Automatic recovery system for energetic material wrapped by metal shell

Abstract

The invention discloses an automatic recovery system for an energetic material wrapped with a metal shell. The automatic recovery system comprises a supporting and adjusting system, a servo feeding system, a servo milling system, a tool rest and cutterhead system, a protective chip removal system and an internal circulation cooling system. The support adjusting system is used for integrally supporting the automatic recovery system; the servo feeding system is used for realizing axial feeding when the energetic material is recycled and processed; the servo milling system is used for providing circumferential rotating motion when the energetic material is recycled and processed; the tool rest and cutterhead system is used for milling the energetic material in the metal shell; the protective chip removal system is used for recycling the milled energetic material; and the internal circulation cooling system is used for cooling in the recovery process of the energetic material. Compared with the prior art, under the condition that the metal shell is not damaged, efficient and automatic recovery of the energetic material is achieved, safe cooling is conducted in the recovery process, and the stability of the recovery process is improved.

Description

Technical Field

[0001] The invention relates to the field of automatic recycling of energetic materials, and in particular to an automatic recycling system for energetic materials wrapped in a metal shell. Background Art

[0002] Energetic materials contain many valuable resources, such as metals, organic compounds, etc. By recycling these resources, we can reduce the demand for primary resources, realize the recycling of resources, and improve the efficiency of resource utilization. If energetic materials are not properly handled, they may cause serious pollution to the environment. Through recycling and treatment, environmental pollution can be effectively reduced and the ecological environment can be protected. Energetic materials are potentially explosive and toxic. If they are not properly handled, they may cause safety accidents and threaten public safety. Through recycling and treatment, these safety hazards can be eliminated and social security can be guaranteed. The recycling of energetic materials not only contributes to the recycling of resources and environmental protection, but also reduces safety hazards, improves economic benefits, and promotes scientific and technological progress. Therefore, carrying out the recycling of energetic materials has important practical significance and far-reaching strategic significance.

[0003] At present, the general energetic material recycling methods are mainly divided into mechanical recycling, thermal recycling, and chemical recycling. Mechanical recycling is a traditional material recycling method. It recycles materials by crushing waste materials, screening, reprocessing and other processes. The advantages are simple operation and less equipment investment; the disadvantages are that the metal shell cannot be recycled and there may be safety hazards; thermal recycling is to decompose energetic materials by high-temperature incineration or pyrolysis, and recover the heat or other valuable products therein. For example, incineration of waste gunpowder to recover energy. The advantage is that energetic materials can be completely decomposed to reduce safety hazards; the disadvantage is that high-temperature treatment may produce harmful gases, which requires advanced waste gas treatment equipment, and will affect or even damage the performance of the metal shell. Chemical recycling is to dissolve and recycle waste energetic materials by chemical methods. The advantage is that energetic materials can be effectively decomposed to reduce safety hazards; the disadvantage is that the use of chemical reagents may pollute the environment, the processing cost is high, and it may corrode the metal shell. The above methods are not applicable to the recycling of energetic materials wrapped in metal shells, especially when the metal shell is of high value. The above methods will damage the metal shell and may even cause it to be scrapped, resulting in a waste of resources. Therefore, recycling can only be carried out through manual operation at present, but manual recycling has low efficiency, poor quality stability, and poses safety risks.

[0004] In order to solve the above-mentioned recycling problems, it is necessary to realize automatic recycling of the energetic materials inside without destroying the metal shell. On the one hand, it is necessary to ensure the stability of the recycling quality, and on the other hand, it is necessary to ensure the high efficiency of recycling and the safety of the recycling process. An automatic recycling system for energetic materials wrapped in metal shells is studied to reduce the risks of manual operation and improve the recycling efficiency and quality stability. Summary of the invention

[0005] In view of the above problems, in order to improve the efficiency of recycling energetic materials with metal shells, ensure the stability of recycling quality, and improve production safety, the invention discloses an automatic recycling system for energetic materials wrapped in metal shells. Automatic recycling can not only reduce production costs, improve production efficiency, and ensure the stability of recycling quality, but also effectively eliminate safety risks in the recycling process, achieve the goal of safe production, and ensure the personal safety of employees. In order to improve the safety of the recycling process, ensure the quality of material recycling, and improve production efficiency, we will start with the automatic recycling mechanism, construct a support adjustment system, a servo feed system, a servo milling system, a tool holder and tool disc system, a protective chip removal system, an internal circulation cooling system, and a real-time detection and control system to achieve automatic recycling of energetic materials wrapped in metal shells, thereby achieving the goal of improving recycling efficiency, ensuring material recycling quality, eliminating safety risks, and achieving safe production.

