An elastomeric overmolding production line

Abstract

The application discloses a bullet body outer assembly production line, which comprises a base frame, a first rotary table capable of rotating around its own axis and a second rotary table capable of rotating around its own axis, the first rotary table is provided with a first fixing structure for fixing a bullet body, and the second rotary table is provided with a second fixing structure for fixing the bullet body; a closed gas ring assembly device is arranged on the outer periphery of the first rotary table and used for mounting the closed gas ring on the outer periphery of the bullet body; a bullet support assembly device is arranged between the first rotary table and the second rotary table and used for mounting the bullet support on the outer periphery of the bullet body; and a snap ring mounting point mortise device is arranged on the outer periphery of the second rotary table and used for mounting the snap ring and mortising to connect a plurality of bullet support modules on the outer periphery of the bullet body into a bullet support whole. According to the bullet body outer assembly production line, the automatic installation of the closed gas ring, the bullet support and the snap ring on the outer periphery of the bullet body can be realized, the installation efficiency and the installation precision are high, the manual participation is reduced, and the production cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of projectile external assembly equipment technology, and in particular to a projectile external assembly production line. Background Technology

[0002] The projectile, especially armor-piercing projectiles, requires an external sabot. The sabot is composed of multiple identical sabot modules. Therefore, after the sabot is installed, retaining rings need to be installed at both ends of the sabot to fix the multiple sabot modules into a whole. Then, the retaining rings need to be marked and welded. At the same time, the installation of the retaining rings and the marking need to be precisely aligned with the sabot position. Currently, the installation, marking, and welding of the sabot, retaining rings, and sabot are still carried out manually and separately, which greatly reduces production efficiency, makes it difficult to control production accuracy, and results in high production costs. Summary of the Invention

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a projectile external assembly production line that can realize the automatic installation of the gas-sealing ring, projectile sabot, and retaining ring, with high installation accuracy, high production efficiency, and effective reduction of labor costs.

[0004] A projectile external assembly production line according to an embodiment of the present invention includes:

[0005] The base frame is equipped with a first turntable and a second turntable that can rotate around their own axis. The first turntable is provided with a first fixing structure for fixing the projectile, and the second turntable is provided with a second fixing structure for fixing the projectile.

[0006] An air-sealing ring assembly device is disposed on the outer periphery of the first turntable and is used to install an air-sealing ring on the outer periphery of the projectile. The air-sealing ring assembly device includes a projectile feeding device, an air-sealing ring feeding device, a first transfer device, a detection device, and a working device. The projectile feeding device is used to supply projectiles to the first turntable. The first transfer device is used to grab the air-sealing ring from the air-sealing ring feeding device and send it to the detection device. The working device is used to grab the air-sealing ring from the detection device and install the air-sealing ring onto the projectile on the first turntable.

[0007] A sabot assembly device, disposed between a first turntable and a second turntable, is used to install sabots on the outer periphery of the projectile. The sabot assembly device includes a sabot feeding device, a second transfer device, a mounting platform, a positioning device, and a clamping device. The second transfer device is used to grab a projectile with a sealing ring mounted on the first turntable and deliver it to the mounting platform. The second transfer device is also used to sequentially grab sabot modules supplied by the sabot feeding device and assemble the sabot modules onto the outer periphery of the projectile on the mounting platform. The positioning device is used to fix the position of the sealing ring fitted on the sabot. The clamping device is used to clamp multiple sabot modules on the outer periphery of the projectile.

[0008] A snap ring mounting and mortise-marking device is disposed on the outer periphery of the second turntable. It is used to install snap rings and mark them to connect multiple projectile sabot modules on the outer periphery of the projectile into a projectile sabot assembly. The snap ring mounting and mortise-marking device includes a third transfer device, a fourth transfer device, a snap ring feeding device, an assembly device, and a mortise-marking device. The third transfer device is used to grab the projectile sabot from the projectile sabot assembly device and transfer it to the second turntable. The fourth transfer device is used to grab the snap ring supplied by the snap ring feeding device and send it to the assembly device. The assembly device is used to install the snap ring, and the mortise-marking device is used to mark the snap ring. The assembly device and the mortise-marking device are arranged sequentially along the rotation direction of the second turntable.

[0009] The projectile external assembly line according to embodiments of the present invention has at least the following beneficial effects:

[0010] By setting up sealing ring assembly equipment, sabot assembly equipment, and shackle installation point equipment, the automated installation of the external sealing ring, sabot, and shackle of the projectile can be achieved, resulting in high installation efficiency and accuracy, reduced manual intervention, and lower production costs.

[0011] According to some embodiments of the present invention, the air-sealing ring assembly equipment further includes a waste bin, and the working device includes a first working device; the detection device can issue a first detection signal and a second detection signal according to the detection result, and the first working device is electrically connected to the detection device; in response to the first detection signal, the first working device applies the air-sealing ring grasped from the detection device onto the projectile of the first turntable; in response to the second detection signal, the first working device transfers the air-sealing ring grasped from the detection device into the waste bin.

[0012] According to some embodiments of the present invention, the detection device includes a placement cylinder, a pressure plate, and an imager. The placement cylinder is used to place a sealing ring, the pressure plate is disposed above the placement cylinder and is movable relative to the placement cylinder, and the imager is disposed above the pressure plate.

[0013] According to some embodiments of the present invention, the working device further includes a second working device and a third working device, wherein the first working device, the second working device and the third working device are arranged sequentially along the rotation direction of the first turntable;

[0014] The second working device is used to apply silicone grease to the outer periphery of the projectile; the third working device is used to push the gas-sealing ring to a set position on the projectile.

[0015] According to some embodiments of the present invention, the mounting platform of the sabot assembly equipment is movably and vertically mounted on the base frame; the mounting platform is provided with mounting holes for inserting the sabot body, and a positioning plate for positioning the sabot module is provided on the outer periphery of the mounting holes.

[0016] According to some embodiments of the present invention, the positioning device is movably and telescopically mounted on the outer periphery of the mounting platform, and the positioning device is used to fix the position of the air-sealing ring placed on the projectile in the mounting hole; the positioning device includes a telescopic gripper, the telescopic gripper includes a clamping piece, the clamping piece is used to clamp the air-sealing ring; the thickness of the clamping piece is not greater than the thickness of the positioning plate.

[0017] According to some embodiments of the present invention, the sabot assembly equipment further includes a clamping cylinder, which is disposed above the mounting platform and can be raised and lowered relative to the mounting platform; the movable end of the clamping cylinder is connected to a pressure plate, which is used to press the sabot modules sequentially onto the mounting platform.

[0018] According to some embodiments of the present invention, the assembly device of the snap ring mounting point device includes a first slide rail, a drive device, a housing, a gripper assembly, and a push rod. The housing is slidably mounted on the first slide rail, and the gripper assembly and the push rod are both mounted on the housing. The gripper assembly is used to hold the snap ring, and the push rod is used to push the snap ring into the spring holder. A second slide rail is installed inside the housing, and the gripper assembly is slidably mounted on the second slide rail. The push rod is mounted on the housing, and the gripper assembly can slide relative to the push rod.

[0019] According to some embodiments of the present invention, the retaining ring feeding device includes a vibrating conveyor line and a receiving structure. The surface of the vibrating conveyor line is provided with positioning ribs. The receiving structure is installed at the end of the vibrating conveyor line. The receiving structure includes a receiving groove and a limiting baffle. The receiving groove is used to receive the retaining ring, and the limiting baffle is used to prevent the retaining ring from detaching from the receiving groove.

[0020] According to some embodiments of the present invention, the surface of the first turntable is provided with a first fixing structure for fixing the projectile, and the surface of the second turntable is provided with a second fixing structure for fixing the projectile; the second fixing structure includes a clamping cylinder, a sleeve, and a connecting shaft, the clamping cylinder is used to clamp the projectile support, and the clamping cylinder is connected to the connecting shaft; the connecting shaft passes through the sleeve and is movably connected to the sleeve, and the sleeve is connected to the second turntable; the connecting shaft can be raised, lowered, and swayed relative to the sleeve.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0023] Figure 1 This is a schematic diagram of the air-sealing ring assembly device and the sabot assembly device according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the circlip mounting point device according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the third working device of the air-sealing ring assembly equipment according to an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of the first working device of the air-sealing ring assembly equipment according to an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of the second transfer device of the sabot assembly equipment according to an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the mounting platform and clamping device of the sabot assembly equipment according to an embodiment of the present invention;

[0029] Figure 7 This is an assembly diagram of the mounting platform of the sabot assembly equipment according to an embodiment of the present invention;

[0030] Figure 8 This is a schematic diagram of the position adjustment component of the adhesive application device in the snap ring mounting point device according to an embodiment of the present invention;

[0031] Figure 9 This is an assembly diagram of the second fixing structure according to an embodiment of the present invention;

[0032] Figure 10 This is a schematic diagram of the assembly device of the snap ring mounting point device according to an embodiment of the present invention;

[0033] Figure 11 This is a schematic diagram of the assembly components of the assembly device for the snap ring mounting point device according to an embodiment of the present invention;

[0034] Figure 12 This is a schematic diagram of the mortise and tenon device of the snap ring mounting device according to an embodiment of the present invention;

[0035] Figure 13 for Figure 1 Enlarged view of point A in the middle;

[0036] Figure 14 for Figure 1 Enlarged view of point B in the middle;

[0037] Figure 15 for Figure 2 Enlarged view of point C in the middle;

[0038] Figure 16 for Figure 6 Enlarged view of point D in the middle.

