Automatic shaping device and process method for powder surface of PBX pouring charge

Abstract

According to the device, a hydraulic lifting platform is arranged in a pit, a projectile body to be machined is placed on the hydraulic lifting platform and is positioned and fixed through a projectile body curing frame, a rotating support is arranged beside the pit, and an anti-explosion robot is arranged on the upper portion of the support; and an end effector is arranged at the arm end of the anti-explosion robot. Through the process steps of conveying the charge shell into the workshop, clamping the charge shell, automatically shaping the charge surface of the end effector, detecting, performing post-treatment on the charge shell and the like, the problems of high personnel participation degree, high labor intensity, high efficiency and the like in the existing charge surface cleaning process for pouring the PBX explosive in the ammunition industry are solved. The problems that the quality of the cleaned powder depends on experience judgment, the consistency is poor, and the production efficiency is low are solved, man-machine isolation operation is achieved for cleaning of the PBX charging powder, the safety of finishing the powder is greatly improved, the production efficiency is effectively improved, and the quality consistency of the finished powder is good.

Description

Technical Field

[0001] The present invention relates to the technical field of warhead charge of weapons and ammunitions, and particularly relates to an automatic shaping device and process method for the surface of PBX casting charge. By using the automatic shaping device for the surface of PBX casting charge, the surface of the mouth part of the PBX casting charge product after curing is automatically trimmed, so that the quality of the charge mouth part of the PBX casting charge product meets the product requirements, and the whole process of surface shaping realizes human-machine isolation. Background Art

[0002] In the process of casting charge for the warhead shell, high-energy PBX explosive is loaded into the shell by the casting process. Common shell charge process methods include: PBX casting charge, casting charge, thermoplastic state charge, etc. Among them, after the PBX casting charge method is used to complete the charge of the warhead shell, the cast high-energy PBX explosive will change from a soft state to a solid state after a period of heating and curing. The surface of the charge at the mouth part of the warhead shell will undergo a certain degree of shrinkage (the density increases and the voids between molecules become smaller), and the surface of the charge will show a middle depression, a circumferential protrusion, and a funnel shape due to uneven shrinkage. Therefore, riser charge is usually added during the charging process to achieve feeding. To ensure that the depth and flatness of the surface of the mouth part of the PBX casting charge product after feeding meet the index requirements of the product design, it is necessary to shape the surface of the charge at the mouth part position of the cured warhead shell.

[0003] Due to the dangerous characteristics inherent in the weapons and ammunitions industry, the whole process of surface shaping of the charge belongs to a dangerous operation process. Generally, automated equipment needs to be used for human-machine isolation operation to protect the safety of employees. Conventional automated equipment can only process batch-fixed objects with little flexible space; automated equipment with flexible processing functions requires supporting sensors and does not meet the explosion-proof requirements of the processing site in the ammunitions industry. At present, there is no process equipment and process method for automatic shaping of the surface of PBX explosive casting charge in the weapons and ammunitions industry. As a result, the surface shaping of the existing PBX explosive casting products is still carried out manually by using tools such as copper knives or stainless steel knives inside the workshop, with a large labor intensity and harm to the physical health of the operators. At the same time, due to the influence of various uncontrollable factors on humans, the process of surface shaping of the charge places extremely high demands on the operators, who must have both experience and proficiency, severely restricting the process production efficiency. The quality of the trimmed surface depends entirely on experience judgment and it is not easy to ensure consistency. Therefore, how to achieve human-machine isolation operation for the surface shaping of PBX explosive casting charge, eliminate potential safety hazards in production while improving production efficiency, and ensure the consistency of the quality of the trimmed surface has become an urgent technical problem to be solved in the weapons and ammunitions industry. Summary of the Invention