[0006] The technical solution to achieve the purpose of the present invention is: To achieve the above technical purpose, the present invention adopts the following technical solution:

[0007] An automatic recovery system for energetic materials wrapped in metal shells is composed of multiple subsystems, mainly including a support adjustment system, a servo feed system, a servo drilling and milling system, a tool holder and cutter disc system, a positioning and clamping system, an internal circulation filtering and cooling system, a protective chip removal system and a real-time detection and control system. The automatic recovery system includes a support adjustment system, a servo feed system, a servo milling system, a tool holder and cutter disc system, a protective chip removal system and an internal circulation cooling system; the support adjustment system is equipped with a servo feed system, and the support adjustment system is used to support the automatic recovery system as a whole; the servo feed system is used to realize axial feeding during energetic material recovery processing; the servo milling system is installed on a moving fixed plate of the servo feed system, and is used to provide circumferential rotation during energetic material recovery processing; the tool holder and cutter disc system rotates under the drive of the servo milling system, and is used to mill energetic materials with metal shells inside; the protective chip removal system is installed outside the tool holder and cutter disc system, and is used to recover energetic materials after milling; the internal circulation cooling system is used to cool the recovery process of energetic materials. The real-time detection and control system stabilizes the cutting conditions through real-time monitoring of various parameters.

[0008] Compared with the prior art, the present invention has the following significant advantages:

[0009] (1) This study invented an automatic recovery system for energetic materials wrapped in a metal shell, which can automatically recover the energetic materials inside without destroying the metal shell.

[0010] (2) The automatic recovery system for energetic materials wrapped in a metal shell disclosed in the present invention improves the protection performance of energetic material recovery through a protective chip removal system, thereby achieving safe recovery of energetic materials;

[0011] (3) The present invention discloses an automatic recovery system for energetic materials wrapped in a metal shell, wherein an adjustable centering and positioning clamping system is formed in the clamp assembly, thereby improving the adaptability of material recovery;

[0012] (4) The present invention discloses an automatic recovery system for energetic materials wrapped in a metal shell, which is provided with a cooling pipeline and an internal circulation cooling system to achieve safe cooling during the recovery process of the energetic materials with the metal shell, thereby improving the stability of the recovery process;

[0013] (5) The present invention discloses an automatic recovery system for energetic materials wrapped in a metal shell, wherein a sealing assembly is provided in the servo milling system to achieve safe sealing of the cooling pipeline;

[0014] (6) The present invention discloses an automatic recovery system for energetic materials wrapped in a metal casing, and the designs of a servo feeding system and a servo milling system achieve high efficiency and high stability in material recovery, thereby achieving the goal of improving production efficiency and ensuring recovery quality on the premise of safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0016] Figure 1 A schematic diagram of the overall equipment layout of the automatic recycling system provided by the present invention;

[0017] Figure 2 A schematic diagram of a servo feeding system of an automatic recycling system provided by the present invention;

[0018] Figure 3 A schematic diagram of a servo milling system of an automatic recycling system provided by the present invention;

[0019] Figure 4 A top view of the end of the servo milling system of the automatic recycling system provided by the present invention;

[0020] Figure 5This is a schematic diagram of the pipeline inside the transmission shaft;

[0021] Figure 6 It is a structural cross-sectional view of the end of the transmission shaft;

[0022] Figure 7 A schematic diagram of a tool holder and tool disc system of the automatic recycling system provided by the present invention;

[0023] Figure 8 Schematic diagram of the protective chip removal system of the automatic recovery system provided by the present invention. DETAILED DESCRIPTION

[0024] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0025] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0026] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or other combinations.

[0027] Schematic diagram of the overall equipment layout of the automatic recycling system (see Figure 1 ), the present invention provides an automatic recovery system for energetic materials wrapped in a metal shell, comprising: a support adjustment system 1, a servo feeding system 2, a servo milling system 3, a tool holder and tool disc system 4, a protective chip removal system 5, an internal circulation cooling system 6 and a real-time detection control system 7;

[0028] A servo feed system 2 is installed on the support adjustment system 1. The clamp assembly installed at the end of the servo feed system 2 can self-center the material and clamp it, and can also fine-tune the position along two axial directions. The servo milling system 3 and the tool holder and disc system 4 installed on the movable fixed plate 2-3 of the servo feed system 2 transmit power to the tool holder and disc system 4 through the transmission route of the planetary reducer plus the synchronous belt pulley set. The tool holder and disc system 4 has cooling pipes and threading pipes inside. The tool holder and disc system 4 has cooling pipes and temperature sensors and electrostatic sensors installed inside the tool holder and disc system at the top. The protective chip removal system 5 installed between the tool holder and disc systems guides the chips out by rotation; the system has sealing and auxiliary blowing functions to improve the chip removal efficiency. The chiller of the internal circulation cooling system 6 and the electric control cabinet of the control system 7 are placed next to the equipment according to the site.

