Propellant grain tray transfer and in-out feeding device

Abstract

The application discloses a propellant grain tray transfer and in-out device, relates to the field of explosive handling technology, and has compact structure and integrated functions. The clamp integrates a plurality of functions such as a tray, a top die cover grabbing and material transfer, improves space utilization, and is suitable for space-limited occasions. The device reduces the number of equipment and improves the automation level. The action is reliable and safe. The self-resetting structure with a tension spring is adopted, the device can be automatically retracted in the case of abnormal air pressure or power failure, the anti-explosion magnetic switch is matched to confirm that the action is in place, the device effectively prevents material from falling due to misoperation, and the operation safety is improved. The machining forming three-stage guide rail structure can be adopted, the deep groove ball bearing with a sealing cover is configured, pollution and jam problems caused by the exposure of traditional ball guide rails are avoided, the sliding mechanism is ensured to run stably, and the service life of the clamp is improved.

Description

Technical Field

[0001] This invention relates to the field of explosives handling technology, and in particular to a propellant charge tray transfer and loading / unloading device. Background Technology

[0002] In the controlled-form dissolution process for a certain solid propellant, the propellant grains need to be temporarily stored in specially designed trays. Subsequently, the trays or propellant grains need to be transferred and placed between multiple compact functional boxes with limited internal space. Currently, the controlled-form dissolution process in solid propellant grain production still uses a traditional production mode, where trays are manually moved and propellant grains are placed.

[0003] However, manual handling involves high labor intensity for workers. Furthermore, the product is an energetic material, and frequent contact between people and the explosive charge can lead to drops due to improper handling. Collisions could easily trigger explosions, seriously threatening personnel safety. Additionally, manual operation is inefficient and inconsistent. Summary of the Invention

[0004] In view of the above problems, the present invention provides a propellant grain tray transfer and loading / unloading device to overcome or at least partially solve the above problems. It solves the problems of high manual labor intensity, low productivity, poor real-time performance, and safety hazards.

[0005] This invention provides the following solution:

[0006] A propellant column tray transfer and loading / unloading device includes:

[0007] The gripper upper frame includes a cross beam assembly, which includes two horizontal beams and two vertical beams. One end of each of the two vertical beams is provided with a connecting plate for connecting to the robot arm.

[0008] At least four gripper assemblies are provided, and the four gripper assemblies are connected one-to-one with the four end faces of the at least two crossbeams. Each gripper assembly includes a clamping plate driver and a clamping plate. The clamping plate driver is fixedly connected to the corresponding crossbeam, and the clamping plate is connected to the telescopic rod of the clamping plate driver. The clamping plate is provided with a plurality of gripping pins. The clamping plate driver is used to drive the clamping plate to switch between an extended state and a retracted state. In the extended state, the gripping pins are located on the outside of the transfer tray or upper mold cover to be gripped. In the retracted state, the gripping pins enter the slots on the transfer tray or the upper mold cover.

[0009] The feeding / discharging actuator includes a push-pull drug actuator, a pair of guide rail assemblies, and at least one set of push-pull plate assemblies. Each set of push-pull plate assemblies includes two push-pull plates. A space is formed between the two push-pull plates to accommodate a drug column placed coaxially with the longitudinal beam. The cylinder of the push-pull drug actuator is connected to the upper frame of the gripper, and the telescopic rod of the push-pull drug actuator is connected to one of the push-pull plates. The pair of guide rail assemblies are respectively connected to the two longitudinal beams, and at least two push-pull plates are connected to the pair of guide rail assemblies. The push-pull drug actuator is used to drive at least one set of push-pull plate assemblies to extend and retract along the axial direction of the longitudinal beam, so as to push the drug column on the transfer tray out of the transfer tray or send the drug column into the transfer tray.

[0010] Preferably, the clamp driver includes a slide cylinder.

[0011] Preferably, the gripper assembly further includes a tension spring, one end of which is connected to the crossbeam, and the other end of which is connected to the telescopic rod of the slide cylinder.

[0012] Preferably, each of the crossbeams is provided with an anti-detachment bracket on its end face.

[0013] Preferably, the push-pull plate assembly comprises two sets, and the guide rail assembly comprises three levels of guide rails.

[0014] Preferably, the three-level guide rail includes a first guide rail, a second guide rail, and a basic guide rail; the basic guide rail is fixedly connected to the longitudinal beam, the second guide rail is fitted to the basic guide rail, and the first guide rail is fitted to the second guide rail; one set of the push-pull plate assembly is connected to the first guide rail, and another set of the push-pull plate assembly is connected to the second guide rail.