[0004] Aiming at the problems existing in the surface shaping of PBX explosive casting charge in the existing weapon and ammunition industry, the present invention provides an automatic surface shaping device and process method for PBX casting charge. This device and process method have the advantages of high safety degree in the automatic surface shaping process of PBX casting charge, real-time online precise control of the process parameters of surface shaping, online real-time monitoring throughout the surface shaping process, good consistency of surface shaping quality, wide application range, etc. It realizes the safe, efficient and automatic shaping of the surface of the PBX explosive casting opening with human-machine isolation, online real-time monitoring throughout the surface shaping process, and the quality of the shaped surface meets the quality requirements of the warhead of conventional large-caliber high-explosive fragmentation shells.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is: An automatic surface shaping device for PBX casting charge is provided with a hydraulic lifting platform in a pit. The projectile to be processed is placed on the hydraulic lifting platform and positioned and fixed through a projectile curing frame arranged on the hydraulic lifting platform; a rotatable support is arranged beside the pit, and an explosion-proof robot is arranged on the upper part of the support. An end effector is arranged at the arm end of the explosion-proof robot; the end effector is composed of a mounting plate and a milling cutter, an explosion-proof motor, a reducer, a pair of parts device, an explosion-proof temperature sensor and a dust collector docking part arranged on the mounting plate. The milling cutter is fixedly installed at the lower end of the mounting plate and is driven by a transmission structure driven by the explosion-proof motor and the reducer; the dust collector docking part is arranged above the milling cutter, and the dust collector docking part is connected to the pipeline of the explosion-proof dust collector by means of a reducing joint plus a hoop; an explosion-proof camera is also arranged on the support, and the control system in the remote control room controls the above-mentioned various components.

[0006] The projectile curing frame is provided with a product mounting plate on the hydraulic lifting platform. A guiding groove is arranged on the product mounting plate. The projectile curing frame is positioned through the guiding groove. A curing fixture is arranged on the product mounting plate. The projectile curing frame is vertically pressed and fixed through the curing fixture. The projectile curing frame is used to place and protect the projectile to be processed, and the projectile to be processed is clamped in through a projectile fixture installed at the upper end of the projectile curing frame.

[0007] The support includes support one and support two. Support one is arranged beside the pit. A rotating platform is arranged at the upper end of support one, and support two is arranged on the rotating platform. Support two can rotate through the rotating platform.

[0008] A camera support is fixedly installed on the wall in the working area of the projectile to be processed. An explosion-proof camera connected to the control system is fixedly installed on the camera support, which is used to monitor the on-site environment and transmit the on-site video information in real time. The staff in the remote control room can monitor the equipment status on site in real time.

[0009] An automatic surface shaping process method for PBX casting charge of the present invention is an automatic surface shaping based on the curing of PBX casting charge, and includes the following steps: Step 1, transporting the charge case into the workshop: After the charge case is cured, it is transported from the curing workshop to the charge surface shaping workshop using a special transport vehicle. An electric hoist is used to unload the charge case from the transport vehicle and lift it to the charge surface shaping station. Step 2, clamping the charge case: Use the automatic shaping device for PBX casting charge surface to firmly clamp and fix the charge case, and all personnel evacuate the workshop site to the remote control room. Step 3, automatic charge surface shaping: The operator operates the explosion-proof robot through the remote operation console for tool setting operation to obtain the spatial position state of the charge case. According to the data results of the spatial position state of the charge case, the process parameters such as the milling cutter speed and feed rate are set. After the process parameters are set, the robot is controlled in the remote control room to perform automatic milling processing on the charge surface with a milling cutter. At the same time, the waste chips generated during processing are collected. The control computer will display the tool temperature, speed, and torque data in real time, and remotely observe the whole process of charge surface shaping through the video monitoring screen. Step 4, inspection: After the charge surface processing is completed, the explosion-proof robot returns to the initial position, and then the quality inspection of the charge surface cleaning is carried out. Step 5, post-treatment of the charged projectile: After the quality inspection of the charge surface is completed, the operator then installs the rear cover plate of the charge case, uses the explosion-proof electric hoist to lift the charge case from the processing position, then installs it into the packing box, and finally transports it out of the workshop using a transport vehicle.

