Melted cast explosive charging system

Abstract

The invention discloses a casting explosive charging system, which relates to the technical field of ammunition charging, and can automatically receive casting liquid medicine in a melting and mixing area and transfer the casting liquid medicine to a charging area to finally realize automatic charging. The traditional manual production mode is changed, and the automatic charging of the casting explosive is realized based on the technologies of robots, automatic logistics and the like. And the safety risk is reduced, and the charging production level of the casting explosive is improved. Meanwhile, the number of production personnel is greatly reduced, the labor intensity of the personnel is relieved, and the body health of the personnel is practically protected. And large-area popularization and application are worthy.

Description

Technical Field

[0001] The invention relates to the technical field of projectile charging, and in particular to a molten-cast explosive charging system which reduces safety risks and improves charging production levels. Background Art

[0002] Melt-cast explosives are the main charge method for missile warheads in the industry. The quality of the charge determines the lethality of the warhead. The charge process is a key process in the production of melt-cast explosives, which directly affects the quality of the product charge.

[0003] At present, the production of cast explosives is mostly carried out by manual charging. A copper bucket is placed at the bottom of the melting pot to collect the liquid medicine, which is then transported to the charging station by a cart. The copper bucket is lifted manually to pour the liquid medicine into the projectile body. This process is repeated many times until the specified charge amount of the projectile body is reached. A new projectile body is replaced and charging is continued until the charging production of the shift is completed.

[0004] Some melt-cast charge production lines are equipped with projectile transfer equipment, which can transport some small projectiles and reduce the need for transfer. However, the equipment is old and has limited applicability, low utilization rate, and still requires manual on-site operation.

[0005] The charging method in the prior art mainly has the following disadvantages:

[0006] (1) High degree of manual involvement, large number of personnel, and high labor intensity.

[0007] The entire loading process involves personnel in all aspects of receiving, transporting and pouring medicine. There are about 6-9 people on site. A barrel of medicine weighs about 20kg, and the operator has to take it repeatedly, which requires a lot of physical labor. The loading process must be completed within a certain period of time. Otherwise, the medicine liquid will solidify and separate into segments if the time is too long, resulting in unqualified loading. Therefore, the labor intensity of the personnel is high.

[0008] (2) Prominent safety hazards.

[0009] The production site of cast explosive charging is a typical pyrotechnic production environment. Cast explosive is a flammable and explosive dangerous goods. The production site has a large amount of explosives and many people are involved in the production process. There are serious safety hazards. Once an accident occurs, it will cause serious consequences.

[0010] (3) Manual or semi-automated equipment has limited applicability.

[0011] Some products are equipped with auxiliary charging equipment, such as transfer equipment, missile posture adjustment equipment, etc., but these equipment have a small scope of application, and the operation mode is mostly manual or semi-automatic, and still requires manual operation on site. Moreover, most of the equipment is old and the utilization rate is not high.

[0012] (4) The on-site environment is harsh, endangering the health of personnel.

[0013] There is a high temperature and humid environment on site, and toxic materials in the materials evaporate due to heat, resulting in the presence of toxic and harmful gases in the air, which will harm the health of operators.

[0014] It can be seen that the current production method of melt-cast explosive charges is still mainly manual, partially supplemented by old manual or semi-automatic equipment. The entire production process has not yet been automated, with a high degree of manual participation, a large number of personnel, high labor intensity, and prominent safety hazards. Once an accident occurs, it will cause serious consequences. In addition, the production environment is relatively harsh, with high temperature, humidity, toxic and harmful gases, etc., which endanger the health of personnel.

[0015] Therefore, how to improve the charging production method, realize fully automated production, significantly reduce the number of personnel, reduce safety risks, and effectively protect the occupational health of workers is a technical problem that urgently needs to be solved by technical personnel in this field. Summary of the invention

[0016] In view of the above problems, the present invention provides a molten-cast explosive charging system for overcoming the above problems or at least partially solving the above problems. The system solves the problems of many personnel, high participation, and low automation in the molten-cast explosive charging process. Based on technologies such as robots and automatic logistics, the system realizes automatic charging of molten-cast explosives, improves the charging production level, reduces the number of personnel on site, reduces safety risks, and protects the health of personnel.

