Automatic mold pulling device adaptive to composite charging process

Abstract

The invention discloses an automatic mold pulling device adaptive to a composite charging process, which realizes full-automatic mold pulling of composite charging through mutual cooperation of an automatic moving assembly table, automatic mold pulling equipment, an automatic mechanical arm and a control system, so that the mold pulling efficiency is improved. Personnel can be isolated from a draft workshop through automatic draft, manual operation is reduced, and life, health and safety of the personnel are guaranteed; the automatic positioning equipment is matched with the limiting equipment, so that refined mold drawing is realized, and the mold drawing precision is obviously improved; and through the movement of the movable bracket on the automatic moving assembly table, the device can be adapted to a draft process of a shell with the diameter of 0.15-0.8 m, and the applicability is wide. In addition, according to the automatic mold pulling device, the electric cylinder can be controlled through the control system to achieve output of large torque and large pulling-out force, and the maximum output does not exceed 3000N mold pulling force.

Description

Technical Field

[0001] This invention belongs to the field of industrial production technology, and specifically relates to an automatic demolding device adapted for composite loading processes. Background Technology

[0002] Composite charges refer to a method of combining two explosives through nesting or stacking, which can effectively improve the explosive destructive performance of the charge. Studies have found that the inner layer of a composite charge exhibits a significant overpressure detonation phenomenon, with the actual detonation pressure far exceeding the CJ detonation pressure. Its detonation wave possesses a significant cohesive effect, increasing the energy release rate of the inner layer. Due to their high value and complex processes, composite charges require high precision, safety, and efficiency in the drafting process during assembly.

[0003] Research on composite propellants in China started relatively late. Currently, the traditional demolding process mostly uses manual demolding, which has problems such as low demolding accuracy, low efficiency, and low demolding force. In particular, the demolding force during manual demolding is only about 400N, and there are safety hazards for personnel in the propellant loading room. Summary of the Invention

[0004] To address the problems of low precision, low efficiency, weak extraction force, and safety issues in existing extraction processes, this invention provides an automatic extraction device adapted for composite loading processes. This automatic extraction device can improve extraction precision and efficiency, ensure that the extraction force does not exceed 3000N, and isolate personnel from the extraction workshop to guarantee their safety.

[0005] To achieve the above objectives, the present invention adopts the following specific technical solution: An automatic demolding device adapted to the composite charge process is applicable to two types of composite charges: pre-casting followed by press-loading and pre-press-loading followed by casting. The automatic demolding device includes an automatic moving assembly table, an automatic demolding device, an automatic robotic arm, and a control system. The automatic demolding device includes a movable support, a pressure head, grippers, limiting devices, and an automatic positioning device. The movable support is movably mounted on the automatic moving assembly table. The pressure head and grippers are both movably mounted on the top of the movable support. The pressure head is used to press the propellant column of the composite charge or to clamp it into the bushing of the composite charge. The grippers are used to clamp the bushing and drive the bushing upward to achieve demolding when the pressure head presses against the top of the propellant column, or to press against the top of the shell of the composite charge when the pressure head is clamped into the bushing and drives the bushing upward to achieve demolding. The limiting devices are fixedly mounted on the automatic moving assembly table. The automatic positioning device is movably mounted on the automatic moving assembly table, arranged in a triangle with the two limiting devices, and is used to cooperate with the limiting devices to clamp the shell. The automated robotic arm is used to pick up and place composite charges on the automated mobile assembly table; The control system is used to control the automatic moving assembly table, the automatic demolding equipment, and the automatic robotic arm.

[0006] Furthermore, the movable support includes a gantry frame and a gantry drive mechanism; The bottom end of the gantry frame slides in conjunction with the automatic moving assembly table; The pressure head and the gripper are mounted on the top of the gantry frame; The gantry drive mechanism is fixedly installed on the top surface of the automatic moving assembly table and fixedly connected to the bottom end of the gantry frame, and is used to drive the gantry frame to slide longitudinally in the horizontal plane under the control of the control system.

[0007] Furthermore, the automatic demolding device also includes a pressure head drive mechanism, a gripper drive mechanism, and a lateral drive mechanism; The lateral drive mechanism is fixedly installed on the top of the gantry frame and is used to drive the pressure head drive mechanism and the gripper drive mechanism to move laterally. The pressure head drive mechanism is used to drive the pressure head to rise and fall; The gripper drive mechanism is used to drive the gripper to move up and down; The control system is used to control the pressure head drive mechanism, the gripper drive mechanism, and the lateral drive mechanism.