[0010] In the said Step 3, the milling cutter speed is 60 - 120 r / min, the depth of cut is 2 - 4 mm, and the feed rate is 2 - 8 mm / s.

[0011] In the said Step 4, for the quality inspection after automatic charge surface shaping, the error between the depth of the charge surface and the set depth of the charge surface to be processed is ≤ ±0.5 mm, and the charge surface is flat without cracking marks.

[0012] An automatic shaping device and process method for PBX casting charge surface designed by the present invention combines the robot grinding technology in the mechanical processing industry and the automatic control technology in the automation industry and successfully applies them to the ammunition industry. It solves the problems in the existing PBX explosive casting charge surface cleaning process in the ammunition industry, such as high degree of personnel participation, high labor intensity of operation, the quality of the cleaned charge surface depending on experience judgment and poor consistency, and low production efficiency. It enables the operation of the direct contact processing of dangerous goods in the PBX charge surface cleaning to achieve human-machine isolation, reduces human factors and technological processes, greatly improves the safety of charge surface trimming, effectively improves production efficiency and makes the quality of the trimmed charge surface have good consistency, and the quality of the mouth charge surface can meet the product design requirements. Description of the Drawings

[0013] Figure 1Schematic diagram showing the structure of the automatic shaping device for the PBX casting charge surface of the present invention; Figure 2 Schematic diagram showing a partial (bottom) view of the projectile curing rack of the present invention when clamping a projectile; Figure 3 Schematic diagram showing a partial (upper) view of the projectile curing rack of the present invention when clamping a projectile; Figure 4 Schematic diagram showing the principle of mechanical detection of the end face of the projectile to be processed according to the present invention; Figure 5 Schematic diagram for verifying the automatic milling trajectory of the charge surface according to the present invention; Figure 6 Schematic diagram showing the combined structure of the end effector of the present invention. Detailed implementation manners

[0014] The following specifically describes an automatic shaping device and a process method for the PBX casting charge surface of the present invention with reference to the accompanying drawings.

[0015] An automatic shaping device for the PBX casting charge surface of the present invention, referring to Figures 1 to 6 , the tooling used is to dig a pit 1 in the ground 10, a hydraulic lifting platform 11 is arranged in the pit 1, the projectile 8 to be processed is placed on the hydraulic lifting platform 11 and is positioned and fixed by a projectile curing rack 9 arranged on the hydraulic lifting platform 11. A support one 2 is fixedly arranged on the ground 10 through a leveling mounting plate, the leveling mounting plate can achieve reliable support, a rotating platform 3 and a tool setter are fixedly installed at the upper end of the support one 2, a support two 4 is fixedly installed on the rotating platform 3, and the support two 4 can rotate with the rotating platform 3. A robot mounting base plate and a camera mounting base plate are fixedly arranged on the support two 4. A Staubli TX2-90 six-axis explosion-proof robot 6 is fixedly installed at the lower part of the robot mounting base plate, meeting the explosion-proof requirements of the processing site in the ammunition industry and having the function of automatically compensating for the inclination of the object to be processed during processing. An explosion-proof pan-tilt camera 5 is fixedly installed on the camera mounting base plate in a cantilever horizontal manner. A transfer flange is arranged at the end of the six-axis explosion-proof robot 6, and an end effector 7 is installed at the lower part of the transfer flange. The end effector 7 is a component for the explosion-proof robot to execute the command of cleaning the charge surface.