[0017] The present invention provides the following scheme:

[0018] A molten explosive charging system, comprising:

[0019] A material receiving assembly, a transfer assembly, a positioning assembly, a robot assembly, and a projectile entry and exit assembly; the material receiving assembly is located outside the charge area, the positioning assembly and the robot assembly are located inside the charge area, and the positioning assembly and the projectile entry and exit assembly are both installed within the working range of the robot assembly;

[0020] The transfer assembly is used to drive the material receiving assembly to switch positions between the position directly below the outlet of the melting and mixing pot in the melting and mixing zone and the positioning assembly;

[0021] The material receiving assembly includes a heat-insulating material receiving barrel. When the material receiving assembly is located directly below the outlet of the melting and mixing pot in the melting and mixing zone, the heat-insulating material receiving barrel is used to receive the liquid medicine.

[0022] The positioning component is used to position the receiving component loaded with the liquid medicine transferred from the transport component;

[0023] The projectile inlet and outlet assembly is used to fix the projectile to be loaded with explosives;

[0024] The robot assembly is used to grab the heat-insulating material receiving barrel and transfer the liquid medicine in the heat-insulating material receiving barrel into the bullet to be loaded with medicine.

[0025] Preferably: the material receiving assembly also includes a weighing sensor and a bracket, the insulated material receiving barrel is placed on the upper part of the bracket, and the weighing sensor is located at the lower part of the bracket; the weighing sensor is used to weigh the bracket, the insulated material receiving barrel and the medicine liquid during the process of receiving the medicine liquid, so that the insulated material receiving barrel stops receiving materials after determining that the target weight is reached.

[0026] Preferably: the transfer component includes any one of an AGV automatic guided vehicle and a logistics transmission line.

[0027] Preferably: the positioning assembly includes a support, a positioning block, a driving cylinder and a limit baffle; the positioning block is connected to the piston rod of the driving cylinder, the driving cylinder and the limit plate are arranged opposite to each other and are both connected to the upper part of the support; the driving cylinder is used to drive the positioning block to move toward the limit baffle so as to clamp the thermal insulation receiving barrel located between the limit baffle and the positioning block.

[0028] Preferably: an empty barrel temporary storage component is also provided in the medicine charging area.

[0029] Preferably: the robot assembly comprises a six-axis robot, a base and a clamp, the base is fixed on the ground, the six-axis robot is mounted on the base, and the clamp is mounted at the end of the sixth axis of the six-axis robot.

[0030] Preferably, the projectile inlet and outlet components include two groups to achieve rotational charging.

[0031] Preferably: the projectile entry and exit assembly includes an entry and exit mechanism, a trolley, a latch and a fixing tool; the entry and exit mechanism is installed on the ground, the fixing tool is installed on the panel of the trolley, and the fixing tool is used to fix the projectile; the trolley and the entry and exit mechanism are connected and fixed by the latch.

[0032] Preferably: a waist-shaped hole is provided on the panel of the cart, and the fixing tool comprises a first fixed arc plate and a second fixed arc plate, and the first fixed arc plate and the second fixed arc plate are respectively connected to the corresponding waist-shaped holes, so that the clamping and fixing of different types of projectiles to be loaded can be achieved by adjusting the distance between the first fixed arc plate and the second fixed arc plate.

[0033] Preferably: the projectile inlet and outlet assembly further comprises a detection sensor, and the detection sensor is used for detecting the model of the projectile to be charged clamped by the fixed tooling.