[0029] The support adjustment system 1 is a frame structure, which provides support and fixation for the automatic recovery system, and is convenient for cleaning, transportation and maintenance. The bottom is provided with universal wheels, which are used to drive the automatic recovery system to move, so as to be more conducive to chip removal, cutting and tool setting, and improve debugging efficiency.

[0030] For further information, see Figure 2 , the figure shows that the servo feed system 2 of the present invention includes: a fixed base plate 2-1, a guide rail assembly and a fixture assembly;

[0031] A fixed base plate 2-1 is installed on the support adjustment system 1 and is used to fix and support the servo feed system 2;

[0032] The guide rail assembly includes: a guide rail feed assembly and a guide rail drive assembly; the guide rail feed assembly is used to realize axis feed during cutting processing. The guide rail feed includes: a movable fixed plate 2-3, a ball screw 2-4, a linear guide 2-7, a guide rail fixing seat 2-8, a drag chain 2-14, a ruler 2-15, a pointer 2-16, a magnetic scale 2-18, and a magnetic scale reader 2-19.

[0033] The guide rail fixing seat 2-8 is fixed to both sides of the left end of the fixed base plate 2-1 by pins and screws, the linear guide 2-7 is installed on the guide rail fixing seat 2-8, the movable fixing plate 2-3 is installed and fixed on the slider of the linear guide 2-7, and the movable fixing plate 2-3 is fixed to the screw nut of the ball screw 2-4. The magnetic scale reader 2-19 is fixed to the movable fixing plate 2-3 by screws, and the magnetic scale 2-18 is fixed to the fixed base plate 2-1 by screws at the corresponding position. The function of the magnetic scale reader 2-19 and the magnetic scale 2-18 is to cooperate with each other to detect the linear feed displacement in real time, form a full closed-loop feedback with the servo feed system, and provide precision support for feed compensation. It has high precision, good stability, easy installation and strong anti-interference ability.

[0034] The scale 2-15 and the pointer 2-16 are used to quickly and intuitively read the feed value and position when the equipment is accidentally powered off; the pointer 2-16 is installed on the movable fixed plate 2-3, and at the corresponding position, the scale 2-15 is installed on the fixed base plate 2-1 by screw locking. As the movable fixed plate 2-3 moves, the pointer 2-16 indicates different scales of the scale 2-15, one end of the drag chain 2-14 is fixed to the movable fixed plate 2-3, and the other end of the drag chain 2-14 is fixed to the fixed base plate 2-1; the driven cable is arranged in the drag chain 2-14 and finally connected to the control cabinet, thereby reducing the friction between the cable and external objects during frequent movement, reducing wear, reducing the risk of short circuit, and improving the safety of the electrical system.

[0035] The guide rail drive assembly is used to provide power and transmission for the guide rail feed assembly, and the guide rail drive assembly includes: a first planetary reducer 2-5, a motor mounting seat 2-6, a first fixed pad 2-9, a first servo motor 2-10, a fixed end fixing seat 2-11, a second fixed pad 2-12, a floating end fixing seat 2-13, and a first coupling 2-17.

[0036] The fixed end fixing seat 2-11 and the first fixed pad 2-9 are locked and fixed to the left end of the fixed base plate 2-1 by screws, and the floating end fixing seat 2-13 and the second fixed pad 2-12 are locked and fixed to the middle part of the fixed base plate 2-1 by screws.

[0037] The motor fixing seat 2-6 is fixed to the back of the left end of the fixed base plate 2-1 by screws (installed on a different surface of the fixed base plate 2-1 from the fixed end fixing seat 2-11 and the first fixed pad 2-9), the first planetary reducer 2-5 is installed on the motor fixing seat 2-6, the first servo motor 2-10 is installed on the housing of the first planetary reducer 2-5, and the output shaft of the first servo motor 2-10 is fixedly connected to the input shaft of the first planetary reducer 2-5; the ball screw 2-4 is rotatably installed between the fixed end fixing seat 2-11 and the floating end fixing seat 2-13 through a bearing, and the output shaft of the planetary reducer 2-5 is connected to the end of the ball screw 2-4 through the first coupling 2-17; a direct transmission mode is formed, and then the first servo motor 2-10 rotates, driving the ball screw 2-4 to rotate, and then driving the screw nut of the ball screw 2-4 to move, and then driving the movable fixed plate 2-3 to move.

[0038] The fixture assembly includes: a fixture seat 2-2, an adjustment base plate 1 2-20, an adjustment base plate 2-21, a fixed pressure plate 2-23, and a shoulder screw 2-24. The fixture assembly is used for the fixture and position adjustment of energetic materials.

