Automatic spraying production line for shaped charge liners

Abstract

Automatic spraying equipment belongs to the technical field of automatic spraying equipment, and comprises an automatic transplanting spraying chamber, a back-and-forth orbital transfer conveying line and an explosion-proof electric appliance cabinet matched with control equipment, the automatic transplanting spraying chamber can perform shaped charge liner spraying work of a whole tray, a conveying line rail on one side of the back-and-forth orbital transfer conveying line penetrates through the automatic transplanting spraying chamber, and the conveying line rail on the other side of the back-and-forth orbital transfer conveying line penetrates through the explosion-proof electric appliance cabinet. Orbital transfer grippers are arranged at the back-and-forth points and used for changing the running orbit and direction of the trays, and the trays carrying the shaped charge liners run for a circle along the conveying line to complete spraying work. The device can automatically complete anaerobic adhesive spraying operation on a plurality of shaped charge liners, atomization spraying is uniform, quality is stable, the pollution range is controllable, and the safety of operators is protected.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic spraying equipment, and in particular relates to an anaerobic adhesive spraying equipment for a medicine liner. Background Art

[0002] In the field of military ammunition production, the processing of charge liners and the glue spraying of the outer surface are important links in the production and processing of cartridge cases. According to the processing standards, the glue spraying on the surface of the charge liners should meet the requirements of evenly covering the outer surface with a thin film of glue and the glue should not gather or drip. However, since the glue used on the surface of the charge liners is an anaerobic glue, it will quickly become viscous and solidify when in contact with metal or in an environment with a slightly low oxygen concentration, which hinders the development of large-scale mechanical automated spraying methods. Similarly, anaerobic glue has certain toxicity. Long-term contact with anaerobic glue by the human body can cause damage to the skin and respiratory system. Therefore, the current operation of spraying charge liners is mainly carried out by manual hand-held special spray guns for multiple shifts, and the production efficiency is low. Summary of the invention

[0003] In view of the above technical problems, the present invention proposes a liner spraying device, which can automatically complete the anaerobic adhesive spraying operation on multiple liners. The atomized spraying is uniform, the quality is stable, and the pollution range is controllable, thereby protecting the safety of operators.

[0004] The technical solution adopted by this equipment is: an automatic spraying equipment, including an automatic transplanting spraying room, a reciprocating track changing conveyor line and an explosion-proof electrical cabinet for supporting control equipment. The automatic transplanting spraying room can carry out the spraying of a whole pallet of charge liners. The conveyor line track on one side of the reciprocating track changing conveyor line passes through the automatic transplanting spraying room. A track changing gripper is set at the reciprocating point to change the pallet running track and direction. The pallet carrying the charge liners runs one circle along the conveyor line to complete the spraying work.

[0005] Furthermore, the equipment is provided with a round-trip track-changing conveyor line consisting of two double-track conveyor lines for transporting pallets, and the input track is composed of two sections of double-track conveyor lines, so the input track can also be used as a cache mechanism to store a certain amount of pallets staying on the track; a pair of track-changing sensors are arranged at the end of the input track to control the track-changing gripper to change the track of the pallets; four groups of sensors are arranged in sequence along the pallet transportation direction on the output track, namely, an output receiving sensor, a waiting area sensor, a transplanting point starting point sensor, a transplanting point end point sensor, and an output finished product sensor; a pair of top guide plates are arranged before and after the output receiving sensor, and a pair of blocking mechanisms are arranged behind the waiting area sensor, and the above components are all arranged outside the automatic transplanting spraying room; the transplanting starting point sensor and the transplanting end point sensor are arranged inside the automatic transplanting spraying room, and the distance between them is slightly greater than the width of a pallet, and two pairs of top guide plates are arranged in the middle, and a pair of blocking mechanisms are arranged close to the rear of the transplanting end point sensor; the output finished product sensor is arranged in the middle and rear section of the output track, and its specific position is determined according to the actual production rhythm.

[0006] Furthermore, the track-changing gripper is installed above the starting point of the output track and the end point of the input track. The gripper assembly is directly connected to the rodless cylinder and moves left and right on the double-track linear track with the moving part of the rodless cylinder. A lifting cylinder is arranged in the center of the gripper assembly, and vertical linear tracks are arranged on the mounting plates on both sides of the lifting cylinder. Extension arms are installed on the linear tracks and merged into a U shape at the connecting rod of the lifting cylinder, and finally connected to the opening and closing cylinder; the two arms of the opening and closing cylinder are respectively connected to the two arms of the clamp, and the two arms of the clamp are installed on the opening and closing track. The opening and closing track is connected to the pressure plate cylinder with a mounting plate, and the pressure plate cylinder is connected to the pressure plate to control the rise and fall.