[0039] Icon labels:

[0040] Base frame 1000, first turntable 1100, first fixed structure 1200, second turntable 1300, second fixed structure 1400, clamping cylinder 1410, sleeve 1420, first through hole 1421, first mating structure 1422, first radial hole 1423, connecting shaft 1430, second mating structure 1431, second radial hole 1432, first elastic element 1440, insertion rod 1450, adjusting element 1460, limiting element 1470, main slide rail 1500, work frame 1600;

[0041] The equipment includes: a closed-loop assembly device 2000, a projectile feeding device 2100, a closed-loop feeding device 2200, a first transfer device 2300, a detection device 2400, a placement cylinder 2410, a first slot 2411, a first pressure plate 2420, a second through hole 2421, a camera 2430, a light source 2440, a first working device 2500, a first rotating cylinder 2510, a first lifting cylinder 2520, a first gripper 2530, a second gripper 2540, a second working device 2600, a grease injector 2610, a third working device 2700, a third lifting cylinder 2710, a third horizontal cylinder 2720, a working arm 2730, an arc groove 2731, and a waste bin 2800.

[0042] The equipment includes: a sabot assembly device 3000, a sabot feeding device 3100, a second transfer device 3200, a robotic arm 3210, a rotating structure 3211, a lifting structure 3212, a mounting plate 3213, a first robotic arm 3220, a second robotic arm 3230, a mounting platform 3300, a mounting hole 3310, a third through hole 3320, a positioning plate 3330, a first lifting device 3340, a clamping device 3400, a first clamping part 3410, a second slot 3411, a positioning device 3500, a telescopic gripper 3510, a telescopic cylinder 3511, a clamping piece 3512, a second lifting device 3520, a pressing cylinder 3600, and a second pressure plate 3610.

[0043] The components include: a retaining ring mounting point device 4000, a third transfer device 4100, a fourth transfer device 4200, a clamping structure 4210, a first motion structure 4220, a second motion structure 4230, a third motion structure 4240, a retaining ring feeding device 4300, a vibrating conveyor line 4310, a positioning rib 4311, a first receiving structure 4320, a first rotating structure 4321, a receiving groove 4322, a limiting baffle 4323, a suction hole 4324, and a second receiving structure 4330. The system includes a rotating structure 4331, an assembly device 4400, a first slide rail 4410, an assembly component 4420, a housing 4421, a gripper assembly 4422, a push rod 4423, a second elastic element 4424, a clamping part 4425, a second slide rail 4426, a mortise device 4500, a mortise assembly 4510, a mortise head 4511, an adhesive applicator 4600, an adhesive applicator 4610, a position adjustment component 4620, a clamping arm 4621, a rotary cylinder 4622, and a lifting cylinder 4623. Detailed Implementation

[0044] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0045] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0046] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0047] The armor-piercing projectile requires an external gas-sealing ring and a sabot. The gas-sealing ring is installed inside the sabot, which is composed of multiple sabot modules connected by retaining rings. After the retaining ring is installed inside the sabot, it needs to be mortised. Finally, the retaining ring and the sabot are welded together. The installation sequence for the external assembly of the armor-piercing projectile is: first install the gas-sealing ring, then install the sabot modules, and finally install the retaining ring and mortise it. In this embodiment, the gas-sealing ring needs to be installed at a designated position on the projectile body. One end of the gas-sealing ring has a chamfer and needs to be inspected before installation on the projectile body. The gas-sealing ring also has three outwardly radially extending extension arms. The sabot module has slots for the extension arms to be inserted. Therefore, when installing the gas-sealing ring and then the sabot module, the position of the gas-sealing ring needs to be fixed before installing the sabot module. In this embodiment, the sabot is composed of three sabot modules. Both ends of the assembled sabot are flared, and both ends of the sabot need to be fitted with retaining rings and mortise marks. To achieve automated assembly of the aforementioned sealing ring, warhead, and retaining ring, this invention proposes an external warhead assembly production line. This line enables fully automated operation of the above steps, achieving high assembly efficiency without manual intervention, effectively reducing labor costs and lowering production costs. The external warhead assembly production line of this invention will be described in detail below with reference to the accompanying drawings.

[0048] Reference Figures 1 to 16 The projectile assembly production line of this invention includes a base frame 1000 and a gas-sealing ring assembly device 2000, a projectile sabot assembly device 3000, and a retaining ring mounting point device 4000 mounted on the base frame 1000. The base frame 1000 is equipped with a first turntable 1100 and a second turntable 1300 that can rotate around their own axis. The first turntable 1100 is provided with a first fixing structure 1200 for fixing the projectile, and the second turntable 1300 is provided with a second fixing structure 1400 for fixing the projectile. The gas-sealing ring assembly device 2000 is located on the outer periphery of the first turntable 1100 and is used to install a gas-sealing ring on the outer periphery of the projectile. Since the installation of the gas-sealing ring is relatively simple, and the first fixing structure 1200 is mainly used for vertical placement of the projectile, the first fixing structure 1200 is relatively simple. The sabot assembly device 3000 is positioned between the first turntable 1100 and the second turntable 1300, and is used to install sabots on the outer periphery of the projectile. The retaining ring mounting mortise device 4000 is positioned on the outer periphery of the second turntable 1300, and is used to install retaining rings and mark mortises to connect multiple sabot modules on the outer periphery of the projectile into a single sabot assembly. The transfer from the sabot assembly device 3000 to the retaining ring mounting mortise device requires transferring the projectile with the sabot installed to the second turntable 1300. Since three sabot modules and a gas-sealing ring are already installed on the outer periphery of the projectile at this point, the second fixing structure 1400 is relatively complex to facilitate the fixation of the projectile with the sabot and gas-sealing ring installed.

[0049] The air-sealing ring assembly equipment 2000 is located on the outer periphery of the first turntable 1100 and is used to install air-sealing rings on the outer periphery of the projectile. The air-sealing ring assembly equipment 2000 includes a projectile feeding device 2100, an air-sealing ring feeding device 2200, a first transfer device 2300, a detection device 2400, and a working device. The projectile feeding device 2100 is used to supply projectiles to the first turntable 1100, the first transfer device 2300 is used to grab the air-sealing rings from the air-sealing ring feeding device 2200 and send them to the detection device 2400, and the working device is used to grab the air-sealing rings from the detection device 2400 and install the air-sealing rings onto the projectiles on the first turntable 1100.

[0050] The sabot assembly equipment 3000 is disposed between the first turntable 1100 and the second turntable 1300, and is used to install sabots on the outer periphery of the projectile. The sabot assembly equipment 3000 includes a sabot feeding device 3100, a second transfer device 3200, a positioning device 3500, and a clamping device 3400. The second transfer device 3200 is used to grab the projectile with the sealing ring installed on the first turntable 1100 and send it to the positioning device 3500. The second transfer device 3200 is used to sequentially grab the sabot modules supplied by the sabot feeding device 3100 and assemble the sabot modules on the outer periphery of the projectile on the positioning device 3500. The clamping device 3400 is used to clamp multiple sabot modules on the outer periphery of the projectile.

[0051] The retaining ring installation and mortise marking device 4000 is located on the outer periphery of the second turntable 1300 and is used to install retaining rings and mark them to connect multiple projectile sabot modules on the outer periphery of the projectile into a projectile sabot assembly. The retaining ring installation and mortise marking device 4000 includes a third transfer device 4100, a fourth transfer device 4200, a retaining ring feeding device 4300, an assembly device 4400, and a mortise marking device 4500. The third transfer device 4100 is used to grab the projectile sabot from the projectile sabot assembly device 3000 and transfer it to the second turntable 1300. The fourth transfer device 4200 is used to grab the retaining ring supplied by the retaining ring feeding device 4300 and send it to the assembly device 4400. The assembly device 4400 is used to install the retaining ring, and the mortise marking device 4500 is used to mark the retaining ring. The assembly device 4400 and the mortise marking device 4500 are arranged sequentially along the rotation direction of the second turntable 1300.

[0052] In some embodiments of the present invention, reference is made to... Figure 1 As shown, the first turntable 1100 is circular, and multiple first fixed structures 1200 are provided. These multiple first fixed structures 1200 are evenly spaced around the outer periphery of the first turntable 1100, meaning that the first turntable 1100 typically holds multiple projectiles during operation to improve work efficiency. The projectile feeding device 2100 is used to grab the projectiles and place them on the first fixed structures 1200. The projectile feeding device 2100 can employ structures such as robotic arms, and its specific arrangement can be determined according to actual needs.