[0039] The adjusting base plate 2-20 is fixed to the end of the fixed base plate 2-1 away from the guide rail assembly by bolts and nuts. The bolts and nuts are adjusted at the same time to realize the up and down adjustment of the adjusting base plate 2-20; the adjusting base plate 2-21 is installed on the adjusting base plate 2-20 by shoulder screws 2-24, and the shoulder screws 2-24 cooperate with the waist-shaped holes on the adjusting base plate 2-21, so as to realize the movement of the adjusting base plate 2-21 relative to the adjusting base plate 2-20 in the length direction of the waist-shaped holes. The seat 2-2 is provided with an arc-shaped design with a self-centering function. It is installed on the adjusting base plate 2-21 by screw locking, and the fixed pressure plate 2-23 is installed on the clamp seat 2-2 by screw locking to realize the centering and pressing fixation of the material.

[0040] The clamp assembly adjusts the energetic material in the following manner: the upper and lower positions are adjusted by tightening or loosening the screws installed on the adjustment base plate 2-20, and the left and right positions are adjusted by the shoulder screws fixed on the adjustment base plate 2-20. After adjustment into place, the screws are locked.

[0041] The driving process of the servo feed system 2: the first servo motor 2-10 amplifies the feed power through the first planetary reducer 2-5, transmits it to the ball screw 2-4 through the first coupling 2-17 to drive the ball screw 2-4 to rotate, and the screw rotating pair drives the movable cabinet fixed plate 2-3 to move axially along the linear guide rail 2-7.

[0042] For further information, see Figures 3 to 6 , the figure shows a servo milling system 3 of the present invention, comprising: a milling transmission drive assembly, a cooling pipeline and a sealing assembly;

[0043] The milling transmission drive assembly includes: a supporting sleeve 3-1, a transmission shaft 3-2, an angular contact ball bearing 3-3, a locking nut 3-4, a synchronous pulley 3-5, a synchronous belt 3-6, a conductive slip ring 3-8, a second deep groove ball bearing 3-9, a fixed bracket 3-11, a motor mounting seat 3-12, an active synchronous pulley 3-13, a first deep groove ball bearing 3-17, a flange 3-18, a motor bracket 3-20, a second planetary reducer 3-21, a torque sensor 3-22, a linear bearing 3-23, a bearing fixed base 3-24, a bearing pressure plate 3-25, a second servo motor 3-26, a driving shaft 3-27, a second coupling 3-28, and a conductive slip ring bracket 3-29;

[0044] The motor mounting seat 3-12 is fixedly mounted on the movable fixed plate 2-3, the motor mounting seat 3-12 and the motor bracket 3-20 are connected by screw locking, the second servo motor 3-26 is mounted on the housing of the planetary reducer 3-21, the planetary reducer 3-21 is mounted on the motor mounting seat 3-12, the output shaft of the second servo motor 3-26 is connected to the input shaft of the second planetary reducer 3-21, the output shaft of the planetary reducer 3-21 is fixedly connected to the driving shaft 3-27 through the second coupling 3-28, and the torque sensor 3-22 is fixedly mounted at the end of the driving shaft 3-27 and is directly connected to it. The flange 3-18 is fixed on the middle plate of the motor bracket 3-20, the first deep groove ball bearing 3-17 is installed inside the flange 3-18, the driving shaft 3-27 is rotatably installed on the motor bracket 3-20 through the first deep groove ball bearing 3-17, the driving synchronous pulley 3-13 is fixedly connected to the driving shaft 3-27, and the synchronous belt 3-6 connects the driving synchronous pulley 3-13 and the driven synchronous pulley 3-5;

[0045] The fixed bracket 3-11 is fixedly installed on the movable fixed plate 2-3, the conductive slip ring bracket 3-29 is fixedly connected to 3-11, the rotating part of the conductive slip ring 3-8 is fixedly connected to the transmission shaft 3-2, and the non-rotating part of the conductive slip ring 3-8 is fixedly connected to the conductive slip ring bracket 3-29; the conductive slip ring 3-8 is used for the transmission of power and signals between the rotating cutter head electrostatic sensor and the temperature sensor and the electric control cabinet to prevent the cable from being entangled and broken; the bearing pressure plate 3-25 is fixedly connected to the support sleeve 3-1;

[0046] One end of the support sleeve 3-1 is fixed on the fixed bracket 3-11, and the other end is connected to the bearing fixed base 3-24 through a linear bearing 3-23. The bearing fixed base 3-24 is fixedly installed on the fixed base plate 2-1, so that the support sleeve 3-1 can realize axial movement relative to the bearing fixed base 3-24; the transmission shaft 3-2 is fixedly connected to the synchronous pulley 3-5 through a key, and the two ends of the transmission shaft 3-2 are respectively connected to the angular contact ball bearing 3-3 and the second deep groove ball bearing 3-9 and the support sleeve 3-1 for circumferential rotation.

[0047] When the servo milling system 3 is working, the second servo motor 3-26 amplifies the power through the second planetary reducer 3-21, and then the active shaft 3-27 drives the active synchronous pulley 3-13 to rotate, thereby driving the driven synchronous pulley 3-5 through the synchronous belt 3-6, and then drives the transmission shaft 3-2 to rotate, realizing the transmission of milling power.