[0007] Furthermore, the transplanting gripper in the automatic transplanting spraying room is composed of an X-axis beam and a Y-axis beam; the X-axis beam is fixed inside the automatic transplanting spraying room, the Y-axis beam and the X-axis beam are installed perpendicular to each other through a transfer mounting plate, and gears are installed at the output ends of the two sets of explosion-proof motor groups and fixed on the transfer mounting plate in an alternating manner, and the gears are coupled with the racks on the X-axis and Y-axis beams; four sensors are installed on the X / Y-axis beams in sequence according to the equipment environment requirements, the outer side is the limit stop sensor, and the inner side is the operation start / end point sensor; the end of the Y-axis is directly connected to the pressure plate clamp.

[0008] Furthermore, the pressure plate clamp is installed at the end of the Y-axis, wherein the opening and closing cylinder is directly connected to the Y-axis beam, and the two claws are directly connected to the clamp arm; the linear rail mounting plate is installed around the opening and closing cylinder and is connected to the clamp arm through the linear rail, and the pressure plate cylinders are installed on both sides of the mounting plate, and the pressure plate cylinders are connected to the pressure plate.

[0009] Furthermore, a tray placement station consisting of four storage mechanisms is arranged on the top of the exhaust filtering type spray paint cabinet, and a pair of receiving sensors are arranged between the storage mechanisms; the side opening facing the six-axis robot is installed with a cleaning door, and a certain space is still retained after the cleaning door is closed, and a ventilation duct is arranged on the back, and a parallel filtering device is arranged in the middle section of the ventilation duct, and the end of the ventilation duct is connected to the external exhaust fan of the equipment.

[0010] Furthermore, an extension arm is installed on the working end of the universal six-axis robot, and a Venturi nozzle is installed on the other end of the extension arm. The Venturi nozzle consists of two nozzles with an angle of 60 degrees to each other. One nozzle is connected to high-pressure gas and continuously sprays gas along the nozzle, and the other nozzle is connected to the pressurized mixing barrel in the equipment.

[0011] Beneficial effects: (1) The longer track-changing round-trip conveyor line has a certain buffering capacity, which reduces the frequency of manual loading and is beneficial to the degree of equipment automation; (2) The automatic transplanting spray room is located in the middle section of the track-changing round-trip conveyor line, at a certain distance from the loading point and remains relatively closed. In conjunction with the ventilation system, it can effectively reduce the air pollution around the equipment and ensure the health of the operators; (3) The exhaust filter spray cabinet is not in direct contact with the track-changing round-trip conveyor line and isolates the spread of glue, effectively reducing the possibility of pollution of the track-changing round-trip conveyor line, avoiding serious accidents such as poor operation or even inability to operate due to contamination of the transport track with glue, reducing the frequency of manual maintenance, and indirectly reducing the time of contact with toxic substances. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the device of the present invention.

[0013] Figure 2 It is a schematic diagram of the three-dimensional structure of the automatic transplanting spraying room in the device of the present invention.

[0014] Figure 3 It is a schematic diagram of the three-dimensional structure of the internal equipment of the automatic transplanting spraying chamber in the device of the present invention.

[0015] Figure 4 It is a schematic top view of the internal equipment of the automatic transplanting spraying chamber in the device of the present invention.

[0016] Figure 5 It is a schematic diagram of the three-dimensional structure of the reciprocating track-changing conveying line in the device of the present invention.

[0017] Figure 6 It is a top view schematic diagram of the reciprocating track-changing conveyor line in the device of the present invention.

[0018] Figure 7 It is a schematic diagram of the three-dimensional structure of the track-changing gripper in the device of the present invention.

[0019] Figure 8 It is a schematic diagram of the three-dimensional structure of the cylinder clamp of the track-changing gripper in the device of the present invention.

[0020] Fig. 9 It is a schematic diagram of the three-dimensional structure of the transplanting gripper in the device of the present invention.

[0021] Fig.10 It is a schematic diagram of the three-dimensional structure of the pressure plate clamping claw in the transplanting gripper of the device of the present invention.

[0022] Fig.11 It is a three-dimensional structural schematic diagram of the air extraction and filtering type paint spraying booth in the device of the present invention.

[0023] Fig.12 It is a schematic diagram of the three-dimensional structure of the six-axis robot for spraying in the device of the present invention.