[0053] In some embodiments of the present invention, the first turntable 1100 rotates clockwise or counterclockwise around its own central axis, but only in one direction of rotation, that is, it can only rotate clockwise or counterclockwise, and does not need to have a reverse rotation function. Figure 1 For example, in this embodiment of the invention, the first turntable 1100 rotates counterclockwise. Along the rotation direction of the first turntable 1100, a working device for installing the air-sealing ring is provided on the outer periphery of the first turntable 1100. The working device includes a first working device 2500, a second working device 2600, and a third working device 2700. That is, the projectile passes through the first working device 2500, the second working device 2600, and the third working device 2700 in sequence to complete the installation of the air-sealing ring. The first working device 2500 is used to place the air-sealing ring supplied by the air-sealing ring feeding device 2200 onto the projectile located on the first turntable 1100. The second working device 2600 is used to apply silicone grease to the outer periphery of the projectile. The third working device 2700 is used to push the air-sealing ring to the set position of the projectile. The first working device 2500 places the gas-sealing ring on the upper part of the projectile, the second working device 2600 applies silicone grease to the outer periphery of the projectile below the gas-sealing ring, and the third working device 2700 pushes the gas-sealing ring down to the set position.

[0054] It is conceivable that, along the rotation direction of the first turntable 1100, the second working device 2600, the first working device 2500, and the third working device 2700 could be sequentially set around the outer periphery of the first turntable 1100. That is, silicone grease is first applied to the outer periphery of the projectile, and then the air-sealing ring is installed and pushed to the set position.

[0055] In some embodiments of the present invention, the air-sealing ring assembly equipment 2000 further includes a detection device 2400, a first transfer device 2300, and a waste bin 2800. The air-sealing ring feeding device 2200, the detection device 2400, the first transfer device 2300, and the waste bin 2800 are all mounted on the base frame 1000. The air-sealing ring feeding device 2200 is used to supply air-sealing rings, the detection device 2400 is used to detect the air-sealing rings, and the first transfer device 2300 is used to transfer the air-sealing rings from the air-sealing ring feeding device 2200 to the detection device 2400. A first working device 2500 is used to grab the air-sealing rings from the detection device 2400 and place them onto the projectile located on the first turntable 1100. The first working device 2500 is positioned between the detection device 2400 and the first turntable 1100, and the waste bin 2800 is positioned close to the first working device 2500. By reasonably setting the first working device 2500, the second working device 2600 and the third working device 2700 on the outer periphery of the first turntable 1100, the sealing ring can be automatically installed on the projectile body.

[0056] In an embodiment of the present invention, reference is made to Figure 1As shown, the air-sealing ring is a circular ring with three radially extending arms, which are evenly spaced around the outer circumference of the air-sealing ring. Furthermore, the circular portion of the air-sealing ring has a notch, allowing it to be pulled horizontally outward along the radial direction of the rod-shaped structure when fitted onto it. The air-sealing ring feeding device 2200 in this embodiment includes multiple rod-shaped structures, evenly spaced around the circumference, each fitted with an air-sealing ring. Each rod-shaped structure is vertically arranged and fitted with multiple air-sealing rings, which are stacked vertically on the same rod-shaped structure. The first transfer device 2300 in this embodiment includes a horizontally rotating cylinder and a horizontally telescopic cylinder to grasp the air-sealing rings fitted onto the rod-shaped structure and transfer them to the detection device 2400.

[0057] In an embodiment of the present invention, the first transfer device 2300 includes a rotating cylinder, a vertical lifting cylinder, and a horizontal telescopic cylinder. The vertical lifting cylinder is mounted on the rotating cylinder, and the horizontal telescopic cylinder is mounted on the movable end of the vertical lifting cylinder.

[0058] In an embodiment of the present invention, the detection device 2400 includes a placement cylinder 2410, a first pressure plate 2420, and a camera 2430. The placement cylinder 2410 is used to place the air-sealing ring. The first pressure plate 2420 is disposed above the placement cylinder 2410 and is movable relative to the placement cylinder 2410. The camera 2430 is disposed above the first pressure plate 2420. (See reference...) Figure 1 , Figure 13 As shown, the top of the placement cylinder 2410 is provided with a first slot 2411 for the air-sealing ring to be inserted, and the first pressure plate 2420 is provided with a second through hole 2421 for the placement cylinder 2410 to pass through; the first pressure plate 2420 can move horizontally and rise vertically relative to the placement cylinder 2410. Specifically, the inner ring of the air-sealing ring is provided with a chamfer, and the detection device 2400 is used to detect whether the chamfer of the air-sealing ring meets the requirements.

[0059] In a specific embodiment of the present invention, the placement cylinder 2410 is a cylindrical structure. Three first slots 2411 are provided at the top of the placement cylinder 2410, and these three first slots 2411 are evenly spaced around the circumference. When the air-sealing ring is placed on the top of the placement cylinder 2410, the three extension arms of the air-sealing ring are respectively inserted into the three first slots 2411. The inner diameter of the second through hole 2421 is slightly larger than the outer diameter of the placement cylinder 2410, but smaller than the length of the extension arms. Therefore, when the second through hole 2421 is concentric with the placement cylinder 2410 and descends relative to the placement cylinder 2410, the first pressure plate 2420 can press down on the three extension arms to undergo elastic deformation, causing the central annular structure of the air-sealing ring to partially flip, thus better exposing the chamfer and facilitating the shooting and identification by the camera 2430.

[0060] Furthermore, the first pressure plate 2420 is connected to a horizontal telescopic cylinder and a vertical lifting cylinder. The horizontal telescopic cylinder is used to misalign the first pressure plate 2420 with the placement cylinder 2410, thereby facilitating the placement of the air-sealing ring. The vertical lifting cylinder drives the first pressure plate 2420 to descend, which exposes the chamfer of the air-sealing ring.

[0061] In an embodiment of the present invention, the detection device 2400 further includes a light source 2440, which is disposed between the image capture device 2430 and the placement tube 2410. Specifically, refer to... Figure 3 As shown, the camera is the image capture device 2430, and the ring light source 2440 is a circular light source 2440. A through-hole is located at the center of the ring light source 2440, and the camera's lens module is concentrically positioned with the through-hole in the center of the ring light source 2440. The ring light source 2440 provides supplementary lighting for the closed-loop ring, allowing for a clearer capture of the chamfered edges of the closed-loop ring.

[0062] In some embodiments of the present invention, the detection device 2400 can issue a first detection signal and a second detection signal based on the detection result. The first working device 2500 is electrically connected to the detection device 2400. In response to the first detection signal, the first working device 2500 places the air-sealing ring gripped on the detection device 2400 onto the projectile of the first turntable 1100. In response to the second detection signal, the first working device 2500 transfers the air-sealing ring gripped on the detection device 2400 into the waste bin 2800. Specifically, the detection device 2400 photographs the chamfer of the air-sealing ring and matches it with a preset chamfer of the air-sealing ring. If the photographed chamfer of the air-sealing ring meets the standard, a first detection signal is issued; if the photographed chamfer of the air-sealing ring does not meet the standard, a second detection signal is issued. The first detection signal indicates that the photographed air-sealing ring is qualified, and the second detection signal indicates that the photographed air-sealing ring is unqualified.

[0063] In a specific embodiment of the present invention, reference is made to Figure 5 As shown, the first working device 2500 includes a first rotating cylinder 2510, a first gripper 2530, and a second gripper 2540, which are arranged opposite to each other. Rotation of the rotating device can cause the first gripper 2530 and the second gripper 2540 to exchange positions. The first gripper 2530 and the second gripper 2540 are collinearly arranged, and the single rotation angle of the first rotating cylinder 2510 is ninety degrees. (Refer to...) Figure 1 As shown, two waste bins 2800 are provided, respectively located on opposite sides of the first working device 2500. When the first gripper 2530 or the second gripper 2540 grasps the air-sealing ring of the detection device 2400, if the first working device 2500 responds to the second detection signal, the first gripper 2530 or the second gripper 2540 will discard the grasped air-sealing ring into the waste bin 2800. Alternatively, only one waste bin 2800 may be provided.

[0064] In some embodiments of the present invention, the first working device 2500 further includes a first lifting cylinder 2520, which is mounted on the first rotating cylinder 2510. The first gripper 2530 and the second gripper 2540 are both mounted on the movable end of the first lifting cylinder 2520. (Refer to...) Figure 1 , Figure 4 As shown, since the projectile has a certain height, a first lifting cylinder 2520 is provided to facilitate the placement of the air-sealing ring on the projectile. At the same time, since the air-sealing ring is partially embedded in the first slot 2411 of the placement cylinder 2410, after the first gripper 2530 or the second gripper 2540 holds the air-sealing ring, the first gripper 2530 or the second gripper 2540 must rise to a certain height in order to remove the air-sealing ring from the placement cylinder 2410.