[0008] Furthermore, the automatic positioning device includes a positioning drive mechanism and a positioning block installed on the automatic mobile assembly table; the positioning drive mechanism is used to drive the positioning block to move laterally on the top surface of the automatic mobile assembly table under the control of the control system. Both the positioning block and the limiting device have an arc-shaped protective mold for fitting against the outer surface of the housing.

[0009] Furthermore, the pressure head is symmetrically provided with two pins; the pins are capable of extending and retracting radially along the pressure head, protruding from the outer circumference of the pressure head when extended and completely entering the interior of the pressure head when retracted.

[0010] Furthermore, the gantry drive mechanism, the pressure head drive mechanism, the gripper drive mechanism, the lateral drive mechanism, and the positioning drive mechanism are all electric cylinders.

[0011] Furthermore, the automated mobile assembly table includes an assembly table, support legs, hub motors, and rollers; A support leg is fixedly connected to each of the four corners of the bottom surface of the assembly table; a hub motor is fixedly connected to the bottom end of the support leg; a roller is fixedly installed on the output shaft of the hub motor for driving the roller to rotate. The control system is signal-connected to the hub motor and is used to control the rotation of the hub motor.

[0012] Compared with the prior art, the technical solution of the present invention has the following beneficial effects: The automatic demolding device of this invention achieves fully automated demolding of composite charges through the coordinated operation of an automatic moving assembly table, automatic demolding equipment, automatic robotic arm, and control system, improving demolding efficiency. Automatic demolding isolates personnel from the demolding workshop, reducing manual operation and ensuring personnel safety. The combination of automatic positioning and limiting devices enables precise demolding, significantly improving demolding accuracy. The movable support on the automatic moving assembly table allows for demolding of shells with diameters of 0.15-0.8m, offering wide applicability. Furthermore, the automatic demolding device of this invention, through its control system, can control the electric cylinder to achieve high torque and high extraction force output, with a maximum output demolding force not exceeding 3000N.

[0013] In summary, this invention not only significantly improves the accuracy, quality, and efficiency of drafting, but also greatly enhances the safety of the production process. It has wide applicability and significant technical advantages and practical value. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the automatic demolding device adapted to the composite loading process of the present invention.

[0015] Figure label: 1-Assembly table, 2-Support leg, 3-Hub motor, 4-Roller, 5-Pressure head, 6-Gripper, 7-Limiting device, 8-Gantry frame, 9-Gantry drive mechanism, 10-Pressure head drive mechanism, 11-Gripper drive mechanism, 12-Horizontal drive mechanism, 13-Positioning drive mechanism, 14-Positioning block, 15-Arc-shaped protective mold, 16-Guide rail. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] In the description of this invention, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances. Furthermore, in the description of this invention, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0018] This embodiment provides an automatic demolding device adapted for composite charge processes. This automatic demolding device is suitable for composite charges that are first poured and then press-fitted, as well as composite charges that are first press-fitted and then poured. Figure 1 As shown in the diagram, the automatic demolding device includes an automatic moving assembly table, an automatic demolding device, an automatic robotic arm (not shown in the diagram), and a control system (not shown in the diagram); wherein: like Figure 1 As shown, the automatic moving assembly table includes an assembly table 1, four support legs 2, four hub motors 3, and four rollers 4. A support leg 2 is fixedly connected to each of the four corners of the bottom surface of the assembly table 1. A hub motor 3 is fixedly connected to the bottom end of each support leg 2. A roller 4 is fixedly mounted on the output shaft of each hub motor 3 to drive the roller 4 to rotate. The control system is signal-connected to the hub motors 3 to control their rotation, thereby realizing the automatic movement of the assembly table. After receiving signal commands from the control system, the four hub motors 3 can control the four rollers 4 respectively, achieving precise control of the automatic moving assembly table's movement. It can automatically move to the demolding station, saving space costs, and after demolding, move to the next process position, improving the efficiency of composite loading.