[0034] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0035] The embodiment of the present application provides a melt-cast explosive charging system, which can automatically receive the melt-cast liquid in the melting and mixing area and transfer it to the charging area to finally realize automatic charging. It has changed the traditional manual production method and realized the automatic charging of melt-cast explosives based on robots, automatic logistics and other technologies. It has reduced safety risks and improved the charging production level of melt-cast explosives. At the same time, it has greatly reduced the number of production personnel, reduced the labor intensity of personnel, and effectively protected the health of personnel. It is worthy of large-scale promotion and use.

[0036] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 It is a connection block diagram of a molten-cast explosive charging system provided by an embodiment of the present invention;

[0039] Figure 2 is a structural schematic diagram of a material receiving assembly provided in an embodiment of the present invention;

[0040] Figure 3 is a schematic diagram of the structure of a positioning component provided by an embodiment of the present invention;

[0041] Figure 4 is a schematic diagram of the structure of a robot assembly provided by an embodiment of the present invention;

[0042] Figure 5 It is a structural schematic diagram of the projectile entry and exit assembly provided by an embodiment of the present invention.

[0043] In the figure: material receiving component 1, heat-insulating material receiving barrel 11, weighing sensor 12, bracket 13, transfer component 2, positioning component 3, support 31, positioning block 32, driving cylinder 33, limit baffle 34, robot component 4, six-axis robot 41, base 42, fixture 43, projectile in and out component 5, in and out mechanism 51, cart 52, latch 53, fixed tooling 54, empty barrel temporary storage component 6, projectile to be loaded 7. DETAILED DESCRIPTION

[0044] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0045] See also Figure 1 , is a molten explosive charging system provided by an embodiment of the present invention, such as Figure 1 As shown, the device may include:

[0046] A material receiving component 1, a transfer component 2, a positioning component 3, a robot component 4, and a projectile in-and-out component 5; the material receiving component 1 is located outside the charging area, the positioning component 3 and the robot component 4 are located inside the charging area, and the positioning component 3 and the projectile in-and-out component 5 are both installed within the working range of the robot component 4;

[0047] The transfer component 2 is used to drive the material receiving component 1 to switch positions between the position directly below the outlet of the melting and mixing pot in the melting and mixing zone and the positioning component 3;

[0048] The material receiving assembly 1 comprises a heat-insulating material receiving barrel 11. When the material receiving assembly 1 is located directly below the outlet of the melting and mixing pot in the melting and mixing zone, the heat-insulating material receiving barrel 11 is used to receive the liquid medicine;

[0049] The positioning component 3 is used to position the receiving component 1 loaded with the liquid medicine transferred from the transport component 2;

[0050] The projectile inlet and outlet assembly 5 is used to fix the projectile 7 to be loaded with explosives;

[0051] The robot assembly 4 is used to grab the heat-insulating material receiving barrel 11 and transfer the liquid medicine in the heat-insulating material receiving barrel 11 to the projectile 7 to be loaded with medicine.

[0052] In the molten-cast explosive charging system provided in the embodiment of the present application, the material receiving component 1 can automatically receive the molten-casting liquid in the melting and mixing area and transfer it to the charging area for automatic charging. The robot component 4 is installed in the charging area, and the positioning component 3 and the projectile in and out component 5 are all installed within the working range of the robot component 4. The functions of automatic material receiving, automatic transfer, automatic grabbing, and automatic pouring of the molten-casting charging liquid are realized.

[0053] The projectile in-and-out assembly 5 delivers the projectile to be loaded into the charging station. The receiving assembly 1 receives the liquid medicine under the melting and mixing pot. The transport assembly 2 transports the liquid medicine to the charging area, the positioning assembly 3 automatically positions it, and the robot assembly 4 grabs and automatically pours the medicine, and the cycle continues until the projectile is loaded. The projectile in-and-out assembly 5 automatically delivers the loaded projectile. The system sets the charging process in an isolated charging area, and the entire charging process does not require human participation, which greatly improves the safety of the charging process.