[0065] In this embodiment, refer to Figure 1 As shown, the second working device 2600 includes a grease injector 2610, which is connected to a horizontal telescopic cylinder and a vertical lifting cylinder to facilitate grease injection onto the outer circumferential surface of the projectile. The third working device 2700 includes a third lifting cylinder 2710, a third horizontal cylinder 2720, and a working arm 2730. The third horizontal cylinder 2720 is mounted on the movable end of the third lifting cylinder 2710, and the working arm 2730 is mounted on the movable end of the third horizontal cylinder 2720. The end of the working arm 2730 is provided with an arc-shaped groove 2731. (Refer to...) Figure 3 As shown, the curvature of the arc groove 2731 is slightly larger than the outer diameter of the projectile.

[0066] The working process of the air-sealing ring assembly equipment 2000 in this embodiment of the invention is as follows:

[0067] 1. The projectile loading device 2100 places the projectile on the first fixed structure 1200 of the first turntable 1100;

[0068] 2. The first turntable 1100 rotates to rotate the projectile to the position of the first working device 2500;

[0069] 3. The first transfer device 2300 grabs the closed air ring from the closed air ring feeding device 2200 and sends the closed air ring to the detection device 2400. After the detection device 2400 detects that the closed air ring is qualified, it sends out the first detection signal.

[0070] 4. The first working device 2500 grabs the air-sealing ring on the detection device 2400 and puts it on the projectile body;

[0071] 5. The projectile with the sealing ring is rotated to the position of the second working device 2600 by the first turntable 1100. The second working device 2600 applies silicone grease to the outer periphery of the projectile with the sealing ring.

[0072] 6. The first turntable 1100 continues to rotate to drive the projectile to the position of the third working device 2700. The working arm 2730 of the third working device 2700 extends to push the air-sealing ring fitted on the upper part of the projectile to the set position of the projectile.

[0073] It is important to understand that steps 1 and 3 are performed simultaneously. The first transfer device 2300 and the detection device 2400 do not start operating only after the projectile reaches the first working position in step 2. In step 3, if the detection device 2400 issues a second detection signal after detection, the air-sealing ring grabbed by the first working device 2500 in step 4 will be discarded into the waste bin 2800.

[0074] The positioning device 3500 of the sabot assembly equipment 3000 of this invention includes a mounting platform 3300, which is movably and vertically mounted on a base frame 1000. A first lifting device 3340 is connected to the mounting platform 3300 and is mounted on the base frame 1000. The first lifting device 3340 can drive the mounting platform 3300 to rise and fall relative to the base frame 1000. The first lifting device 3340 and the mounting platform 3300 are connected by fasteners, such as bolts. The mounting platform 3300 is provided with mounting holes 3310 for inserting the projectile body. A second transfer device 3200 first picks up a projectile body with a sealed gas ring installed from a first turntable 1100, and then places the bottom of the projectile body into the mounting hole 3310. Then, the second transfer device 3200 repeatedly picks up sabot modules from the sabot feeding device 3100 and places the sabot modules sequentially on the mounting platform 3300, placing them sequentially around the outer periphery of the projectile body.

[0075] In this embodiment of the invention, the sabot is composed of three sabot modules. Therefore, the second transfer device 3200 needs to grasp the sabot modules three times and place the three sabot modules sequentially on the outer periphery of the projectile to facilitate subsequent assembly of the sabot modules. Since the gas-sealing ring has three radially extending extension arms, there are also three sabot modules, as shown in the figure. Figure 6 , Figure 16 As shown, the sabot module is fan-shaped, with slots on both sides for the extension arm to be inserted. When installing the sabot module onto the projectile body, the slots on the sabot module need to be aligned with the extension arm to facilitate the assembly of the sabot module. Therefore, a positioning device 3500 is provided to hold the extension arm to fix the position of the gas-sealing ring, thereby facilitating the installation of the sabot module.

[0076] It is conceivable that, since the gas-sealing ring has three extension arms, three positioning devices 3500 are also provided. These three positioning devices 3500 operate simultaneously to clamp the three extension arms, thus ensuring that all three sabot modules can be installed quickly. If the gas-sealing ring has two or four extension arms, the number of sabot modules will need to be adjusted accordingly. The clamping device 3400 is mainly used to form the three sabot modules into a single sabot and for transport.

[0077] Reference Figure 5 As shown, the second transfer device 3200 has a first robotic arm 3220 and a second robotic arm 3230. The first robotic arm 3220 is used to grasp the projectile on the first turntable 1100 and place it in the mounting hole 3310. The second robotic arm 3230 is used to grasp the projectile support module from the projectile support feeding device 3100 and transport the projectile support module to the outer periphery of the projectile. Specifically, the second transfer device 3200 includes a robotic arm 3212, and the end of the robotic arm 3212 is provided with a mounting plate 3213. The first robotic arm 3220 and the second robotic arm 3230 are respectively connected to opposite sides of the mounting plate 3213. By mounting both the first robotic arm 3220 and the second robotic arm 3230 on the mounting plate 3213 and driving them through the same robotic arm 3212, the number of devices can be effectively reduced, thereby reducing costs.

[0078] In some specific embodiments of the present invention, the robotic arm 3212 further includes a rotating structure 3211 and a lifting structure 3212, with a mounting plate 3213 connected to the rotating structure 3211, and the rotating structure 3211 connected to the lifting structure 3212. Specifically, since the positions of the projectile and the sabot module still need to be adjusted when placing the projectile and the sabot module, a lifting structure 3212 and a rotating structure 3211 are provided. (Refer to...) Figure 5 As shown, the robotic arm 3212 of this embodiment is not limited to having a lifting structure 3212 and a rotating structure 3211. The robotic arm 3212 also has multiple degrees of freedom of movement in various directions, but the specific directions of freedom can be arranged according to actual conditions. Since the robotic arm 3212 is a relatively conventional technical solution in the field of machining, it will not be described in detail in this embodiment.

[0079] In an embodiment of the present invention, the mounting platform 3300 is provided with a mounting hole 3310, and a positioning plate 3330 for positioning the sabot module is provided on the outer periphery of the mounting hole 3310. Specifically, refer to... Figure 7As shown, the mounting platform 3300 has multiple third through holes 3320 penetrating through it, evenly spaced around its circumference. Each third through hole 3320 contains a positioning plate 3330. The positioning plates 3330 extend beyond the surface of the mounting platform 3300, and the spring-loaded modules are installed between pairs of adjacent positioning plates 3330. As mentioned above, there are three spring-loaded modules, each installed between pairs of adjacent positioning plates 3330; therefore, there are also three positioning plates 3330. The mounting hole 3310 is located at the center of the mounting platform 3300. Three third through holes 3320 are evenly spaced around the outer periphery of the mounting hole 3310, each containing a positioning plate 3330. The positioning plates 3330 effectively position the spring-loaded modules, thereby improving the installation efficiency.

[0080] In some specific embodiments of the present invention, the third through hole 3320 is an elongated hole, and the first end of the positioning plate 3330 passes through the third through hole 3320. The second end of the positioning plate 3330 is detachably connected to the mounting platform 3300 by bolts. To facilitate the installation of the spring-loaded module and the subsequent clamping by the clamping device 3400, the first end of the positioning plate 3330 should be as thin as possible while ensuring its rigidity. The first end of the positioning plate 3330 needs to have a certain degree of rigidity to reduce deformation or damage. The detachable connection between the second end of the positioning plate 3330 and the mounting platform 3300 facilitates the individual replacement of the positioning plate 3330. When the positioning plate 3330 is damaged, replacing the positioning plate 3330 individually can effectively reduce costs.

[0081] In some embodiments of the present invention, the positioning device 3500 includes a plurality of telescopic grippers 3510. Each telescopic gripper 3510 is connected to a telescopic cylinder 3511 that drives it to extend and retract relative to the projectile. The telescopic cylinder 3511 is used to clamp the extension arm of the air-sealing ring to fix the position of the air-sealing ring. Specifically, as described above, three positioning devices 3500 are provided, each with a telescopic gripper 3510. The telescopic grippers 3510 are used to clamp the extension arm of the air-sealing ring, thereby facilitating the insertion of the extension arm of the air-sealing ring into the groove of the projectile sabot module.