[0048] The cooling pipeline includes: the pipeline inside the transmission shaft 3-2, the transition joint 3-15, the grid ring 3-30, the inlet joint 3-7, and the outlet joint 3-31.

[0049] One end of the transmission shaft 3-2 close to the tool holder and tool disc system 4 is connected to one end of the transition joint 3-15 through cooperation; the other end of the transition joint 3-15 is connected to the cooling pipeline in the tool disc module in the tool holder and tool disc system 4; an O-ring for sealing is installed on the transition joint 3-15;

[0050] An outlet pipeline 3-2-1 and an inlet pipeline 3-2-2 are provided inside the transmission shaft 3-2; the outlet pipeline 3-2-1 is connected to the outlet joint 3-31, and the inlet pipeline 3-2-2 is connected to the inlet joint 3-7, thereby realizing the connection between the coolant in the internal pipeline of the transmission shaft 3-2 and the internal circulation cooling system 6. The cooling medium enters the inlet pipeline 3-2-2 through the inlet joint 3-7, then enters the cutter disc for cooling, and then flows out through the outlet pipeline 3-2-1 to the outlet joint 3-31, and finally flows out. The inlet joint 3-7 and the outlet joint 3-31 are locked and fixed with the support sleeve 3-1 in the form of conical threads. Three grid rings 3-30 are used between the fixed transmission shaft 3-2 and the support sleeve 3-1 to separate the inlet of the water inlet pipeline and the outlet pipeline to realize internal circulation cooling.

[0051] Sealing assembly: including dust ring 3-10, protective ring pressure plate 3-14, rotary sealing ring 3-16, end pressure block 3-19; the end pressure block 3-19 is fixed to the end of the support sleeve 3-1 by screw locking, and is used to fix and clamp the deep groove ball bearing 3-9 and provide a fixed installation position for the rotary sealing ring 3-16 and the dust ring 3-10; the rotary sealing ring 3-16 is installed in the end pressure block 3-19 and fixed by a retaining ring through the hole, the dust ring 3-10 is installed on the outer end of the end pressure block 3-19 and is clamped and fixed by the dust ring pressure plate 3-14, and the protective ring pressure plate 3-14 is fixed to the end pressure block 3-19 through a floor cabinet.

[0052] For further reference, Figure 7 , the figure shows a tool holder and tool disc system 4 of the present invention, the system comprises:

[0053] The cutter head assembly 4-1, the protective cover 4-2, and the spiral guide groove 4-3; the cutter head assembly 4-1 is fixedly installed at the end of the transmission shaft 3-2, and performs circumferential rotation under the rotation of the transmission shaft 3-2 to mill the energetic material in the metal shell; the protective cover plate 4-2 is screwed to the cutter head assembly 4-1 to reduce the material chips and Figure 3 The spiral guide groove 4-3 is fixedly connected to the cutter head assembly 4-1 by means of screw locking, and is used to guide the cut medicine chips in time to avoid repeated collision and friction of the medicine chips; a cooling pipeline is arranged in the cutter head assembly 4-1; the cooling medium enters into the cutter head assembly through the transition joint 3-15 and the pipeline inside the transmission shaft 3-2, thereby realizing the function of cooling the cutter head assembly during cutting processing.

[0054] For further reference, Figure 8 The figure shows the protective chip removal system 5 of the present invention, which is arranged outside the tool holder and tool disc system 4; the protective chip removal system 5 includes: a protective cover lower cover module 5-1, a protective cover upper cover module 5-2, and a sealing side plate module 5-3;

[0055] The lower shield module 5-1 of the protective cover is fixedly connected to the upper shield module 5-2 of the protective cover, and the lower part of the lower shield module 5-1 is connected to the external energetic material recovery box; the top of the upper shield module 5-2 is fixed with a blowing module and an electrostatic detection module, and the blowing module can blow the energetic materials cut in the tool holder and cutter disc system 4 with inert gas to assist in chip removal and improve chip removal efficiency; the electrostatic detection module can detect the electrostatic value in the processing process in real time to ensure that the electrostatic value is lower than the threshold to ensure safety. The sealing side plate module 5-3 is set on the side of the lower shield module 5-1 of the protective cover and the upper shield module 5-2 of the protective cover, and is used to cover the tool holder and cutter disc system 4 from the side to prevent the splashing of energetic material chips during the recovery process.

[0056] Furthermore, the internal circulation filtering cooling system 6 includes: a water cooler, a circulation pump, a cooling water pipe, etc. The water pipe is connected to the outlet of the water cooler and then to the inlet of the circulation pump, and then connected from the outlet of the circulation pump to the inlet joint 3-7 installed on the support sleeve 3-1, and the water pipe is connected from the outlet joint 3-31 installed on the support sleeve 3-1 to the inlet of the water cooler, forming a circulation cooling closed loop. The water cooler cools the water and then pumps it into the circulation pipeline through the circulation pump, and then enters the water cooler after the cutter head is cooled.

