal to 13 hours.

[0077] In some embodiments, prior to step S200, the method further includes: performing a vacuum treatment on the cavity containing the adhesive and the drug cartridge layer.

[0078] After the drug cartridge layer 2 is axially compressed in the inner cavity 102, the housing 1 is moved to the vacuum station by the fixture. The vacuum station is equipped with a vacuum tool (such as a vacuum pump). The inner cavity 102 is vacuumed by the vacuum tool so that the inner cavity 102 meets the process requirements of vacuum degree.

[0079] In some embodiments, the vacuum level of the inner cavity 102 is required to be less than or equal to -0.08 MPa. In order for the inner cavity 102 to achieve this vacuum level requirement, the evacuation time should be greater than 8 minutes.

[0080] In some embodiments, after the loading of the drug column layer, if it is necessary to load components into the inner cavity 102, the housing 1 is moved to the component assembly station by a fixture, and the component is loaded into the inner cavity 102 by the matching fixture equipment set in the component assembly station.

[0081] In some embodiments, the housing 1 containing the drug cartridge layer 2 is further provided with a first mounting position, which includes a threaded structure. Exemplarily, the first mounting position includes a screw hole. After step S100, the filling operation of the inner cavity 102 of the housing 1 has been completed, and screws need to be installed into the screw hole on the housing 1 to complete the assembly of the housing 1 with other structural components (such as a cap). Figure 15 The methods include: Step S310: Obtain the thread feature information and position information of the first mounting position through a visual recognition system.

[0082] For example, the recognition accuracy of the visual recognition system is ±0.02mm.

[0083] The fixture moves the housing 1 to the screw tightening position. A vision recognition system identifies the first mounting position and obtains its thread characteristics and position information. The thread characteristics may include the specifications, depth, and tooth profile of the threaded hole.

[0084] Step S320: Select the first accessory using a vision recognition system based on thread feature information and / or position information.

[0085] For example, the first accessory is a screw.

[0086] The visual recognition system can select screws whose specifications, length, and thread profile are all compatible with the threaded hole of the first mounting position.

[0087] Step S330: Install the first accessory into the first mounting position using the tightening mechanism.

[0088] The selected first component is rotated and installed in the first mounting position by a tightening mechanism set at the screw tightening station. The tightening accuracy is 3% and the tightening torque is 2 to 10 Nm, so as to ensure that the first component can be reliably installed in the first mounting position.

[0089] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0090] The various embodiments in this application are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0091] The description in this application is given for illustrative purposes and is not intended to be exhaustive or to limit the application to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical application of this application and to enable those skilled in the art to understand this application and design various embodiments with various modifications suitable for a particular purpose.

[0092] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0093] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description.

[0094] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A method for filling a propellant column, characterized in that, The propellant grains are filled within a housing, the housing including an inner cavity with an opening; the propellant grains include at least one grain layer; the method includes: Perform at least one drug cartridge layer loading operation within the inner cavity until the first distance between the upper surface of the current drug cartridge layer and the opening reaches a preset first threshold. Allow the shell to stand until the drug cartridge layer solidifies, at which point the drug cartridge filling is complete; The primary charge loading operation includes: Injecting a flowing adhesive into the cavity; A drug cartridge layer is loaded into the inner cavity; The drug cartridge layer is squeezed axially along the inner cavity until the adhesive below the drug cartridge layer overflows from between the inner wall of the housing and the drug cartridge layer; The drug cartridge layer includes a central drug cartridge and at least two peripheral drug cartridges arranged around the central drug cartridge. Loading the provided drug cartridge layer into the inner cavity includes: All of the peripheral drug cartridges are loaded into the inner cavity; All the peripheral pills are pushed against the inner wall of the cavity by an external support mechanism to form a central space; wherein all the peripheral pills surround the central space; The central propellant column is loaded into the central space; The outer pharmacist columns are provided in multiple manner, and the process of loading all of the outer pharmacist columns into the inner cavity includes: A portion of all the peripheral drug columns is loaded into the inner cavity; wherein, the portion includes at least two peripheral drug columns; The outer portion of the drug column is pushed and gathered towards the inner wall of the cavity to reduce the gap between adjacent outer drug columns, thus forming an outer space between the beginning and end of the outer portion of the drug column. The remaining portion of all the peripheral drug columns is loaded into the peripheral space.

2. The method for filling propellant columns according to claim 1, characterized in that, Before the axial compression of the drug cartridge layer along the inner cavity, the method further includes: A paper pad is placed on the surface of the drug cartridge layer in the inner cavity.

3. The method for filling propellant columns according to claim 1, characterized in that, The injection of the flowing adhesive into the cavity includes: The adhesive is injected into the inner cavity at least once by the adhesive injection mechanism to form an adhesive layer until the thickness of the adhesive layer is not less than 3 mm.

4. The method for filling propellant columns according to claim 3, characterized in that, The dispensing speed of the dispensing mechanism is 48 ml / s.

5. The method for filling propellant columns according to claim 1, characterized in that, The shell shall be left to stand for no less than 13 hours.

6. The method for filling propellant columns according to claim 1, characterized in that, Before allowing the housing to stand until the drug cartridge layer solidifies, the method further includes: The cavity containing the adhesive and the drug cartridge layer is evacuated.

7. The method for filling propellant columns according to claim 6, characterized in that, The vacuum level of the vacuuming process is less than or equal to -0.08 MPa, and the vacuuming time is greater than 8 minutes.

8. The method for filling propellant columns according to claim 1, characterized in that, The housing containing the propellant layer is further provided with a first mounting position, the first mounting position including a threaded structure, and after performing at least one propellant layer loading operation in the inner cavity, it further includes: The thread feature information and position information of the first mounting position are obtained through a visual recognition system; The first component is selected using a visual recognition system based on thread feature information and / or position information. The first accessory is installed in the first mounting position by tightening mechanism.

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