[0082] In some embodiments of the present invention, the telescopic gripper 3510 includes a clamping piece 3512, the thickness of which is not greater than the thickness of the positioning plate 3330. (Refer to...) Figure 6 , Figure 16As shown, clamping plates 3512 are disposed at the end of the telescopic jaw 3510. Two clamping plates 3512 are provided, spaced apart vertically and capable of sliding relative to each other. The extension arm of the air-sealing ring is clamped between the two clamping plates 3512. A telescopic cylinder 3511 is used to drive the telescopic jaw 3510 to extend or retract, while the clamping plates 3512 are used to clamp or release the extension arm. The thickness of the clamping plates 3512 is no greater than the thickness of the positioning plate 3330, primarily to ensure that the clamping plates 3512 do not obstruct the installation of the sabot module. If the thickness of the clamping piece 3512 is greater than the thickness of the positioning plate 3330, when the ejector module is placed, the ejector module will contact the clamping piece 3512 instead of the positioning plate 3330. After all three ejector modules have been placed, when the telescopic gripper 3510 retracts, the clamping piece 3512 may move the ejector module's moving rod due to contact with the ejector module, which would hinder or prevent the next step from proceeding. Therefore, only by ensuring that the thickness of the clamping piece 3512 is not greater than, and preferably less than, the thickness of the positioning plate 3330 can the correct execution of the next step be ensured.

[0083] In some embodiments of the present invention, the base frame 1000 further includes a main slide rail 1500, and a clamping device 3400 is slidably mounted on the main slide rail 1500 and connected to a driving device for driving it to slide along the main slide rail 1500; when the clamping device 3400 slides to one end of the main slide rail 1500 near the mounting platform 3300, the clamping device 3400 can clamp the sabot to the projectile. Specifically, refer to Figure 6 , Figure 14 As shown, the main slide rail 1500 is mounted on the surface of the base frame 1000. The clamping device 3400 includes two first clamping parts 3410 that can slide relative to each other. Each of the two first clamping parts 3410 has a second slot 3411 on one side facing each other. Both second slots 3411 are semi-circular slots. The two first clamping parts 3410 slide towards each other and can just clamp the projectile with the sabot module installed.

[0084] Reference Figure 3 As shown, the clamping device 3400 also includes a rotating shaft, and two first clamping parts 3410 are slidably mounted on the rotating shaft. The rotation of the rotating shaft can drive the first clamping parts 3410 to rotate synchronously, thereby causing the projectile to flip. After all three sabot modules are installed on the outer periphery of the projectile, the clamping device 3400 slides along the main slide rail 1500 to a position close to the mounting platform 3300. Then, the two first clamping parts 3410 clamp the projectile with the sabot installed, and finally slides to the end of the main slide rail 1500 away from the mounting platform 3300, and flips the projectile.

[0085] In some embodiments of the present invention, as can be seen from the above, the mounting platform 3300 is connected to a first lifting device 3340. When the first clamping part 3410 of the clamping device 3400 clamps the projectile, the first lifting device 3340 drives the mounting platform 3300 to descend, so that the mounting platform 3300 is separated from the projectile, thereby enabling the clamping device 3400 to drive the projectile to slide along the main slide rail 1500.

[0086] As described above, the assembly mechanism of this embodiment includes three positioning devices 3500, which are evenly spaced around the circumference. Since the base frame 1000 has limited space, at least one positioning device 3500 is located between the clamping device 3400 and the mounting table 3300. The positioning device 3500 located between the clamping device 3400 and the mounting table 3300 is connected to a second lifting device 3520. (Refer to...) Figure 3 As shown, before the gripping device 3400 slides along the main slide rail 1500 to the mounting platform 3300, the second lifting device 3520 needs to drive the positioning device 3500 located between the gripping device 3400 and the mounting platform 3300 to descend. Therefore, before the gripping device 3400 slides along the main slide rail 1500 to the mounting platform 3300, the telescopic gripper 3510 of the positioning device 3500 located between the gripping device 3400 and the mounting platform 3300 needs to retract in advance; the telescopic actions of the telescopic grippers 3510 of the three positioning devices 3500 are synchronized.

[0087] In some embodiments of the present invention, the sabot assembly device 3000 further includes a clamping cylinder 3600. A base frame 1000 is provided with a work frame 1600, and the clamping cylinder 3600 is mounted on the work frame 1600. The movable end of the clamping cylinder 3600 is connected to a second pressure plate 3610, which is used to sequentially clamp the sabot modules onto the mounting platform 3300. Specifically, three sabot modules are provided, and three clamping cylinders 3600 are provided corresponding to three sabot modules, with each clamping cylinder 3600 clamping one sabot module. (Refer to...) Figure 1 , Figure 6 As shown, the sabot modules are placed one by one by the second transfer device 3200. After each sabot module is placed by the second transfer device 3200, the clamping cylinder 3600 is activated, driving the second pressure plate 3610 to press the sabot module placed on the mounting platform 3300 firmly, so as to prevent the sabot module from moving during subsequent operations, thereby ensuring the stability of the sabot module's placement position. After all three sabot modules have been placed, before the clamping device 3400 is ready to clamp the sabot modules, the three clamping cylinders 3600 are activated simultaneously, causing the second pressure plate 3610 to retract.

[0088] It should be understood that, in some embodiments of the present invention, the first lifting device 3340 also has the function of driving the mounting platform 3300 to rise, so that the second transfer device 3200 can place the projectile into the mounting hole 3310. Since the work frame 1600 is located above the mounting platform 3300, and the work frame 1600 is also equipped with a clamping cylinder 3600, the work frame 1600 will obstruct the placement of the projectile. To reduce the impact of the work frame 1600 on the placement of the projectile, the work frame 1600 is provided with a groove corresponding to the position of the mounting hole 3310 on the mounting platform 3300. Simultaneously, the first lifting device 3340 can drive the mounting platform 3300 to rise, thereby facilitating the second transfer device 3200 to place the projectile into the mounting hole 3310.

[0089] If the work frame 1600 does not obstruct the installation of the projectile, the first lifting device 3340 may also be configured not to drive the mounting platform 3300 to rise; however, the mounting platform 3300 has at least a first position for placing the projectile and a second position for detaching from the projectile. When the mounting platform 3300 is in the second position, the first lifting device 3340 drives the mounting platform 3300 to descend.

[0090] In summary, the assembly process of the assembly mechanism in this embodiment of the invention is as follows:

[0091] 1. The second transfer device 3200 grabs the projectile and places it into the mounting hole 3310 of the mounting platform 3300;

[0092] 2. The positioning device 3500 is activated to fix the position of the air-sealing ring;

[0093] 3. The second transfer device 3200 sequentially grabs the sabot modules and places them between two adjacent positioning plates 3330 on the outer periphery of the projectile; after each sabot module is placed by the second transfer device 3200, the clamping cylinder 3600 will press the placed sabot module against the mounting platform 3300.

[0094] 4. After all three ejector modules are placed, the positioning device 3500 is reset, and the positioning device 3500 located between the clamping device 3400 and the mounting platform 3300 will descend under the drive of the second lifting device 3520.

[0095] 5. The clamping device 3400 slides along the main slide rail 1500 to a position close to the mounting platform 3300, and the two first clamping parts 3410 of the clamping device 3400 move away from each other, so that the projectile and the sabot module are both located between the two first clamping parts 3410.

[0096] 6. The three clamping cylinders 3600 retract synchronously to disengage the second pressure plate 3610 from the sabot module;

[0097] 7. The two first clamping parts 3410 of the clamping device 3400 slide towards each other to clamp the three sabot modules so that the three sabot modules form a complete sabot.

[0098] 8. The first lifting device 3340 drives the mounting platform 3300 to descend to the second position, so that the mounting platform 3300 is separated from the projectile;

[0099] 9. The clamping device 3400 slides toward the main slide rail 1500 until the end of the main slide rail 1500 is away from the mounting table 3300, and drives the projectile to rotate at the set angle;

[0100] 10. The first lifting device 3340 drives the mounting platform 3300 to rise to the first position, and the second lifting device 3520 drives the positioning device 3500 located between the clamping device 3400 and the mounting platform 3300 to reset, and then repeat step 1.

[0101] The snap ring mounting and mortise device 4000 of this invention further includes an adhesive applicator 4600. Along the rotation direction of the second turntable 1300, a third transfer device 4100, an adhesive applicator 4600, an assembly device 4400, and a mortise device 4500 are sequentially arranged. The third transfer device 4100 is used to grab the cartridge tray from the clamping device 3400 of the cartridge tray assembly device 3000 and send the cartridge tray to the second fixing structure 1400. The adhesive applicator 4600 is used to apply adhesive to the cartridge tray. The assembly device 4400 is used to install the snap ring inside the cartridge tray. The mortise device 4500 is used to mark the snap ring installed inside the cartridge tray.

[0102] In some embodiments of the present invention, the retaining ring feeding device 4300 includes a vibrating conveyor line 4310, the vibrating conveyor line 4310 is provided with a conveying groove, and a positioning rib 4311 is provided in the conveying groove. The length extension direction of the positioning rib 4311 is consistent with the length extension direction of the conveying groove. The positioning rib 4311 is used to limit the retaining ring.