[0057] Furthermore, the real-time detection control system 7 includes a PLC (inside the electric control cabinet), a temperature sensor, an electrostatic sensor, a torque sensor, a magnetic scale and a magnetic scale reader, etc., which can stabilize the cutting conditions by real-time monitoring of various parameters. A temperature sensor is provided on the cutter head module 4-1 to detect the temperature during milling. When the temperature is too high, the cooling water flow rate is increased and the cooling water temperature is reduced for cooling treatment; the cutting torque is detected in real time by the torque sensor 3-22 installed at the end of the cutting active shaft 3-27 to monitor the cutting stability. The electrostatic value in the cavity is monitored by the electrostatic sensor installed on the top of 5-2 to ensure the safety of cutting; the magnetic scale and the magnetic scale reader monitor the feed value in real time and compare it with the control parameters to realize automatic compensation control of cutting.

[0058] The working principle of the automatic recovery system for energetic materials wrapped in metal shells is as follows: when working, the first servo motor 2-10 in the servo feed system 2 rotates, driving the ball screw 2-4 to rotate, and then converting the circumferential motion into linear motion, driving the screw nut of the ball screw 2-4 to move, and further driving the movable fixed plate 2-3 and the servo milling system 3 installed on the movable fixed plate 2-3 to move axially along the energetic material to be processed and recovered; at the same time, the second servo motor 3-26 rotates, driving the active synchronous pulley 3-13 to rotate, and through the synchronous belt 3-6, driving the synchronous pulley 3-5 to rotate, and the synchronous pulley 3-5 drives the transmission shaft 3-2 to rotate, thereby realizing the rotation of the tool assembly in the tool holder and tool disc system 4 to cut the energetic material.

[0059] The coolant flows out from the water cooler, is transported to the inlet joint 3-7 by the circulating pump, enters the support sleeve 3-1, and reaches the cutter head for cooling through the cooling pipeline inside it. Then the coolant flows out from the cooling pipe outlet pipeline inside the support sleeve 3-1, flows out through the outlet joint 3-31, and finally flows back to the water cooler.

[0060] The working process of an automatic recovery system for energetic materials wrapped in a metal casing is as follows:

[0061] (1) After the fixture and protective cover in the positioning clamping system are opened, the energetic material with the metal shell is positioned, and then the positioning fixture is locked.

[0062] (2) The position and angle of the energetic material with the metal casing are adjusted by adjusting the length of the screws and the screw rods of the support adjustment system.

[0063] (3) The protective chip removal system is locked to ensure that the cutter head in the initial position is covered in the protective cover, the sealing rubber of the protective cover is in close contact with the tool holder, and the protective cover is locked.

[0064] (4) By setting the parameters of the feed system and milling system, the energetic material is cut, and the detected temperature and static electricity values ​​are sent to the control system. The position of the tool on the cutter head is adjusted to ensure that it does not contact the metal shell.

[0065] (5) The cutting feed system drives the reverse spiral guide trough to guide the chips out, and at the same time uses air blowing to assist in improving the chip removal efficiency and speeding up the discharge of chips. Finally, the internal energetic materials are recovered without damaging the metal shell.

[0066] (6) The real-time monitoring and control system monitors and feedbacks the parameters such as feed speed, milling speed, torque value, tool head temperature, electrostatic value and displacement value in the cutting process in real time, and adjusts the full closed-loop control.

Claims

1. An automatic recovery system for energetic materials wrapped in a metal shell, characterized in that: The automatic recovery system comprises a support adjustment system (1), a servo feed system (2), a servo milling system (3), a tool holder and cutter disc system (4), a protective chip removal system (5) and an internal circulation cooling system (6); the support adjustment system (1) is equipped with a servo feed system (2), and the support adjustment system (1) is used to support the automatic recovery system as a whole; the servo feed system (2) is used to realize axial feed during energetic material recovery processing; the servo milling system (3) is installed on a movable fixed plate (2-3) of the servo feed system (2), and is used to provide circumferential rotational motion during energetic material recovery processing; the tool holder and cutter disc system (4) rotates under the drive of the servo milling system (3), and is used to perform milling processing on energetic materials with metal shells; the protective chip removal system (5) is installed outside the tool holder and cutter disc system (4), and is used to recover the energetic materials after milling; and the internal circulation cooling system (6) is used to cool the energetic material recovery process.

2. The automatic recovery system for energetic materials wrapped in metal shells according to claim 1, characterized in that: The servo feed system (2) comprises a fixed base plate (2-1), a guide rail assembly and a fixture assembly; the guide rail assembly comprises a guide rail feed assembly and a guide rail drive assembly; the fixed base plate (2-1) is mounted on the support adjustment system (1), the guide rail assembly is mounted on the fixed base plate (2-1), the guide rail feed assembly is used to realize axis feed during cutting processing; the guide rail drive assembly is used to provide power and transmission for the guide rail feed assembly; the fixture assembly is used to clamp and adjust the position of energetic materials.