[0016] The end effector is composed of a mounting plate 17 and a milling cutter 16 arranged on the mounting plate 17, an explosion-proof motor, a reducer, a piece-matching device, an explosion-proof temperature sensor and a vacuum cleaner docking device. The piece-matching device is used to realize mechanical contact detection (piece-matching operation) of the base surface of the object to be processed, so as to obtain the tilt error of the object to be processed. According to the data of the tilt error of the object to be processed, the coordinate system alignment compensation can be realized in the automatic cleaning program of the medicine surface, so as to eliminate the influence of the tilt problem of the object to be processed on the automatic shaping process of the medicine surface. The milling cutter is in direct contact with the medicine surface of the mouth of the object to be processed. The milling cutter made of alloy steel is selected and installed at the lower end of the mounting plate by a set screw. When working, it is driven by the explosion-proof motor and reducer installed at the upper end of the end effector to drive the transmission structure. A vacuum cleaner docking piece 15 is fixedly arranged above the milling cutter. The vacuum cleaner docking piece 15 is connected to the pipeline of the powder cleaning module (explosion-proof vacuum cleaner, model EX-3) by means of a reducer + clamp. The powder cleaning module is used to collect the waste medicine chips generated during the cleaning process of the oral medicine surface of the object to be processed in time. Since waste medicine chips are continuously generated during the cleaning process of the oral medicine surface of the object to be processed, the generated waste medicine chips will continuously rub against the rotating milling tool. If the generated waste medicine chips are not collected in time, friction and heat will be generated between the tool and the waste medicine chips, causing safety problems. In order to avoid safety problems, it is opened before starting the medicine surface cleaning work. During operation, the waste medicine chips will be collected into the vacuum cleaner in time through the suction generated by the explosion-proof vacuum cleaner pipeline and the vacuum cleaner docking piece, and at the same time, the milling cutter will have an auxiliary cooling effect. There are two structural forms of vacuum cleaner docking parts, namely, vacuum coaxial form and vacuum non-coaxial form. The vacuum coaxial form has a compact structure and is more conducive to tool cooling, but the vacuum cleaner docking parts need to be replaced with the tool; the non-coaxial form of vacuum is not compact, and the vacuum cleaner docking parts do not need to be replaced with the tool. During use, it needs to be determined according to the oral medicine surface morphology of the object to be processed. The temperature sensor is installed on the temperature sensor mounting bracket. The temperature sensor is used to monitor the temperature of the milling cutter and display the collected temperature data in real time on the control computer in the remote control room.

[0017] The leveling mounting plate of the present invention is in contact with the ground and is located below the mounting bracket 2 of the six-axis explosion-proof robot 6. It is used to adjust the parallelism of the robot mounting base plate (used for docking and mounting with the mounting flange surface of the explosion-proof robot base) after the platform components of the six-axis explosion-proof robot 6 are assembled. It is used to ensure the parallelism of the mounting base plate of the six-axis explosion-proof robot 6 relative to the ground, minimize the increase in the precision error of the robot system caused by external factors, and directly affect the processing precision error of the end effector for drug surface shaping. The drug surface depth error after drug surface shaping is ≤±0.5mm.

[0018] The rotating platform 3 and the hydraulic lifting platform 11 of the present invention provide a large range of spatial degrees of freedom for the robot mounting base plate on the robot mounting bracket two 4 in the polar coordinate direction and the spatial vertical direction in the space horizontal plane. The six-axis explosion-proof robot 6 is mounted on the robot mounting base plate. The bracket two 4 can drive the six-axis explosion-proof robot 6 to rotate relative to the bracket one 2 in the horizontal plane through the rotating platform 3. Combining with the arm span range of the six-axis explosion-proof robot 6 itself, in the drug surface shaping station (hydraulic lifting platform), the equipment can meet the processing work of the processing object with a height of 0.4m - 4m.

[0019] The control system provided in the remote control room of the present invention is used to issue execution commands and remotely control the above-mentioned various components. The control system mainly consists of a robot control subsystem, a drive subsystem, and an operation subsystem. The robot control subsystem selects the CS9 controller of Stäubli, which is mainly used for motion control and processing trajectory planning; the drive subsystem is mainly used to receive the control instructions of the robot controller, drive the operation of the servo motor, and make it complete the corresponding actions; the operation subsystem mainly consists of the industrial control computer and display screen of the main control cabinet and the explosion-proof operation console. The system total emergency stop, reset, and various function buttons and switches are arranged on the explosion-proof operation console, and together with the display, the actual operation of the entire set of equipment is completed.