[0103] It's important to understand that the snap rings require very precise positioning when installed on the sabot. One end of the snap ring has six grooves evenly spaced around its circumference. The sabot contains corresponding structures that correspond to these grooves. Therefore, the snap rings need to be adjusted before installation to ensure they are all in the same position. To achieve this positioning, positioning ribs 4311 are provided within the delivery groove, as shown in the reference diagram. Figure 7 , Figure 9 As shown, when the retaining ring moves in the conveying groove, at least two grooves are for the positioning ribs 4311 to be inserted, thus effectively positioning the retaining ring.

[0104] The snap ring installation and mortise device 4000 of the present invention, by setting a third transfer device 4100, an adhesive application device 4600, an assembly device 4400, a mortise device 4500, a snap ring feeding device 4300, and a fourth transfer device 4200, realizes fully automatic operation of installing snap rings onto the cartridge tray, greatly improving production efficiency and reducing production costs; the snap ring feeding device 4300 can position the snap ring during the conveying process, effectively ensuring the accuracy of the snap ring and cartridge tray installation, thereby improving product quality.

[0105] In some embodiments of the present invention, the second fixing structure 1400 includes a clamping cylinder 1410, a sleeve 1420, and a connecting shaft 1430. The clamping cylinder 1410 is used to clamp the spring clip and is connected to the connecting shaft 1430. The connecting shaft 1430 passes through the sleeve 1420 and is movably connected to the sleeve 1420. The sleeve 1420 is connected to the second turntable 1300. The connecting shaft 1430 can move up and down and sway relative to the sleeve 1420, thereby driving the clamping cylinder 1410 to move up and down and sway relative to the sleeve 1420. Specifically, refer to... Figure 9 As shown, the range of lifting and swaying of the connecting shaft 1430 relative to the sleeve 1420 is very small, meaning the angle at which the clamping cylinder 1410 can lift and sway relative to the sleeve 1420 is also very small. Setting the connecting shaft 1430 to be able to lift and sway relative to the sleeve 1420 primarily serves to better facilitate the installation and tack joint of the retaining ring. After the assembly device 4400 clamps the retaining ring, errors are unavoidable, resulting in slight positional differences during each ring installation. Even minor positional differences can lead to installation failure. Providing the clamping cylinder 1410 with a certain adjustment range effectively solves this technical problem, thereby significantly improving the accuracy and quality of retaining ring installation.

[0106] In some embodiments of the present invention, reference is made to... Figure 9As shown, the sleeve 1420 is provided with a first through hole 1421, and the inner wall of the first through hole 1421 is provided with a first mating structure 1422 extending toward the center; the sleeve 1420 is a cylindrical body, the first through hole 1421 is located at the center of the sleeve 1420 and extends through the sleeve 1420 along its length; the connecting shaft 1430 is also a cylindrical structure, the connecting shaft 1430 passes through the first through hole 1421, the first end of the connecting shaft 1430 is provided with a radially protruding second mating structure 1431, and the second end of the connecting shaft 1430 is connected to the clamping cylinder 1410. In this embodiment of the invention, a threaded connection is used. The second fixing structure 1400 further includes a first elastic element 1440, which is installed inside the sleeve 1420. Both ends of the first elastic element 1440 abut against the first end of the connecting shaft 1430 and the second turntable 1300, respectively, thereby driving the first mating structure 1422 to abut against the second mating structure 1431. The purpose of setting the first mating structure 1422 and the second mating structure 1431 is to prevent the connecting shaft 1430 from disengaging from the sleeve 1420. The first elastic element 1440 is disposed between the connecting shaft 1430 and the second turntable 1300, allowing the connecting shaft 1430 to descend vertically under external force and to rise vertically to its original position under the action of the first elastic element 1440. The first elastic element 1440 is preferably a spring.

[0107] In some embodiments of the present invention, the sleeve 1420 is provided with a first radial hole 1423 that radially penetrates the sleeve 1420, and the connecting shaft 1430 is provided with a second radial hole 1432 that radially penetrates the connecting shaft 1430; the second fixing structure 1400 further includes a plug 1450, which passes through the first radial hole 1423 and the second radial hole 1432 in sequence to realize the connection between the connecting shaft 1430 and the sleeve 1420; the size of the second radial hole 1432 is larger than the size of the first radial hole 1423. Specifically, refer to... Figure 9 As shown, the first radial hole 1423 is a circular hole, the insertion rod 1450 is cylindrical, and the inner diameter of the first radial hole 1423 is slightly larger than the diameter of the insertion rod 1450; the size of the second radial hole 1432 is larger than the size of the first radial hole 1423, that is, the connecting shaft 1430 can have a certain range of motion relative to the insertion rod 1450, such as the range of motion in the vertical direction and the range of motion in the horizontal rotation direction.

[0108] In some embodiments of the present invention, the second radial hole 1432 is a strip-shaped hole, and the length extension direction of the second radial hole 1432 is consistent with the length extension direction of the connecting shaft 1430. Specifically, the width of the second radial hole 1432 is the same as the diameter of the insert rod 1450, but the length of the second radial hole 1432 is greater than the diameter of the insert rod 1450, and the length of the second radial hole 1432 is greater than the diameter of the first radial hole 1423, thereby ensuring that the connecting shaft 1430 only has a certain adjustment range in the vertical direction and no adjustment range in the horizontal rotation direction. It is conceivable that if the clamping cylinder 1410 has a certain rotation range in the horizontal direction, it may lead to more errors in the installation of the retaining ring. Therefore, it is sufficient to ensure that the clamping cylinder 1410 has a certain adjustment range in the vertical direction. The insert rod 1450, the first radial hole 1423, and the second radial hole 1432 are provided to limit the stroke length of the connecting shaft 1430 in the vertical direction.

[0109] In some embodiments of the present invention, the second fixing structure 1400 further includes an adjusting member 1460 and a limiting member 1470. The adjusting member 1460 is sleeved on the outer periphery of the connecting shaft 1430 and is disposed between the connecting shaft 1430 and the sleeve 1420. The limiting member 1470 is installed on the sleeve 1420 and is used to prevent the adjusting member 1460 from disengaging from the sleeve 1420. Specifically, refer to... Figure 9 As shown, the function of the adjusting member 1460 is to adjust the wobble range of the connecting shaft 1430. The outer peripheral surface of the adjusting member 1460 contacts the inner wall of the first through hole 1421, and there is a gap between the inner peripheral wall of the adjusting member 1460 and the outer peripheral wall of the connecting shaft 1430. By adapting adjusting members 1460 of different thicknesses, the wobble range of the connecting shaft 1430 can be adjusted. In an embodiment of the present invention, the limiting member 1470 is a retaining ring; the inner wall of the sleeve 1420 is provided with a groove for the retaining ring to be inserted, and the retaining ring is inserted into the groove to prevent the adjusting member 1460 from disengaging from the sleeve 1420.

[0110] In some embodiments of the present invention, the adhesive application device 4600 includes an adhesive applicator 4610 and a position adjustment assembly 4620. The adhesive applicator 4610 is used to apply adhesive to the cartridge tray, and the position adjustment assembly 4620 is used to grip and rotate the cartridge tray so that the adhesive applicator 4610 can apply adhesive to both ends of the cartridge tray. Specifically, refer to... Figure 2 , Figure 8As shown, the glue applicator 4610 includes a glue applicator gun, which is used to apply glue to the ends of the cartridge case. Both ends of the cartridge case need to be glued, but the glue applicator gun is located outside the second turntable 1300. Therefore, the glue applicator 4610 can only apply glue to one end of the cartridge case at a time. After one end of the cartridge case is glued, it needs to be reversed to apply glue to the other end. Therefore, a position adjustment component 4620 is provided to reverse the cartridge case. The position adjustment component 4620 includes a clamping arm 4621, a lifting cylinder 4623, and a rotating cylinder 4622. The clamping arm 4621 is used to clamp the cartridge case and is connected to the rotating cylinder 4622. The rotating cylinder 4622 is connected to the movable end of the lifting cylinder 4623. The rotating cylinder 4622 rotates 180 degrees at a time, which drives the clamping arm 4621 to rotate, thereby reversing the cartridge case.

[0111] It is important to understand that, as a reference Figure 1 , Figure 2 As shown, the structure of the third transfer device 4100 is basically the same as that of the position adjustment assembly 4620. It also has a first structural component for clamping the cartridge, a second structural component for driving the first structural component to rotate horizontally, and a third structural component for driving the second structural component to rise and fall.

[0112] In some embodiments of the present invention, two retaining ring feeding devices 4300 are provided, namely a first feeder and a second feeder; it also includes a first receiving structure 4320 and a second receiving structure 4330, the first receiving structure 4320 being used to receive retaining rings supplied by the first feeder, and the second receiving structure 4330 being used to receive retaining rings supplied by the second feeder. Specifically, the reason for providing two retaining ring feeding devices 4300 is that the assembly device 4400 includes two assembly components 4420, which can simultaneously install retaining rings at both ends of the spring tray, thus requiring two retaining ring feeding devices 4300 and a first receiving structure 4320 and a second receiving structure 4330.