[0024] In the figure: 1. Automatic transplanting spray room; 11. Inspection door; 12. Observation window; 13. Ventilation pipe; 14. Conveyor line through port; 15. Transplanting gripper; 151. X-axis support beam; 152. Y-axis support beam; 153. Explosion-proof motor unit; 154. Adapter mounting plate; 155. X-axis fixed rack; 156. Y-axis fixed rack; 157. Double-line track; 158. Single-line track; 159. Pressing plate clamp; 1591. Pressing plate; 1592. Pressing plate cylinder; 16. Air extraction and filtering spray booth; 161. Sealed housing; 162. Cleaning door; 163. Top guide block; 164. Receiving sensor; 17. Six-axis robot for spraying; 171. Universal six-axis robot; 172. Extension arm; 173. Venturi spray gun; 174. Pressurized mixing barrel; 18. Filter mechanism; 19. Tray; 21. Input track; 22. Output track; 221. Track change sensor; 222. Output receiving sensor; 223. Waiting area sensor; 224. Transplantation point starting point sensor; 225. Transplantation point end point sensor; 226. Output finished product sensor; 227. Top guide plate; 228. Blocking mechanism; 23. Track change mechanism; 231. Protective cover bracket; 232. Rodless cylinder; 233. Double-track linear rail; 234. Cylinder gripper assembly; 2341. Lifting cylinder; 2342. Gripper; 2343. Lifting linear rail; 2344. Opening and closing cylinder; 2345. Opening and closing linear rail. Implementation

[0025] like Figure 1 The liner spraying equipment comprises an automatic transplanting spraying room 1, a reciprocating track changing conveyor line 2 and an explosion-proof electrical cabinet 3 of supporting control equipment. The automatic transplanting spraying room 1 can carry out the spraying of a whole pallet of liner. The output track 22 on one side of the reciprocating track changing conveyor line 2 passes through the automatic transplanting spraying room 1. A track changing gripper 23 is arranged at the reciprocating point to change the running track and direction of the pallet 19. The pallet 19 carrying the liner runs one circle along the conveyor line to complete the spraying work.

[0026] like Figure 2 , Figure 3As shown, the equipment is provided with a reciprocating track change conveyor line 2 composed of two double-track conveyor lines for transporting pallets 19. Pallets 19 carrying attached drug-shaped caps are manually fed in batches at the starting point of the input track. Since the input track 21 is composed of two sections of double-track conveyor lines, the input track 21 can also be used as a buffer mechanism to store a certain amount of pallets 19 staying on the track; the pallet 19 reaching the end of the input track is stopped by the baffle and is identified by the track change sensor 221. The track change sensor 221 sends a signal to control the track change gripper 23 to grab the pallet 19 and transfer it to the starting point of the output track; the output receiving sensor 222 at the starting point of the output track detects that the pallet 19 enters the track and then outputs a signal and controls the output track 22 to work. When the pallet moves forward, it passes through the waiting area sensor 223. The waiting area sensor sends a signal and hands it over to the system to check whether there is a pallet 19 that has not left the automatic transplanting spray room 1. If there is a pallet, the blocking mechanism 228 cylinder is controlled to expand to block the pallet. 19 moves forward. If the pallet 19 in the automatic transplanting spraying room 1 leaves or there is no pallet 19 in the automatic transplanting spraying room 1, the blocking mechanism 228 does not work; the pallet 19 continues to move forward and passes the transplanting point starting point sensor 224, the sensor records the passing information, the equipment receives and waits for the transplanting point end point sensor 225 to send a passing signal, and after the pallet 19 blocks the transplanting point end point sensor 225, another pair of blocking mechanisms 228 is immediately deployed to stop the pallet 19 and wait for the transplanting gripper 15 to grab the pallet; after the pallet 19 completes the spraying operation, the transplanting gripper 15 puts the pallet back to the transplanting point again, and the transplanting point end point sensor 225 sends a signal again, the blocking mechanism 228 is deployed, the pallet 19 leaves the automatic transplanting spraying room 1, and the new pallet 19 immediately enters the automatic transplanting spraying room; when the pallet 19 enters the output track near the end point, the finished product output sensor 226 sends a signal, the system sends a notification to the outside, and the manual receives the notification and goes to the end point of the output track 22 to take away the finished product pallet 19.

[0027] like Figure 7 , Figure 8 As shown, the track-changing gripper 23 is installed above the starting point of the output track 22 and the end point of the input track 21, and the cylinder gripper assembly 234 is directly installed on the rodless cylinder 232 and moves left and right on the double-track linear rail 233 with the moving part of the rodless cylinder 232. The gripper assembly is controlled by an internal cylinder and can complete the lifting and grabbing actions to grab and transfer the pallet 19 to complete the track-changing work.