[0054] The material receiving assembly 1 provided in the embodiment of the present application includes an insulated feed barrel for receiving the drug solution, and after the drug is received, the drug solution is transported to the drug loading area through the transport assembly 2. The material receiving assembly 1 can be in various forms. For example, in one implementation, Figure 2 As shown, the embodiment of the present application can provide that the material receiving assembly 1 also includes a weighing sensor 12 and a bracket 13, the insulated material receiving barrel 11 is placed on the upper part of the bracket 13, and the weighing sensor 12 is located at the lower part of the bracket 13; the weighing sensor 12 is used to weigh the bracket 13, the insulated material receiving barrel 11 and the medicine liquid during the process of receiving the medicine liquid, so that the insulated material receiving barrel 11 stops receiving the material after determining that the target weight is reached.

[0055] When discharging, the discharging valve of the melting and mixing pot is opened, and the liquid medicine flows into the heat-insulating receiving barrel 11. The weighing sensor 12 measures the weight of the added liquid medicine, and stops discharging after reaching the set weight. In practical applications, the heat-insulating receiving barrel 11 can be configured with multiple for rotation according to the actual production situation to improve production efficiency.

[0056] Furthermore, the transfer component 2 includes any one of an AGV automatic guided vehicle and a logistics transmission line. The transfer component 2 is used to transport the insulated material receiving barrel 11 back and forth between the material receiving station in the melting and mixing area and the barrel grabbing station in the charging area, and the transfer is achieved by using an AGV or a logistics transmission line.

[0057] The positioning assembly 3 provided in the embodiment of the present application is used to position the heat-insulating material receiving barrel 11 at the grabbing position of the charging area to meet the grabbing requirements. Figure 3 As shown, the embodiment of the present application can provide that the positioning assembly 3 includes a support 31, a positioning block 32, a driving cylinder 33 and a limit baffle 34; the positioning block 32 is connected to the piston rod of the driving cylinder 33, and the driving cylinder 33 is arranged opposite to the limit plate and both are connected to the upper part of the support 31; the driving cylinder 33 is used to drive the positioning block 32 to move toward the limit baffle 34 so as to clamp the heat-insulating material receiving barrel 11 located between the limit baffle 34 and the positioning block 32.

[0058] In order to temporarily store the empty barrel after pouring out the liquid medicine, the embodiment of the present application can also provide that the empty barrel temporary storage component 6 is also provided in the medicine loading area. The empty barrel temporary storage component 6 can be arranged on the side of the positioning component 3 to facilitate the operation of the robot component 4.

[0059] During the drug loading process, the six-axis robot 41 drives the clamp 43 to grab the insulated barrel at the barrel grabbing station, move it to the drug loading station, rotate the insulated material receiving barrel 11, and pour the liquid medicine in the barrel into the bomb body. After the pouring of medicine is completed, the insulated material receiving barrel 11 is moved to the empty barrel grabbing position for placement. Figure 4 As shown, the embodiment of the present application can provide that the robot assembly 4 includes a six-axis robot 41, a base 42 and a clamp 43, wherein the base 42 is fixed on the ground, the six-axis robot 41 is installed on the base 42, and the clamp 43 is installed at the end of the sixth axis of the six-axis robot 41.

[0060] Further, such as Figure 5 As shown, the projectile entry and exit assembly 5 includes an entry and exit mechanism 51, a trolley 52, a latch 53 and a fixing tool 54; the entry and exit mechanism 51 is installed on the ground, the fixing tool 54 is installed on the panel of the trolley 52, and the fixing tool 54 is used to fix the projectile; the trolley 52 and the entry and exit mechanism 51 are connected and fixed by the latch 53.

[0061] The panel of the cart 52 is provided with a waist-shaped hole, and the fixing tool 54 includes a first fixing arc plate and a second fixing arc plate, and the first fixing arc plate and the second fixing arc plate are respectively connected to the corresponding waist-shaped holes, so that the clamping and fixing of different types of projectiles to be charged 7 can be achieved by adjusting the spacing between the first fixing arc plate and the second fixing arc plate. The installation position of the tool on the board of the cart 52 is adjustable, and it can be compatible with projectiles within a certain diameter range to meet the production needs of multiple types of projectiles.