[0020] See Figure 2 and Figure 3 Referring to

[0021] A camera support is fixedly installed on the wall inside the working chamber of the projectile 8 to be processed. An explosion-proof camera connected to the control system is fixedly installed on the camera support. The explosion-proof camera is used to monitor the on-site environment and simultaneously transmit the on-site video information in real time, so that the staff in the remote control room can monitor the equipment status on site in real time.

[0022] In the present invention, a fixing tool (fixing frame, curing fixture) is used at the powder surface shaping station to firmly clamp and fix the charge housing. By replacing and using fixing tools of different models, other products can be clamped and fixed. The hydraulic lifting platform 11 installed below the powder surface shaping station is used to adjust the processing height suitable for various products.

[0023] A process method of an automatic powder surface shaping device for PBX casting charge of the present invention includes the following steps: Step 1, startup inspection: Start the automatic powder surface shaping equipment for PBX casting charge, open the software to enter the control screen, and connect the controller; turn on the power switch of the air compressor body and the power switch of the filter, perform power-on of the key components of the system, and after the power-on is completed, all equipment is started. Conduct an idle running inspection on the equipment, and require the equipment to operate in good condition. It is strictly prohibited for the equipment to operate with defects.

[0024] Step 2, transporting the charge housing into the workshop: When conducting the startup inspection of the automatic powder surface shaping equipment for PBX casting charge, synchronously transport the cured charge housing from the curing workshop to the powder surface shaping workshop using a special transport vehicle, cooperate with an electric hoist to unload the charge housing together with the fixing frame from the transport vehicle, and hoist it to the powder surface shaping station.

[0025] Step 3, loading the charge housing: The operator uses the fixing fixture at the powder surface shaping station to firmly clamp and fix the charge housing together with the fixing frame. After firmly clamping and fixing, remove the charge flower plate at the end face of the mouth of the charge housing, and conduct a final inspection and confirmation on all the screws on the explosion-proof robot equipment. Special attention should be paid to the fact that the milling cutter should not have defects such as burrs, rust, and cracks.

[0026] Step 4, measuring and inspecting the powder surface before shaping: The operator uses a depth gauge to measure the depth of the powder surface before shaping, which is convenient for calculating the depth distance of the powder surface to be processed. At the same time, to avoid potential safety hazards caused by excessive cutting depth in the first cut; the operator checks and confirms the solution filled in the collection container of the explosion-proof vacuum cleaner, and it is necessary to ensure that the liquid level line of the solution is above the safety green line. If it does not meet the requirement, add the solution to above the safety line. After checking and confirming that there is no error, switch the on-site mode to the remote automatic control mode, and all personnel evacuate the on-site workshop to the remote control room.

[0027] Step 5, tool setting for the charge housing: Refer to Figure 4, the label 18 is the probe. The operator in the control room turns on the control computer for remote connection, and uses the end effector of the remote control robot to perform tool setting on the mouth end face (base face) of the charge housing to obtain the spatial position state of the charge housing, such as the tilt error of the charge housing. According to the data result of the spatial position state of the charge housing, coordinate system alignment compensation can be carried out to eliminate the influence of the tilt error of the charge housing on the warhead surface shaping work.

[0028] Step 6 Milling trajectory programming and planning: Refer to Figure 5 , open the PQART industrial robot offline programming and simulation software on the operation computer in the control room, and perform warhead surface milling trajectory programming according to the warhead surface shape of the to-be-machined warhead housing, that is, the programming and verification of the automatic warhead surface milling trajectory. Set the process parameters for automatic warhead surface trimming: the milling cutter speed is 60 - 120 r / min, the cutting depth is 2 - 4 mm, and the feed rate is 2 - 8 mm / s. And generate the code program that can be called by the robot controller for the robot to execute.