[0019] like Figure 1 As shown, the automatic demolding device includes a movable support, a pressure head 5, grippers 6, a limiting device 7, and an automatic positioning device. The movable support can be movably mounted on an automatic moving assembly table. Both the pressure head 5 and the grippers 6 are movably mounted on the top of the movable support. The pressure head 5 is used to press the propellant column of the composite charge or to clamp it into the bushing of the composite charge; the pressure head 5 can be a cylindrical structure. The grippers 6 are used to clamp the bushing and lift it to achieve demolding when the pressure head 5 presses against the top of the propellant column, or to press against the top of the composite charge shell when the pressure head 5 is clamped into the bushing and lifts it to achieve demolding. Figure 1As shown, the gripper 6 adopts a C-shaped structure and has upper and lower clamping structures. The upper clamping structure has two symmetrical upper clamping blocks, and the lower clamping structure has lower clamping blocks that correspond one-to-one with and are connected to the upper clamping blocks. The distance between the two upper clamping blocks is smaller than the distance between the two lower clamping blocks, so that the gripper 6 can both clamp the bushing and press the top of the shell. The limiting device 7 is fixedly installed on the automatic moving assembly table; the automatic positioning device is movably installed on the automatic moving assembly table, forming a triangle with the two limiting devices 7, and is used to cooperate with the limiting devices 7 to clamp the shell. The limiting devices 7, in conjunction with the automatic positioning device, can restrict the shell in all directions, preventing the shell from shifting, rotating, or tilting during the demolding process. The automatic positioning device can determine the position of the shell, thereby performing precise demolding and improving demolding accuracy. The automatic robotic arm is used to pick up and place the composite charge on the automatic moving assembly table. The control system is used to control the automatic moving assembly table, the automatic demolding equipment, and the automatic robotic arm. The control system controls the cooperation of the above components to achieve the demolding of the composite charge.

[0020] In the aforementioned automatic demolding device, such as Figure 1 As shown, the movable support includes a gantry frame 8 and a gantry drive mechanism 9. The bottom end of the gantry frame 8 is slidably engaged with the automatic moving assembly table. In order to enable the gantry frame 8 to slide on the assembly table 1 of the automatic moving assembly table, a guide rail 16 for guiding the gantry frame 8 can be provided on the assembly table 1. The bottom end of the gantry frame 8 is slidably engaged with the guide rail 16 to guide the gantry frame 8. The gantry drive mechanism 9 is fixedly installed on the top surface of the automatic moving assembly table and fixedly connected to the bottom end of the gantry frame 8. It is used to drive the gantry frame 8 to slide back and forth longitudinally in the horizontal plane under the control of the control system. The horizontal plane has a vertical longitudinal direction and a transverse direction. The longitudinal direction is the width direction of the crossbeam at the top of the gantry frame 8, which is also the length direction of the guide rail 16. The transverse direction is the length direction of the crossbeam at the top of the gantry frame 8, which is also the arrangement direction of the two guide rails 16 on the assembly table 1.

[0021] The pressure head 5 and gripper 6 are mounted on the top of the portal frame 8. The automatic drafting equipment also includes a pressure head drive mechanism 10, a gripper drive mechanism 11, and a transverse drive mechanism 12; the transverse drive mechanism 12 is fixedly mounted on the top of the portal frame 8 and is used to drive the pressure head drive mechanism 10 and the gripper drive mechanism 11 to move laterally; the pressure head drive mechanism 10 is used to drive the pressure head 5 to rise and fall; the gripper drive mechanism 11 is used to drive the gripper 6 to rise and fall; the control system is used to control the pressure head drive mechanism 10, the gripper drive mechanism 11, and the transverse drive mechanism 12, and to realize the movement of the pressure head 5 and the gripper 6 in the transverse and vertical positions by controlling the pressure head drive mechanism 10, the gripper drive mechanism 11, and the transverse drive mechanism 12, and the longitudinal position of the pressure head 5 and the gripper 6 is realized by the movement of the portal frame 8.

[0022] like Figure 1 As shown, the automatic positioning device includes a positioning drive mechanism 13 and a positioning block 14 installed on the automatic mobile assembly table. The positioning drive mechanism 13, under the control of the control system, drives the positioning block 14 to move laterally on the top surface of the automatic mobile assembly table. The positioning block 14 itself has an electric cylinder connected to the control system signal to achieve longitudinal extension and retraction. The movement of the positioning drive mechanism 13 and the positioning block 14 presses the shell of the composite charge, fixing the shell in a horizontal position. Both the positioning block 14 and the limiting device 7 have an arc-shaped protective mold 15 for fitting against the outer surface of the shell. By matching the arc-shaped surface of the arc-shaped protective mold 15 with the shape of the outer circumference of the shell, the shell is pressed while being protected. The arc-shaped protective mold 15 can be made of rubber material.

[0023] To ensure the pressure head 5 can be engaged within the bushing, two pins are symmetrically arranged within the pressure head 5, distributed radially along the bushing. These pins are capable of radial extension and retraction, protruding from the outer circumference of the pressure head 5 during extension and fully retracting into its interior during retraction. When demolding the bushing using the pressure head 5, the pressure head 5 is inserted into the bushing, and then the pins are extended out to engage within the bushing. Demolding the bushing is then achieved by lifting the pressure head 5. The extension and retraction of the pins can be achieved using various mechanisms installed within the pressure head 5 to achieve linear displacement; no restrictions are placed on these mechanisms here.