[0028] like Fig. 9 , Fig.10As shown, the transplanting gripper 15 in the automatic transplanting spray room 1 is controlled by a set of explosion-proof motor groups 153, and moves up, down, left and right along the racks (155.156) on the X-axis beam 155 and the Y-axis beam 156; when the transplanting point end sensor 255 sends a signal and the tray 19 is blocked at the transplanting position, the transplanting gripper 15 starts to work and grabs the entire tray 19 from above, and finally places it on the exhaust filtering spray cabinet 16.

[0029] like Fig.11 As shown, a tray placement station consisting of four storage mechanisms 163 is arranged on the top of the exhaust filtering spray paint cabinet 16, and a pair of receiving sensors 164 are arranged between the storage mechanisms 163; after the tray falls into the placement station, it will be stuck and fixed, the receiving sensor 164 will be blocked and send a signal, the equipment receives the signal and manipulates the six-axis robot 171 to go deep into the side opening of the exhaust filtering spray paint cabinet 16 to spray paint; as the working time increases, a large amount of atomized glue will exist in the exhaust filtering spray paint cabinet, at this time the external exhaust fan of the equipment starts to work, the gas will be discharged along the ventilation pipe 13, and when passing through the filtering mechanism 18, the glue will adhere to the internal parallel filter net, thereby avoiding the external exhaust fan or the external atmosphere from being polluted.

[0030] like Fig.12 As shown, the six-axis robot 17 for spraying carries a slender extension arm 172, and the high-degree-of-freedom six-axis robot 171 can carry the extension arm to perform very precise and complex movements; a Venturi nozzle 173 is installed at the other end of the extension arm for spraying operations, and the Venturi nozzle consists of two nozzles with an angle of 60 degrees to each other, one nozzle is connected to the high-pressure gas and continuously sprays the gas along the nozzle, and the other nozzle is connected to the pressurized stirring barrel in the equipment, and the equipment pressurizes the pressurized stirring barrel, forcing the glue to flow along the hose and out of the nozzle; due to the throat contraction designed for the jet nozzle, the diameter of the gas passing through the channel becomes narrower, the flow rate increases, the pressure on the sides and rear decreases, and the atmospheric pressure presses the outflowing glue into the high-pressure gas ejection range and is atomized, forming a Venturi effect; the six-axis robot 171 drives the nozzle to spray the atomized glue along the specified route, and finally evenly sprays all the medicine caps.

[0031] The above schematically describes the present invention and its implementation methods, which are not restrictive. The drawings show only one implementation method of the present invention, and the actual structure can have many modes and variations. Any structural mode and implementation example similar to the technical solution designed without creativity without departing from the purpose of the invention shall fall within the protection scope of the present invention.

Claims

1. An automatic spraying equipment, characterized in that The invention comprises an automatic transfer spraying room (1), a reciprocating track change conveyor line (2) and a matching explosion-proof electrical cabinet (3); the automatic transfer spraying room (1) comprises a transfer gripper (15), an exhaust filter type spraying cabinet (16) and a six-axis spraying robot (17); the output track (22) of the reciprocating track change conveyor line (2) passes through the automatic transfer spraying room (1) and is arranged parallel to the exhaust filter type spraying cabinet (16) at a certain distance; the exhaust filter type spraying cabinet has a door on one side facing away from the output track (22) for the six-axis spraying robot (17) installed inverted on the corresponding side to extend into and move upwards. Spraying operation; a transplanting gripper (15) installed on a parallel track is arranged above the output track (22) and the exhaust filter type spray paint cabinet (16), and two landing points are respectively located directly above the output track (22) and the exhaust filter type spray paint cabinet (16) for transplanting the tray (19); a ventilation duct (13) including a filtering system (18) is arranged on the side of the exhaust filter type spray paint cabinet (16) to facilitate connection with an exhaust fan outside the equipment to perform ventilation and filtering inside the cabinet; the automatic transplanting spray paint room (1) is provided with an inspection door (11) and an observation window (12) on the outside so that an operator can observe the internal operation of the equipment from the outside.