[0029] Step 7 Milling trajectory verification: After the milling trajectory programming is completed, control the robot to perform dry run verification according to the set milling trajectory program, and remotely observe the whole process of the dry run through the video monitoring screen. Only when the video monitoring screen is clear, there are no blind spots, and there is no risk of tool collision during the operation of the milling cutter can the warhead surface shaping processing be carried out.

[0030] Step 8 Warhead surface milling processing: After the milling trajectory verification is completed, set the milling cutter speed of the end effector of the robot to 100 rpm, the feed rate to 6.25 mm / s, and the plunge depth to be adjustable between 2 - 4 mm and other warhead surface processing process parameters on the operation computer in the control room. Control the robot to perform automatic milling processing on the warhead surface, and simultaneously turn on the explosion-proof dust collector to collect the generated waste chips. Refer to Figure 6The whole process of drug surface shaping can be observed remotely through the video monitoring screen. The depth distance of the drug surface at the mouth of the projectile to be processed is not consistent (there are differences for each round), and the depth distance may be too deep or too shallow, and multiple (knife) processing is required (the single cutting depth is not allowed to exceed 4mm) to complete the shaping of the drug surface at the mouth of the projectile to be processed. Therefore, during the drug surface processing, the cutting depth of the processed drug surface needs to be calculated according to the depth distance of the drug surface measured before shaping. Take the depth of the drug surface measured before shaping as 8mm, and the requirement of the process for the drug surface depth of 17mm as an example for detailed introduction. By calculating that the depth distance of the drug surface to be processed is 9mm, it is necessary to complete the drug surface processing three or four times; set the cutting depth value data of the first knife processing to 11mm (cutting depth is 3mm), set the cutting depth value data of the second knife processing to 15mm (cutting depth is 4mm), and set the cutting depth value data of the third knife processing to 17mm (cutting depth is 2mm). At this point, the drug surface shaping of the projectile to be processed is completed. During the process of shaping the medicine surface, the control computer observed that the temperature data of the milling cutter was consistent with the room temperature, with no obvious changes; the torque of the milling cutter was 0.2 N.mm, and there was no equipment alarm problem caused by abnormal excessive torque. The computer in the control room will also collect relevant data such as the temperature of the milling cutter (the alarm temperature is 35°C), the speed (the alarm speed is 200r / min), and the torque (the alarm torque is 0.39N.mm) from the equipment for real-time display. If an abnormal situation occurs, an alarm will be sounded and the medicine surface shaping process will be stopped.

[0031] Step 9: Measurement of the medicine surface after shaping: After the medicine surface processing is completed, the operator observes the robot returning to the initial position through the video monitoring screen. The personnel switches the remote automatic control mode to the on-site mode and then goes to the medicine surface shaping site from the monitoring room. The inspector uses a depth gauge to measure the depth of the processed medicine surface. The medicine surface depth error is ≤±0.5mm. Visually observe that the medicine surface is flat and free of defects such as cracks and pores.

[0032] Step 10 Post-processing of the charge shell: After the quality inspection of the shaped medicine surface is completed, the operator will install the rear cover of the shell, use an explosion-proof electric hoist to lift the charge shell from the processing position, then put it into a packaging box, and finally use a transport vehicle to transport it out of the workshop.

[0033] Step 11: Collection and storage of waste medicines: After the medicine surface shaping is completed, the operator turns off the power of the equipment and shuts down the equipment, collects the waste medicine scraps in the collection container of the explosion-proof vacuum cleaner, and then treats them as hazardous waste chemicals and deposits them in the warehouse.