[0062] When supplying the projectile, the projectile to be loaded is manually placed in the tooling of the cart 52 in the loading area and fixed, and then the cart 52 is pushed to the outside of the entry and exit mechanism 51, and connected and fixed to the entry and exit mechanism 51 with a latch 53. The entry and exit mechanism 51 automatically sends the cart 52 and the projectile to the loading position in the charging area. After the charging is completed, the entry and exit mechanism 51 sends the cart 52 and the projectile out, and the latch 53 is manually pulled out to transport the projectile to the next production link. In specific implementation, the embodiment of the present application can provide that the projectile entry and exit assembly 5 includes two groups to realize rotation charging. The use of two groups of projectile entry and exit assemblies 5 can realize rotation charging, thereby achieving the purpose of improving production efficiency.

[0063] The projectile in-and-out assembly 5 also includes a detection sensor, which is used to identify the type of the projectile 7 to be charged clamped by the fixing fixture 54. The projectile in-and-out assembly 5 is equipped with a detection sensor, which can identify multiple types of projectiles to meet the production requirements of multiple types of projectiles.

[0064] The working process of the molten explosive charging system provided in the embodiment of the present application is as follows:

[0065] A. Before the production of melt-cast explosive charging is carried out, the projectile to be charged is manually placed in the trolley 52 for fixing, and then pushed to the charging area and connected and fixed to the projectile entry and exit mechanism 51.

[0066] B. During the charging production, the projectile in and out mechanism 51 pulls the cart 52 and the projectile into the charging station in the charging area.

[0067] C. After the mixing of medicines is completed, the discharge valve of the melting and mixing pot is opened, and the heat-insulated material receiving barrel 11 of the material receiving assembly 1 receives the medicine liquid under the melting and mixing pot. When discharging the materials, the discharge valve of the melting and mixing pot is opened, and the medicine liquid flows into the heat-insulated material receiving barrel 11. The weighing sensor 12 measures the weight of the added medicine liquid, and stops discharging when the set weight is reached.

[0068] D. The transfer component 2 uses an explosion-proof AGV or a logistics transmission line to transport the insulated material receiving barrel 11 and the liquid medicine to the positioning component 3 in the charging area according to the set path, and puts down the insulated material receiving barrel 11.

[0069] E. The positioning component 3 pushes the positioning block 32 to the groove below the heat-insulating material receiving barrel 11 through the driving cylinder 33 on the support 31, so as to position the heat-insulating material receiving barrel 11, and cooperates with the upper limit baffle 34 to meet the grasping requirements of the robot component 4.

[0070] F. The six-axis robot 41 grabs the heat-insulating material receiving barrel 11 through the clamp 43, moves it to the set point above the projectile 7 to be charged, and slowly turns it over to pour the material. Pour the liquid medicine in the barrel into the projectile. After the liquid medicine in the heat-insulating material receiving barrel 11 is poured out, the robot component 4 places the empty heat-insulating material receiving barrel 11 at the empty barrel grabbing position, and the transfer component 2 moves the empty heat-insulating material receiving barrel 11 to the outlet of the melting and mixing pot again to continue to receive the liquid medicine, and the cycle is repeated until the projectile is charged.

[0071] The projectile in-and-out assembly 5 automatically delivers the projectile that has been loaded with explosives, and the fixation between the trolley 52 and the projectile in-and-out assembly 5 is manually released to rotate the trolley 52 and the projectile out.

[0072] Except for the manual placement of the cart 52, the above working steps are all automatically cycled under the control of the automatic control system, and are provided with fault alarm and interlocking functions, so as to realize the automation and continuous production of the charging process of the molten-cast explosive.

[0073] In summary, the molten-cast explosive charging system provided by the present application can automatically receive the molten-cast liquid in the melting and mixing area and transfer it to the charging area to finally realize automatic charging. It has changed the traditional manual production method and realized the automatic charging of molten-cast explosives based on technologies such as robots and automatic logistics. It has reduced safety risks and improved the charging production level of molten-cast explosives. At the same time, it has greatly reduced the number of production personnel, reduced the labor intensity of personnel, and effectively protected the health of personnel. It is worthy of large-scale promotion and use.