2. The automatic spraying equipment according to claim 1, characterized in that: The reciprocating track-changing conveyor line (2) comprises an input track (21), an output track (22) and a track-changing gripper (23); wherein the track-changing gripper (23) is installed at the end of the input track (21) and the start of the output track (22) to change the track of the pallet, and the running direction is the input track (21), the track-changing gripper (23), and the output track (22). A pair of baffles (25) and (26) are provided at the end of the output track (22) and the end of the input track (21) to prevent the pallet (19) from rushing out of the track due to excessive movement speed; all components are installed on a detachable conveyor line frame (24) to facilitate equipment transportation and position adjustment; the input track (21) and the output track (22) are both composed of two sets of identical double-track conveyor lines, and the joint of the double-track conveyor lines is at the same position as the joint of the conveyor line frame (24) to facilitate disassembly.

3. The track-changing conveyor line according to claim 2, characterized in that: Six groups of beam sensors are continuously arranged at designated positions on the input track (21) and the output track (22), and are arranged in the running order of the pallet (19), namely, a track change sensor (221), an output receiving sensor (222), a waiting area sensor (223), a transplanting point starting point sensor (224), a transplanting point end point sensor (225), and a finished product output sensor (226). After the pallet (19) passes through the corresponding sensors in sequence, the sensors control the positioning and blocking mechanisms along the line to confirm and fix the precise position of the pallet (19) on the output track (22) for processing and movement.

4. The track-changing conveyor line according to claim 2, characterized in that: The track-changing gripper (23) is a lateral displacement gripper installed above the starting point of the output track (22) and the end point of the input track (21); in order to achieve the explosion-proof requirement, the main displacement mechanism of the gripper is covered by a sheet metal protective cover (not shown in the figure) installed on the protective cover bracket (231), leaving only the running track; the cylinder gripper assembly (234) is directly connected to the rodless cylinder (232) and is controlled by the rodless cylinder to move left and right along the double-track linear track (233); the lifting cylinder (2341) in the cylinder gripper assembly (234) controls the clamping claw (2342) to perform lifting movement along the lifting linear track (2343); the opening and closing cylinder (2344) controls the clamping claw (2342) to perform opening and closing movement along the opening and closing linear track (2345); all actions are completed by pneumatic components.

5. The automatic spraying equipment according to claim 1, characterized in that: The transplanting gripper (15) is a two-axis coordinate gripper installed on the side wall of the automatic transplanting spraying room (1), above the output track (22) and the exhaust filter type spraying cabinet (16), wherein the X-axis support beam (151) is fixed to the inner wall of the automatic transplanting spraying room (1), and the Y-axis support beam (152) relies on two explosion-proof motor groups (153) moving along the fixed rack to complete the movement in four directions of up, down, left and right; a plurality of photoelectric sensors are arranged along the X-axis support beam (151) and the Y-axis support beam (152) according to actual production needs to mark the key points of the Y-axis movement; and a pressure plate gripper (159) is installed at the end of the Y-axis support beam (152) to grab and shape the tray (19) to be transplanted.

6. The transplanting gripper according to claim 5, characterized in that: The pressure plate gripper (159) is directly connected to the end of the Y-axis support beam (152), and the opening and closing cylinder (2344) controls the clamping claw (2342) to open and close along the opening and closing linear rail (2345); after the clamping claw clamps the tray (19), the pressure plate cylinder (1592) controls the pressure plate (1591) to squeeze downward to correct the placement position of the medicine cover in the tray.

7. The automatic spraying equipment according to claim 1, characterized in that: The exhaust filter type paint spray cabinet (16) is directly installed on the bottom plate of the automatic transplanting spray room (1), and includes a top guide block (163) and a receiving sensor (164); one side of the sealed shell (161) is open, and a cleaning door (162) is installed at the opening, and after closing, a certain space is still left for a six-axis robot (17) for spraying to enter; a hole is opened on the sealed shell (161) and a filtering system (18) is installed to discharge and filter the atomized glue liquid; a plurality of filter sheets are inserted in parallel in the filtering system to increase the filtering effect, and the filter sheets can be freely disassembled and replaced.

8. The automatic spraying equipment according to claim 1, characterized in that: The six-axis robot for spraying (17) comprises a general six-axis robot (171), an extension arm (172), a Venturi spray gun (173), and an attached pressurized stirring barrel (174); the Venturi spray gun (173) is mounted at the end of the extension arm (172), and the other end of the extension arm (172) is mounted on the general six-axis robot (171); one end of the two nozzles of the Venturi spray gun (173) is connected to the outlet of the pressurized stirring barrel (174) by a hose, and the other nozzle is connected to a high-pressure gas source attached to the outside of the device by a hose (not shown in the figure); the hoses are all of sufficient length to adapt to various movements of the six-axis robot.

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