[0113] Furthermore, the first receiving structure 4320 is mounted on the base frame 1000 and located on the outer periphery of the second turntable 1300, while the second receiving structure 4330 is mounted on the second turntable 1300. For details, refer to... Figure 2 As shown, of the two assembly components 4420 of the assembly device 4400, one is located on the outer periphery of the second turntable 1300, and the other assembly component 4420 extends above the second turntable 1300. Therefore, the corresponding second receiving structure 4330 is provided on the second turntable 1300 to cooperate with the assembly component 4420.

[0114] It is conceivable that the assembly device 4400 could also have only one assembly component 4420, one retaining ring feeding device 4300 and one first receiving structure 4320, and an additional position adjustment component 4620 to reverse the direction of the cartridge case; that is, the assembly device 4400 can only install retaining rings on one end of the cartridge case at a time. After the retaining ring is installed on one end of the cartridge case, the additional position adjustment component 4620 reverses the direction of the cartridge case to install retaining rings on the other end. However, compared with the technical solution of this embodiment, the technical solution of this embodiment can install two retaining rings simultaneously, which is more efficient.

[0115] It is conceivable that two sets of the fourth transfer device 4200 would also be required to supply retaining rings to the two assembly components 4420 respectively.

[0116] In some embodiments of the present invention, the vibrating conveyor line 4310 of the first feeder is a straight line, and the first receiving structure 4320 is connected to the first rotating structure 4321; the vibrating conveyor line 4310 of the second feeder is a curve, and the second receiving structure 4330 is connected to the second rotating structure 4331; the rotation axis of the first rotating structure 4321 is a horizontal line, and the rotation axis of the second rotating structure 4331 is a vertical line. Specifically, refer to... Figure 2 , Figure 15 As shown, the reason why the vibrating conveyor line 4310 of the first feeder is a straight line is that its conveying distance is relatively short and its height does not need to be too high. However, the second feeder needs to convey the retaining ring to the middle position of the second turntable 1300, so the height of the second feeder is set higher. Therefore, the vibrating conveyor line 4310 of the second feeder is set as a curve. Correspondingly, the first receiving structure 4320 is horizontal before receiving material, and the second receiving structure 4330 is vertical before receiving material. Since the structures of the two sets of fourth transfer devices 4200 are identical, both the first receiving structure 4320 and the second receiving structure 4330 need to be vertical when the fourth transfer device 4200 picks up material. Therefore, the first receiving structure 4320 is connected to a first rotating structure 4321 that rotates around a horizontal line. The first rotating structure 4321 can drive the first receiving structure 4320 to rotate from a horizontal state to a vertical state. The second receiving structure 4330 is itself a vertical device, but since the second receiving structure 4330 is installed on the second turntable 1300, the second receiving structure 4330 will rotate with the second turntable 1300. Therefore, the rotation axis of the second rotating structure 4331 is a vertical line so that the second receiving structure 4330 can rotate to the position aligned with the vibrating conveyor line 4310 of the second feeder or the position aligned with the fourth transfer device 4200.

[0117] In some embodiments of the present invention, the first receiving structure 4320 includes a receiving groove 4322 and a limiting baffle 4323. The receiving groove 4322 is used to receive the retaining ring, and the limiting baffle 4323 is used to prevent the retaining ring from disengaging from the receiving groove 4322. Specifically, refer to... Figure 15 As shown, the size of the receiving groove 4322 is basically the same as the size of the retaining ring. The limiting baffle 4323 is connected to a sliding structure to drive it to slide relative to the receiving groove 4322. When the retaining ring enters the receiving groove 4322, the limiting baffle 4323 will slide towards the receiving groove 4322 and partially cover the receiving groove 4322, thereby preventing the retaining ring from coming out of the receiving groove 4322.

[0118] In some embodiments of the present invention, the receiving trough 4322 is connected to a suction hole 4324, and the suction hole 4324 is connected to a vacuum suction device. Specifically, refer to... Figure 15 As shown, the suction hole 4324 can be set on the wall or bottom of the receiving trough 4322.

[0119] In some embodiments of the present invention, the assembly device 4400 includes a first slide rail 4410, an assembly component 4420, and a driving device. The assembly component 4420 is slidably mounted on the first slide rail 4410 and is used to install a retaining ring into the cartridge holder. Specifically, the assembly component 4420 is connected to a driving device that drives it to slide along the first slide rail 4410. (See also...) Figure 10 , Figure 11 As shown, the assembly component 4420 includes a housing 4421, a gripper assembly 4422, and a push rod 4423. The housing 4421 is slidably mounted on a first slide rail 4410. Both the gripper assembly 4422 and the push rod 4423 are mounted on the housing 4421. The ends of the gripper assembly 4422 and the push rod 4423 cooperate to insert the retaining ring into the cartridge case. The sliding direction of the first slide rail 4410 is horizontal. The drive device is connected to the housing 4421. The sliding of the housing 4421 along the first slide rail 4410 can drive the gripper assembly 4422 and the push rod 4423 to slide synchronously.

[0120] In an embodiment of the present invention, the driving device for driving the assembly assembly 4420 to slide along the first slide rail 4410 is a lead screw, and the lead screw drive can more accurately control the distance the assembly assembly 4420 slides along the first slide rail 4410.

[0121] In some specific embodiments of the present invention, the gripper assembly 4422 includes a second gripping portion 4425, which is disposed on the outer periphery of the push rod 4423. Two second gripping portions 4425 are symmetrically arranged. Each of the two second gripping portions 4425 has an arc-shaped groove on its opposite side to facilitate gripping a circular retaining ring. The push rod 4423 is disposed in the middle of the two second gripping portions 4425, so that after the retaining ring is partially inserted into the cartridge holder by the second gripping portions 4425, the push rod 4423 pushes the retaining ring into the cartridge holder. The two second gripping portions 4425 can slide relative to each other, that is, they can move away from and towards each other. Moving away from each other facilitates placing the retaining ring between the two second gripping portions 4425, while moving closer together facilitates clamping the retaining ring.

[0122] In some embodiments of the present invention, the assembly assembly 4420 further includes a second slide rail 4426, which is mounted on the housing 4421, and a gripper assembly 4422 is slidably mounted on the second slide rail 4426; a push rod 4423 is mounted on the housing 4421, and the gripper assembly 4422 is slidable relative to the push rod 4423. Specifically, refer to... Figure 15 As shown, push rod 4423 is connected to the outside of housing 4421, and push rod 4423 is connected to the side of housing 4421 facing the fixing device. Push rod 4423 is fixedly connected to housing 4421, for example, by welding or by fasteners. Second slide rail 4426 is installed inside housing 4421, and the length extension direction of second slide rail 4426 is horizontal. The claw assembly 4422 is designed to slide relative to the push rod 4423 for the installation of the retaining ring. As mentioned above, the second clamping part 4425 of the claw assembly 4422 is used to clamp the retaining ring, and the push rod 4423 is used to push the retaining ring into the sabot. Therefore, after the retaining ring enters the sabot, if the assembly assembly 4420 continues to move towards the sabot, the claw assembly 4422 will slide along the second slide rail 4426 towards the push rod 4423. That is, the push rod 4423 can push the retaining ring out from between the second clamping parts 4425, thereby installing the retaining ring into the sabot.

[0123] In some embodiments of the present invention, the gripper assembly 4422 is connected to a second elastic member 4424. The second elastic member 4424 is connected to one end of the gripper assembly 4422 away from the push rod 4423, and both ends of the second elastic member 4424 abut against the gripper assembly 4422 and the housing 4421, respectively. Specifically, refer to... Figure 15As shown, the purpose of the second elastic element 4424 is to reset the gripper assembly 4422. The housing 4421 includes two spaced-apart side plates, which are referred to herein as a first side plate and a second side plate for ease of understanding. The first side plate is positioned close to the ejector, and a push rod 4423 is mounted on the side of the first side plate facing the ejector. A second slide rail 4426 is mounted between the first side plate and the second side plate. The second clamping portion 4425 of the gripper assembly 4422 can pass through the first side plate, and the rest of the gripper assembly 4422 is located between the first side plate and the second side plate. The second elastic element 4424 is installed inside the housing 4421. The second elastic element 4424 can push the gripper assembly 4422 to slide in the direction of the push rod 4423 until the gripper assembly 4422 part abuts against the housing 4421. That is, the two ends of the second elastic element 4424 abut against the second side plate and the gripper assembly 4422 respectively. When the gripper assembly 4422 is not subjected to external force, the second elastic element 4424 can push the gripper assembly 4422 to the position abutting against the first side plate. When the assembly assembly 4420 slides towards the ejector until the second clamping part 4425 of the gripper assembly 4422 contacts the ejector and continues to slide towards the ejector, the ejector forces the gripper assembly 4422 to slide away from the push rod 4423, thereby compressing the second elastic element 4424. After the retaining ring is installed, the assembly assembly 4420 slides back to its original position away from the ejector. At this time, the second elastic element 4424 resets and pushes the gripper assembly 4422 to move to the position abutting against the first side plate. The second elastic element 4424 is preferably a spring.