[0015] Preferably, a bearing assembly is provided between the first guide rail and the second guide rail, and between the second guide rail and the basic guide rail. The bearing assembly includes a first bearing group and a second bearing group. The first bearing group includes a first deep groove ball bearing, a longitudinal bearing shaft, and a longitudinal bushing. The second bearing group includes a second deep groove ball bearing, a transverse bearing shaft, a transverse bushing, and a gasket.

[0016] Preferably, the push-pull drug actuator includes a standard cylinder component, and the telescopic shaft of the standard cylinder component is connected to the push-pull plate via an extension rod.

[0017] Preferably, the standard cylinder component is connected to the two crossbeams via a cylinder mounting base.

[0018] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0019] This application provides a propellant grain tray transfer and loading / unloading device with a compact structure and integrated functions. The fixture integrates multiple functions such as tray and upper mold cover gripping, and material transfer, improving space utilization and making it suitable for space-constrained environments. It reduces the number of devices and increases automation levels. The operation is reliable and highly safe. It adopts a self-resetting structure with a tension spring, which automatically retracts in case of abnormal air pressure or power failure. Combined with an explosion-proof magnetic switch to confirm the action is complete, it effectively prevents material from falling due to malfunction, improving operational safety. Alternatively, it can employ a machined three-stage guide rail structure with deep groove ball bearings with sealed covers, avoiding the contamination and jamming problems caused by exposed traditional ball guide rails, ensuring smooth operation of the sliding mechanism and extending the fixture's service life.

[0020] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a propellant grain tray transfer and feeding / discharging device provided in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the gripper assembly provided in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the guide rail assembly provided in an embodiment of the present invention;

[0025] Figure 4 This is a structural schematic diagram of the bearing assembly provided in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of the first bearing assembly provided in an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of the second bearing assembly provided in an embodiment of the present invention.

[0028] In the diagram: 1. Upper frame of the gripper; 11. Crossbeam; 12. Longitudinal beam; 13. Connecting plate; 14. Anti-detachment frame; 2. Gripper assembly; 21. Clamping plate driver; 22. Gripper clamping plate; 23. Grip pin; 24. Tension spring; 3. Feed / discharge actuator assembly; 31. Push / pull actuator; 32. Guide rail assembly; 321. First guide rail; 322. Second guide rail; 323. Basic guide rail; 33. Push / pull plate; 34. Bearing assembly; 341. First bearing group; 3411. First deep groove ball bearing; 3412. Longitudinal bearing shaft; 3413. Second bearing group; 3421. Second deep groove ball bearing; 3422. Transverse bearing shaft; 3423. Transverse bushing; 3424. Shim; 35. Extension rod; 36. Cylinder mounting seat. Detailed Implementation

[0029] 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 a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0030] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 This invention provides a propellant grain tray transfer and loading / unloading device, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, the device may include:

[0031] The gripper upper frame 1 includes a cross beam assembly, which includes two horizontal beams 11 and two vertical beams 12. One end of each of the two vertical beams 12 is provided with a connecting plate 13 for connecting to the robot arm.

[0032] At least four gripper assemblies 2 are provided, and the at least four gripper assemblies 2 are connected one-to-one with the four end faces of the at least two crossbeams 11. Each gripper assembly 2 includes a clamping plate driver 21 and a clamping plate 22. The clamping plate driver 21 is fixedly connected to the corresponding crossbeam 11, and the clamping plate 22 is connected to the telescopic rod of the clamping plate driver 21. The clamping plate 22 is provided with a plurality of gripping pins 23. The clamping plate driver 21 is used to drive the clamping plate 22 to switch between an extended state and a retracted state. In the extended state, the gripping pins 23 are located on the outside of the transfer tray or upper mold cover to be gripped. In the retracted state, the gripping pins 23 enter the slots on the transfer tray or the upper mold cover.

[0033] The feeding / discharging execution assembly 3 includes a push-pull drug actuator 31, a pair of guide rail assemblies 32, and at least one set of push-pull plate assemblies. Each set of push-pull plate assemblies includes two push-pull plates 33. A space is formed between the two push-pull plates 33 to accommodate drug columns placed coaxially with the longitudinal beam 12. The cylinder of the push-pull drug actuator 31 is connected to the upper frame 1 of the gripper, and the telescopic rod of the push-pull drug actuator 31 is connected to one of the push-pull plates 33. The pair of guide rail assemblies 32 are respectively connected to the two longitudinal beams 12, and at least two push-pull plates 33 are connected to the pair of guide rail assemblies 32. The push-pull drug actuator 31 is used to drive at least one set of push-pull plate assemblies to extend and retract along the axial direction of the longitudinal beam 12, so as to push the drug columns on the transfer tray out of the transfer tray or send the drug columns into the transfer tray.