[0024] The aforementioned gantry drive mechanism 9, pressure head drive mechanism 10, gripper drive mechanism 11, lateral drive mechanism 12, and positioning drive mechanism 13 can all be implemented using electric cylinders, or other drive mechanisms. The electric cylinder itself has a force measuring function; therefore, during demolding, the force can be measured by driving the pressure head 5 and gripper 6 with the electric cylinder. Furthermore, a reducer coordinated with the electric cylinder can be used to output a large torque, achieving a demolding force not exceeding 3000N. The automatic demolding equipment has a safety warning function. The control system can compare the force of the electric cylinder with the preset maximum set value. When the demolding force exceeds the maximum set value, the control system can issue a warning signal and pause the demolding process, awaiting the next signal instruction.

[0025] The aforementioned automatic demolding device achieves fully automated demolding of composite charges through the coordinated operation of an automatic moving assembly table, automatic demolding equipment, automatic robotic arm, and control system, improving demolding efficiency. Automatic demolding isolates personnel from the demolding workshop, reducing manual operation and ensuring personnel safety. The combination of automatic positioning equipment and limit device 7 enables precise demolding, significantly improving demolding accuracy. The electric cylinder greatly increases the extraction force. The movable support on the automatic moving assembly table allows for the demolding of warhead shells with diameters of 0.15-0.8m, demonstrating wide applicability. The automatic demolding device can be adapted to warhead inner bushings with diameters ranging from 0.1-0.5m, operates on a 380V power supply, and can handle warhead shells with a total weight not exceeding 300kg. The moving speed of the automatic demolding device does not exceed 1m / s.

[0026] In addition, the aforementioned automatic demolding device can control the electric cylinder through the control system to achieve high torque and high demolding force output, with a maximum output demolding force of no more than 3000N.

[0027] The aforementioned automatic demolding device, through the precise design and coordination of an automated robotic arm and automatic demolding equipment, can achieve multiple functions, including automatic precision positioning and automatic precision demolding. Compared with existing technologies, the automatic demolding device can improve the efficiency of composite loading, reduce safety hazards during manual demolding, and improve demolding accuracy.

[0028] For different composite charges, the following two specific implementation methods can be used to achieve automatic demolding: Specific Implementation Method 1 The demolding process for composite charges that are first poured and then pressed is as follows: First, the control system controls the hub motor 3 to rotate, and through the cooperation of the hub motor 3 and the roller 4, moves the automatic moving assembly table and the automatic demolding equipment on the table to the demolding station. The control system then controls the automatic robotic arm to clamp the shell of the composite charge to be demolded and place it on the automatic moving assembly table. Second, the automatic positioning equipment moves to the designated position through the electric cylinder, and cooperates with the limiting device 7 to automatically position the shell on the automatic moving assembly table. The automatic positioning equipment and the limiting device 7 can be replaced with arc-shaped protective molds of appropriate size according to the diameter of the shell. 15. Ensure precise positioning; then, the control system controls the electric cylinder to move the movable support, pressure head 5, and gripper 6, so that the pressure head 5 and gripper 6 are directly above the bushing inside the housing. The pressure head 5 and gripper 6 are lowered by the electric cylinder, allowing the pressure head 5 to enter the interior of the bushing. The control system controls the pin to extend and lock onto the inner wall of the bushing, the gripper 6 presses against the top of the housing, and the pressure head 5 is raised under the action of the electric cylinder, causing the bushing to be pulled out. Finally, the control system controls the movable support, pressure head 5, and gripper 6 to return to their initial positions via the electric cylinder, and the automatic robotic arm clamps the housing and bushing respectively and moves them out of the demolding station; the automatic demolding process ends. Specific Implementation Method Two The demolding process for composite charges that are press-fitted before casting is as follows: First, the control system controls the hub motor 3 to rotate, and through the cooperation of the hub motor 3 and roller 4, moves the automatic moving assembly table and the automatic demolding equipment on the table to the demolding station. The control system then controls the automatic robotic arm to clamp the shell of the composite charge to be demolded and place it on the automatic moving assembly table. Second, the automatic positioning device moves to a designated position via an electric cylinder, and cooperates with the limiting device 7 to automatically position the shell to be demolded on the automatic moving assembly table. The automatic positioning device and the limiting device 7 are replaced with appropriate devices according to the diameter of the shell. The arc-shaped protective mold 15 of the specified size ensures precise positioning. Then, the control system controls the electric cylinder to move the movable support, the pressure head 5, and the gripper 6, so that the pressure head 5 and the gripper 6 are directly above the bushing of the housing. The pressure head 5 and the gripper 6 are lowered by the electric cylinder, so that the pressure head 5 presses down on the pressurized drug inside the bushing, and the gripper 6 clamps the bushing from the outside. The gripper 6 is raised under the action of the electric cylinder, and the bushing is pulled out. Finally, the control system controls the movable support, the pressure head 5, and the gripper 6 to return to the initial position by the electric cylinder. The automatic robotic arm clamps the housing and the bushing respectively and moves them out of the demolding station, and the automatic demolding process ends.