[0124] In some embodiments of the present invention, the gripper assembly 4422 includes two relatively slidable second gripping portions 4425, which are arranged opposite each other in a vertical direction; the fourth transfer device 4200 includes two gripping structures 4210 for gripping a retaining ring, which are arranged opposite each other in a horizontal direction. Specifically, the arrangement of the two second gripping portions 4425 in a vertical direction and the arrangement of the two gripping structures 4210 in a horizontal direction can prevent interference between their movements. After the two gripping structures 4210 grip the retaining ring from the retaining ring feeding device 4300 and deliver it to the assembly assembly 4420, the two second gripping portions 4425 grip the retaining ring from a vertical direction, thus effectively preventing contact between the second gripping portions 4425 and the gripping structures 4210, thereby avoiding interference. It is conceivable that the two gripping structures 4210 could also be arranged opposite each other in a vertical direction, and the two second gripping portions 4425 could be arranged opposite each other in a horizontal direction.

[0125] In some embodiments of the present invention, the clamping structure 4210 is connected to a first moving structure 4220, a second moving structure 4230, and a third moving structure 4240, and the directions of movement of the first moving structure 4220, the second moving structure 4230, and the third moving structure 4240 are perpendicular to each other. Specifically, refer to... Figure 10 As shown, the movement directions of the first motion structure 4220, the second motion structure 4230, and the third motion structure 4240 are perpendicular to each other, meaning that the first motion structure 4220, the second motion structure 4230, and the third motion structure 4240 can drive the clamping structure 4210 to move in the length, width, and height directions, thus moving the clamping structure 4210 to any position within a set spatial range. Since the scheme of driving the clamping structure 4210 to move in space through the first motion structure 4220, the second motion structure 4230, and the third motion structure 4240 is a relatively conventional technical solution, it will not be elaborated upon further here.

[0126] Reference Figure 4 As shown, in an embodiment of the present invention, the assembly device 4400 includes two assembly components 4420, namely a first assembly component 4420 and a second assembly component 4420. Both the first assembly component 4420 and the second assembly component 4420 are slidably mounted on a first slide rail 4410, and both are connected to a driving device for transmission. The first assembly component 4420 and the second assembly component 4420 have the same structure, and a fixing device for limiting the movement of the sabot is disposed between the first assembly component 4420 and the second assembly component 4420.

[0127] In embodiments of the present invention, the mortise and tenon device 4500 and the assembly device 4400 have essentially the same structure. The mortise and tenon device 4500 includes two mortise and tenon components 4510 arranged opposite to each other. Each mortise and tenon component 4510 is provided with a tenon head 4511, which is used to perform a mortise and tenoning operation on the retaining ring. (Refer to...) Figure 12 As shown, two mortise and tenon components 4510 are arranged opposite to each other and can slide relative to each other. The two mortise and tenon components 4510 are connected by the same drive device to drive them to move synchronously. For example, the two mortise and tenon components 4510 are driven to slide by the same lead screw. Driving the mortise and tenon components 4510 to slide by the lead screw allows for better control of the sliding distance of the mortise and tenon components 4510.

[0128] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A projectile external assembly production line, characterized in that, include: The base frame is equipped with a first turntable and a second turntable that can rotate around their own axis. The first turntable is provided with a first fixing structure for fixing the projectile, and the second turntable is provided with a second fixing structure for fixing the projectile. An air-sealing ring assembly device is disposed on the outer periphery of the first turntable and is used to install an air-sealing ring on the outer periphery of the projectile. The air-sealing ring assembly device includes a projectile feeding device, an air-sealing ring feeding device, a first transfer device, a detection device, and a working device. The projectile feeding device is used to supply projectiles to the first turntable. The first transfer device is used to grab the air-sealing ring from the air-sealing ring feeding device and send it to the detection device. The working device is used to grab the air-sealing ring from the detection device and install the air-sealing ring onto the projectile on the first turntable. A sabot assembly device, disposed between a first turntable and a second turntable, is used to install sabots on the outer periphery of the projectile. The sabot assembly device includes a sabot feeding device, a second transfer device, a mounting platform, a positioning device, and a clamping device. The second transfer device is used to grab a projectile with a sealing ring mounted on the first turntable and deliver it to the mounting platform. The second transfer device is also used to sequentially grab sabot modules supplied by the sabot feeding device and assemble the sabot modules onto the outer periphery of the projectile on the mounting platform. The positioning device is used to fix the position of the sealing ring fitted on the sabot. The clamping device is used to clamp multiple sabot modules on the outer periphery of the projectile. A snap ring mounting and mortise-marking device is disposed on the outer periphery of the second turntable. It is used to install snap rings and mark them to connect multiple projectile sabot modules on the outer periphery of the projectile into a projectile sabot assembly. The snap ring mounting and mortise-marking device includes a third transfer device, a fourth transfer device, a snap ring feeding device, an assembly device, and a mortise-marking device. The third transfer device is used to grab the projectile sabot from the projectile sabot assembly device and transfer it to the second turntable. The fourth transfer device is used to grab the snap ring supplied by the snap ring feeding device and send it to the assembly device. The assembly device is used to install the snap ring, and the mortise-marking device is used to mark the snap ring. The assembly device and the mortise-marking device are arranged sequentially along the rotation direction of the second turntable.

2. The projectile external assembly production line according to claim 1, characterized in that: The air-sealing ring assembly equipment also includes a waste bin, and the operating device includes a first operating device; The detection device can send a first detection signal and a second detection signal based on the detection result, and the first working device is electrically connected to the detection device; In response to the first detection signal, the first working device places the air-sealing ring on the detection device onto the projectile of the first turntable; in response to the second detection signal, the first working device transfers the air-sealing ring on the detection device into the waste bin.

3. The projectile external assembly production line according to claim 2, characterized in that: The detection device includes a placement cylinder, a pressure plate, and a camera. The placement cylinder is used to place the air-sealing ring. The pressure plate is positioned above the placement cylinder and can move relative to the placement cylinder. The camera is positioned above the pressure plate.

4. The projectile external assembly production line according to claim 2, characterized in that: The working device further includes a second working device and a third working device, wherein the first working device, the second working device and the third working device are arranged sequentially along the rotation direction of the first turntable; The second working device is used to apply silicone grease to the outer periphery of the projectile; The third working device is used to push the air-sealing ring to the set position of the projectile.

5. The projectile external assembly production line according to claim 1, characterized in that: The mounting platform of the sabot assembly equipment is movably and vertically mounted on the base frame; the mounting platform is provided with mounting holes for inserting the sabot body, and a positioning plate for positioning the sabot module is provided on the outer periphery of the mounting holes.

6. The projectile external assembly production line according to claim 5, characterized in that: The positioning device is movably and telescopically mounted on the outer periphery of the mounting platform, and the positioning device is used to fix the position of the air-sealing ring placed on the projectile in the mounting hole. The positioning device includes a telescopic gripper, which includes a clamping piece for clamping the air-sealing ring; the thickness of the clamping piece is not greater than the thickness of the positioning plate.

7. The projectile external assembly production line according to claim 5, characterized in that: The sabot assembly equipment also includes a clamping cylinder, which is positioned above the mounting platform and can move up and down relative to the mounting platform; the movable end of the clamping cylinder is connected to a pressure plate, which is used to press the sabot modules onto the mounting platform in sequence.

8. The projectile external assembly production line according to claim 1, characterized in that: The assembly device of the snap ring mounting point device includes a first slide rail, a drive device, a housing, a gripper assembly, and a push rod. The housing is slidably mounted on the first slide rail. The gripper assembly and the push rod are both mounted on the housing. The gripper assembly is used to hold the snap ring, and the push rod is used to push the snap ring into the spring holder. A second slide rail is installed inside the housing, and the gripper assembly is slidably mounted on the second slide rail; the push rod is installed in the housing, and the gripper assembly can slide relative to the push rod.

9. A projectile external assembly production line according to claim 1, characterized in that: The circlip feeding device includes a vibrating conveyor line and a receiving structure. The surface of the vibrating conveyor line is provided with positioning ribs. The receiving structure is installed at the end of the vibrating conveyor line. The receiving structure includes a receiving groove and a limiting baffle. The receiving groove is used to receive the circlip, and the limiting baffle is used to prevent the circlip from detaching from the receiving groove.

10. A projectile external assembly production line according to claim 1, characterized in that: The surface of the first turntable is provided with a first fixing structure for fixing the projectile, and the surface of the second turntable is provided with a second fixing structure for fixing the projectile. The second fixing structure includes a clamping cylinder, a sleeve, and a connecting shaft. The clamping cylinder is used to clamp the spring tray and is connected to the connecting shaft. The connecting shaft passes through the sleeve and is movably connected to the sleeve. The sleeve is connected to the second turntable. The connecting shaft can move up and down and sway relative to the sleeve.

Images