3. The automatic recovery system for energetic materials wrapped in a metal shell according to claim 2, characterized in that: The guide rail feed assembly comprises: a movable fixed plate (2-3), a ball screw (2-4), a linear guide rail (2-7), and a guide rail fixing seat (2-8); the guide rail fixing seat (2-8) is fixed on the fixed base plate 2-1, the linear guide rail (2-7) is installed on the guide rail fixing seat (2-8), the movable fixed plate (2-3) is installed and fixed on the slider of the linear guide rail (2-7), and the movable fixed plate (2-3) is fixed to the screw nut of the ball screw (2-4).

4. The automatic recovery system for energetic materials wrapped in a metal shell according to claim 2, characterized in that: The guide rail feeding assembly also includes a drag chain (2-14), a scale (2-15), a pointer (2-16), a magnetic scale (2-18) and a magnetic scale reader (2-19); one end of the drag chain (2-14) is fixed to the movable fixed plate (2-3), and the other end of the drag chain (2-14) is connected to the fixed base plate (2-1); the driving cable is arranged in the drag chain (2-14) and finally connected to the control cabinet; the pointer (2-16) is installed on the movable fixed plate (2-3), the scale (2-15) is fixedly installed on the fixed base plate (2-1), the upper magnetic scale reader (2-19) is fixed on the movable fixed plate (2-3), the magnetic scale (2-18) is fixed to the fixed base plate (2-1) by screw locking, and the magnetic scale reader (2-19) and the magnetic scale (2-18) are used in combination to perform real-time detection of linear feed displacement.

5. The automatic recovery system for energetic materials wrapped in metal shells according to claim 3, characterized in that: The guide rail drive assembly comprises: a first planetary reducer (2-5), a motor mounting seat (2-6), a first fixed pad (2-9), a first servo motor (2-10), a fixed end fixing seat (2-11), a second fixed pad (2-12), a floating end fixing seat (2-13), and a first coupling (2-17); the fixed end fixing seat (2-11) and the first fixed pad (2-9) are fixed at one end of the fixed base plate (2-1), the floating end fixing seat (2-13) and the second fixed pad (2-12) are fixed at the middle position of the fixed base plate 2-1, and the ball screw (2-4) is rotatably mounted. The motor mounting seat (2-6) is fixed on the back of the fixed base plate (2-1), the first planetary reducer (2-5) is mounted on the motor mounting seat (2-6), the first servo motor (2-10) is mounted on the housing of the first planetary reducer (2-5), and the output shaft of the first servo motor (2-10) is fixedly connected to the input shaft of the first planetary reducer (2-5); the output shaft of the planetary reducer (2-5) is connected to the end of the ball screw (2-4) through the first coupling (2-17), forming a direct transmission mode.

6. The automatic recovery system for energetic materials wrapped in metal shells according to claim 2, characterized in that: The clamp assembly comprises: a clamp seat (2-2), an adjustment base plate 1 (2-20), an adjustment base plate 2 (2-21), a fixed pressure plate (2-23), and a shoulder screw (2-24); the adjustment base plate 1 (2-20) is fixed to the end of the fixed base plate 2-1 away from the guide rail assembly by bolts and nuts, and the bolts and nuts are adjusted at the same time to achieve the up and down adjustment of the adjustment base plate 1 (2-20); the adjustment base plate 2 (2-21) is installed on the adjustment base plate 1 (2-23) by the shoulder screw (2-24). -20), the shoulder screw (2-24) cooperates with the waist-shaped hole on the adjusting base plate 2 (2-21), thereby realizing the movement of the adjusting base plate 2 (2-21) relative to the adjusting base plate 1 (2-20) in the length direction of the waist-shaped hole, the clamp seat (2-2) is provided with an arc-shaped design, has a self-centering function, and is installed on the adjusting base plate 2 (2-21) by screw locking, and the fixed pressure plate (2-23) is installed on the clamp seat (2-2) by screw locking, so as to realize the centering, pressing and fixing of the material.