[0030] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

[0031] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic demolding device adapted for composite loading processes, characterized in that, This automatic demolding device is suitable for two types of composite charges: pre-casting followed by press-fitting and pre-press-fitting followed by casting. It includes an automatic moving assembly table, an automatic demolding device, an automatic robotic arm, and a control system. The automatic demolding device includes a movable support, a pressure head, grippers, limiting devices, and an automatic positioning device. The movable support is movably mounted on the automatic moving assembly table. The pressure head and grippers are both movably mounted on the top of the movable support. The pressure head is used to press the propellant column of the composite charge or to clamp it into the bushing of the composite charge. The grippers are used to clamp the bushing and drive the bushing upward to achieve demolding when the pressure head presses against the top of the propellant column, or to press against the top of the shell of the composite charge when the pressure head is clamped into the bushing and drives the bushing upward to achieve demolding. The limiting devices are fixedly mounted on the automatic moving assembly table. The automatic positioning device is movably mounted on the automatic moving assembly table, arranged in a triangle with the two limiting devices, and is used to cooperate with the limiting devices to clamp the shell. The automated robotic arm is used to pick up and place composite charges on the automated mobile assembly table; The control system is used to control the automatic moving assembly table, the automatic demolding equipment, and the automatic robotic arm.

2. The automatic demolding device for the adaptive composite loading process as described in claim 1, characterized in that, The movable support includes a gantry frame and a gantry drive mechanism; The bottom end of the gantry frame slides in conjunction with the automatic moving assembly table; The pressure head and the gripper are mounted on the top of the gantry frame; The gantry drive mechanism is fixedly installed on the top surface of the automatic moving assembly table and fixedly connected to the bottom end of the gantry frame, and is used to drive the gantry frame to slide longitudinally in the horizontal plane under the control of the control system.

3. The automatic demolding device for the adaptive composite loading process as described in claim 2, characterized in that, The automatic demolding equipment also includes a pressure head drive mechanism, a gripper drive mechanism, and a lateral drive mechanism; The lateral drive mechanism is fixedly installed on the top of the gantry frame and is used to drive the pressure head drive mechanism and the gripper drive mechanism to move laterally. The pressure head drive mechanism is used to drive the pressure head to rise and fall; The gripper drive mechanism is used to drive the gripper to move up and down; The control system is used to control the pressure head drive mechanism, the gripper drive mechanism, and the lateral drive mechanism.

4. The automatic demolding device for the adaptive composite loading process as described in claim 3, characterized in that, The automatic positioning device includes a positioning drive mechanism and a positioning block installed on the automatic mobile assembly table; the positioning drive mechanism is used to drive the positioning block to move laterally on the top surface of the automatic mobile assembly table under the control of the control system. Both the positioning block and the limiting device have an arc-shaped protective mold for fitting against the outer surface of the housing.

5. The automatic demolding device for the adaptive composite loading process as described in claim 4, characterized in that, The pressure head is symmetrically provided with two pins; the pins are capable of extending and retracting radially along the pressure head, protruding from the outer circumference of the pressure head when extended and completely entering the interior of the pressure head when retracted.

6. The automatic demolding device for the adaptive composite loading process as described in claim 5, characterized in that, The gantry drive mechanism, the pressure head drive mechanism, the gripper drive mechanism, the lateral drive mechanism, and the positioning drive mechanism are all electric cylinders.

7. The automatic demolding device for the adaptive composite loading process as described in any one of claims 1-6, characterized in that, The automated mobile assembly table includes an assembly table, support legs, a hub motor, and rollers. A support leg is fixedly connected to each of the four corners of the bottom surface of the assembly table; a hub motor is fixedly connected to the bottom end of the support leg; a roller is fixedly installed on the output shaft of the hub motor for driving the roller to rotate. The control system is signal-connected to the hub motor and is used to control the rotation of the hub motor.

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