Claims

1. An automatic shaping device for the surface of PBX casting charge, characterized in that A hydraulic lifting platform is installed in the pit. The projectile to be processed is placed on the hydraulic lifting platform and positioned and fixed by a projectile curing frame arranged on the hydraulic lifting platform. A rotatable support is arranged beside the pit. An explosion-proof robot is arranged on the upper part of the support, and an end effector is arranged at the arm end of the explosion-proof robot. The end effector consists of a mounting plate and a milling cutter, an explosion-proof motor, a reducer, a pair of parts device, an explosion-proof temperature sensor and a dust collector docking part arranged on the mounting plate. The milling cutter is fixedly installed at the lower end of the mounting plate and is driven by a transmission structure driven by the explosion-proof motor and the reducer. The dust collector docking part is arranged above the milling cutter, and the dust collector docking part is connected with the pipeline of the explosion-proof dust collector by means of a reducing joint plus a hoop. An explosion-proof camera is also arranged on the support, and the control system in the remote control room controls the above-mentioned components.

2. The automatic shaping device for the surface of PBX cast charge according to claim 1, characterized in that The projectile curing frame is provided with a product mounting plate on the hydraulic lifting platform. Guide grooves are arranged on the product mounting plate. The projectile curing frame is positioned through the guide grooves. Curing jigs are arranged on the product mounting plate, and the projectile curing frame is vertically pressed and fixed through the curing jigs. The projectile curing frame is used to place and protect the projectile to be processed, and the projectile to be processed is clamped by a projectile jig arranged at the upper end of the projectile curing frame.

3. The automatic shaping device for the surface of PBX cast charge according to claim 1, characterized in that The support includes a support one and a support two. The support one is arranged beside the pit. A rotating platform is arranged at the upper end of the support one, and the support two is arranged on the rotating platform. The support two can rotate through the rotating platform.

4. The automatic shaping device for the surface of PBX cast charge according to claim 1, characterized in that A camera support is fixedly installed on the wall in the working area of the projectile to be processed. An explosion-proof camera connected to the control system is fixedly installed on the camera support, which is used to monitor the on-site environment and transmit the on-site video information in real time. The staff in the remote control room can monitor the equipment status on site in real time.

5. An automatic shaping process method for the surface of PBX cast charge, characterized in that Based on the automatic shaping of the drug surface after the curing of PBX casting charge, it includes the following steps: Step 1, transporting the charging shell into the workshop: After the curing of the charging shell is completed, it is transported from the curing workshop to the drug surface shaping workshop by a special transport vehicle. An electric hoist is used to unload the charging shell from the transport vehicle and hoist and place the charging shell at the drug surface shaping station. Step 2, clamping the charging shell: Use the automatic drug surface shaping device for PBX casting charge to clamp and fix the charging shell firmly, and all personnel evacuate the workshop site to the remote control room. Step 3, automatic shaping of the drug surface: The operator operates the explosion-proof robot through the remote console to perform the tool setting operation, obtains the spatial position state of the charging shell, and sets the process parameters of the milling cutter speed and feed rate according to the data result of the spatial position state of the charging shell. After the process parameters are set, control the robot in the remote control room to automatically mill the drug surface with the milling cutter, and collect the waste drug chips generated during the processing at the same time. The control computer will display the tool temperature, speed, and torque data in real time, and remotely observe the whole process of drug surface shaping through the video monitoring screen. Step 4, detection: After the drug surface processing is completed, the explosion-proof robot returns to the initial position, and then the quality of the drug surface cleaning is detected. Step 5, post-treatment of the charged projectile: After the quality inspection of the propellant surface is completed, the operator installs the rear cover plate of the charged shell, uses an explosion-proof electric hoist to lift the charged shell from the processing position, then installs it into a packing box, and finally transports it out of the workshop by a transport vehicle.

6. The automatic shaping process method for the surface of PBX casting charge according to claim 5, characterized in that In the said Step 3, the rotational speed of the milling cutter is 60 - 120 r / min, the depth of cut is 2 - 4 mm, and the feed rate is 2 - 8 mm / s.

7. A method for automatically shaping the surface of PBX cast charge according to claim 5, characterized in that In the said Step 4, for the quality inspection after the automatic shaping of the propellant surface, the error between the depth of the propellant surface and the set depth of the propellant surface to be processed is ≤ ±0.5 mm, and the propellant surface is flat without cracking marks.

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