7. The automatic recovery system for energetic materials wrapped in metal shells according to claim 2, characterized in that: The servo milling system includes a milling transmission drive assembly, which includes: a supporting sleeve (3-1), a transmission shaft (3-2), an angular contact ball bearing (3-3), a synchronous pulley (3-5), a synchronous belt (3-6), a conductive slip ring (3-8), a second deep groove ball bearing (3-9), a fixed bracket (3-11), a motor mounting seat (3-12), an active synchronous pulley (3-13), a first deep groove ball bearing (3-17), a flange (3-18), a motor bracket (3-20), a second planetary reducer (3-21), a linear bearing (3-23), a bearing fixing base (3-24), a bearing pressure plate (3-25), and a second servo motor (3-26 ), a driving shaft (3-27), a second coupling (3-28), and a conductive slip ring bracket (3-29); a motor mounting seat (3-12), fixedly mounted on the movable fixed plate (2-3), the motor mounting seat (3-12) and the motor bracket (3-20) are fixedly connected, the second servo motor (3-26) is mounted on the housing of the planetary reducer (3-21), the planetary reducer (3-21) is mounted on the motor mounting seat (3-12), the output shaft of the second servo motor (3-26) is connected to the input shaft of the second planetary reducer (3-21), the output shaft of the planetary reducer (3-21) is fixedly connected to the driving shaft (3-27) through the second coupling (3-28), and the flange (3-18) is fixed on the middle plate of the motor bracket (3-20), the first deep groove ball bearing (3-17) is installed inside the flange (3-18), the driving shaft (3-27) is rotatably installed on the motor bracket (3-20) through the first deep groove ball bearing (3-17), the driving synchronous pulley (3-13) is fixedly connected to the driving shaft (3-27), and the synchronous belt (3-6) connects the driving synchronous pulley (3-13) and the driven synchronous pulley (3-5); the fixed bracket (3-11) is fixedly installed on the movable fixed plate (2-3), the conductive slip ring bracket (3-29) is fixedly connected to (3-11), and the rotating part of the conductive slip ring (3-8) is fixed to the transmission shaft (3-2) The conductive slip ring (3-8) is connected to the fixed portion of the conductive slip ring (3-8) and the conductive slip ring bracket (3-29); the conductive slip ring (3-8) is used for transmitting power and signals between the rotating cutter head electrostatic sensor and the temperature sensor and the electric control cabinet, thereby preventing the cable from being entangled and broken; the bearing pressure plate (3-25) is fixedly connected to the support sleeve (3-1); one end of the support sleeve (3-1) is fixed to the fixed bracket (3-11), and the other end is connected to the bearing fixed base (3-24) through a linear bearing (3-23); the bearing fixed base (3-24) is fixedly installed on the fixed base plate 2-1, and the support sleeve (3-1) can achieve axial movement relative to the bearing fixed base (3-24);The transmission shaft (3-2) is fixedly connected to the synchronous pulley (3-5) via a key, and both ends of the transmission shaft (3-2) are respectively connected to the angular contact ball bearing (3-3) and the second deep groove ball bearing (3-9) and the support sleeve (3-1) for circumferential rotation.

8. The automatic recovery system for energetic materials wrapped in metal shells according to claim 7, characterized in that: The servo milling system further comprises: a cooling pipeline, which comprises: a pipeline inside the transmission shaft (3-2), a transition joint (3-15), a Gly ring (3-30), an inlet joint (3-7), and an outlet joint (3-31); one end of the transmission shaft (3-2) close to the tool holder and tool disc system (4) is connected to one end of the transition joint (3-15) through cooperation; the other end of the transition joint (3-15) is connected to the cooling pipeline in the tool disc module in the tool holder and tool disc system (4); an O-type sealing ring for sealing is installed on the transition joint (3-15) An outlet pipeline (3-2-1) and an inlet pipeline (3-2-2) are arranged inside the transmission shaft (3-2); the outlet pipeline (3-2-1) is connected to the outlet joint 3-31, and the inlet pipeline (3-2-2) is connected to the inlet joint (3-7), thereby realizing the connection between the coolant in the internal pipeline of the transmission shaft (3-2) and the internal circulation cooling system (6); three grid rings (3-30) are passed between the fixed transmission shaft (3-2) and the support sleeve (3-1) to separate the inlet of the water inlet pipeline and the inlet of the water outlet pipeline, thereby realizing internal circulation cooling.

9. The automatic recovery system for energetic materials wrapped in metal shells according to claim 7, characterized in that: The servo milling system also includes a sealing component, which includes a dust ring (3-10), a protective ring pressure plate (3-14), a rotary sealing ring (3-16), and an end pressure block (3-19); the end pressure block (3-19) is fixed to the end of the support sleeve (3-1) and is used to fix and press the deep groove ball bearing (3-9) and provide a fixed installation position for the rotary sealing ring (3-16) and the dust ring (3-10); the rotary sealing ring (3-16) is installed in the end pressure block (3-19) and fixed by a retaining ring through a hole; the dust ring (3-10) is installed on the outer end of the end pressure block (3-19) and is pressed and fixed by the dust ring pressure plate (3-14); the protective ring pressure plate (3-14) is fixed on the end pressure block (3-19).

10. The automatic recovery system for energetic materials wrapped in metal shells according to claim 1, characterized in that: The automatic recovery device for energetic materials also includes a real-time detection and control system (7) for stabilizing the cutting conditions by real-time monitoring of parameters.

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