[0074] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0075] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0076] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A molten explosive charging system, characterized in that: It includes a material receiving assembly, a transfer assembly, a positioning assembly, a robot assembly and a projectile entry and exit assembly; the material receiving assembly is located outside the drug charging area, the positioning assembly and the robot assembly are located inside the drug charging area, and the positioning assembly and the projectile entry and exit assembly are both installed within the working range of the robot assembly; The transfer assembly is used to drive the material receiving assembly to switch positions between the position directly below the outlet of the melting and mixing pot in the melting and mixing zone and the positioning assembly; The material receiving assembly includes a heat-insulating material receiving barrel. When the material receiving assembly is located directly below the outlet of the melting and mixing pot in the melting and mixing zone, the heat-insulating material receiving barrel is used to receive the liquid medicine. The positioning component is used to position the receiving component loaded with the liquid medicine transferred from the transport component; The projectile inlet and outlet assembly is used to fix the projectile to be loaded with explosives; The robot assembly is used to grab the heat-insulating material receiving barrel and transfer the liquid medicine in the heat-insulating material receiving barrel into the bullet to be loaded with medicine.

2. The molten-cast explosive charging system according to claim 1, characterized in that: The material receiving assembly also includes a weighing sensor and a bracket. The insulated material receiving barrel is placed on the upper part of the bracket, and the weighing sensor is located at the lower part of the bracket. The weighing sensor is used to weigh the bracket, the insulated material receiving barrel and the medicine liquid during the process of receiving the medicine liquid, so that the insulated material receiving barrel stops receiving the material after determining that the target weight is reached.

3. The molten-cast explosive charging system according to claim 1, characterized in that: The transfer component includes any one of an AGV automatic guided vehicle and a logistics transmission line.

4. The molten-cast explosive charging system according to claim 1, characterized in that: The positioning assembly includes a support, a positioning block, a driving cylinder and a limit baffle; the positioning block is connected to the piston rod of the driving cylinder, and the driving cylinder and the limit plate are arranged opposite to each other and are both connected to the upper part of the support; the driving cylinder is used to drive the positioning block to move toward the limit baffle so as to clamp the thermal insulation receiving barrel located between the limit baffle and the positioning block.

5. The molten-cast explosive charging system according to claim 1, characterized in that: An empty barrel temporary storage component is also provided in the medicine charging area.

6. The molten-cast explosive charging system according to claim 1, characterized in that: The robot assembly includes a six-axis robot, a base and a clamp, the base is fixed on the ground, the six-axis robot is installed on the base, and the clamp is installed at the end of the sixth axis of the six-axis robot.

7. The molten-cast explosive charging system according to claim 1, characterized in that: The projectile inlet and outlet components include two groups to realize rotation charging.

8. The molten-cast explosive charging system according to claim 1, characterized in that: The projectile entry and exit assembly includes an entry and exit mechanism, a trolley, a latch and a fixing tool; the entry and exit mechanism is installed on the ground, the fixing tool is installed on the panel of the trolley, and the fixing tool is used to fix the projectile; the trolley and the entry and exit mechanism are connected and fixed by the latch.

9. The molten-cast explosive charging system according to claim 8, characterized in that: A waist-shaped hole is provided on the panel of the cart, and the fixing tool includes a first fixed arc plate and a second fixed arc plate, and the first fixed arc plate and the second fixed arc plate are respectively connected to the corresponding waist-shaped holes, so that the clamping and fixing of different types of projectiles to be loaded can be achieved by adjusting the distance between the first fixed arc plate and the second fixed arc plate.

10. The molten-cast explosive charging system according to claim 8, characterized in that: The projectile inlet and outlet assembly also includes a detection sensor, which is used to detect the model of the projectile to be charged clamped by the fixed tooling.

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