[0034] The propellant grain tray transfer and loading / unloading device provided in this application embodiment has gripping, transfer, and loading / unloading functions. It also features safety protection and status detection mechanisms, a compact structure, and is safe and reliable. This device can be installed on a robotic arm, simultaneously realizing multiple functions such as transferring cylindrical materials, clamping and transferring trays and covers. It can replace manual handling and placement processes in the solid propellant grain production process. It is suitable for controlled-type dissolution processes of solid propellant grains.

[0035] Furthermore, embodiments of this application may provide that the clamping plate driver 21 includes a slide cylinder. To prevent the pallet from slipping due to a sudden interruption of air supply to the cylinder, embodiments of this application may provide that the gripper assembly 2 also includes a tension spring 24, one end of which is connected to the crossbeam 11, and the other end of which is connected to the telescopic rod of the slide cylinder. In the event of a sudden interruption of air supply to the cylinder, the tension spring 24 can provide continuous tension, keeping the gripping pin 23 within the slot.

[0036] To further improve the anti-detachment performance, this embodiment of the application may also provide an anti-detachment frame 14 on the end face of each of the crossbeams 11.

[0037] To improve work efficiency and ensure that all drug cartridges on the tray are pushed out or pushed in at once during each loading / unloading operation, this embodiment of the application can provide that the push-pull plate assembly includes two sets, and the guide rail assembly 32 includes three-level guide rails. The three-level guide rails enable the two sets of push-pull plate assemblies to operate synchronously.

[0038] Furthermore, in this embodiment, the three-level guide rail may include a first guide rail 321, a second guide rail 322, and a basic guide rail 323; the basic guide rail 323 is fixedly connected to the longitudinal beam 12, the second guide rail 322 is fitted and connected to the basic guide rail 323, the first guide rail 321 is fitted and connected to the second guide rail 322, wherein one set of push-pull plate assemblies is connected to the first guide rail 321, and the other set of push-pull plate assemblies is connected to the second guide rail 322.

[0039] To further improve the smoothness of sliding between the guide rails, this application embodiment may also provide a bearing assembly 34 between the first guide rail 321 and the second guide rail 322, and between the second guide rail 322 and the basic guide rail 323. The bearing assembly 34 includes a first bearing group 341 and a second bearing group 342. The first bearing group 341 includes a first deep groove ball bearing 3411, a longitudinal bearing shaft 3412, and a longitudinal bushing 3413. The second bearing group 342 includes a second deep groove ball bearing 3421, a transverse bearing shaft 3422, a transverse bushing 3423, and a gasket 3424.

[0040] The push-pull drug actuator 31 can take various forms, such as an electric actuator or a pneumatic actuator. To maintain a consistent power source, this embodiment of the application can provide that the push-pull drug actuator 31 includes a standard cylinder component. The telescopic shaft of the standard cylinder component is connected to the push-pull plate 33 via an extension rod 35. Furthermore, the standard cylinder component is connected to the two crossbeams 11 via a cylinder mounting seat 36.

[0041] The propellant grain tray transfer and feeding device provided in this application embodiment has been successfully used in a solid propellant grain controlled dissolution process production line. This equipment is the first of its kind used in solid propellant grain controlled dissolution process production. The clamp is powered by cylinders, with two sets of cylinders, enabling the transfer of cylindrical materials and the clamping of upper and lower molds. The pallet and top cover share a common gripper, which consists of four independent gripping points. Each gripping point is equipped with a tension spring 24 device to ensure that the gripping points remain in the retracted state when the air circuit is disconnected or the air pressure is abnormal. An explosion-proof magnetic switch is used to detect the positioning of the slide cylinder, ensuring that the handling action only begins after all gripping points are in position, avoiding the risk of material falling due to incomplete gripping. The three-stage guide rail used in the clamp is machined. To avoid the risk of exposed ball bearings in industrial guide rails, deep groove ball bearings with sealed caps are used to improve long-term reliability and safety.

[0042] The working process of the propellant grain tray transfer and loading / unloading device provided in this application embodiment includes:

[0043] First, the device is connected to a robotic arm. When it is determined that a pallet and an upper mold cover need to be grasped and transferred, the robotic arm carries the device to the grasping position. Four sliding cylinders extend, positioning the gripping pins 23 on the outside of the pallet or upper mold cover to be grasped. After the robotic arm lowers the device into position, the four sliding cylinders retract, engaging each gripping pin 23 into its corresponding slot, thus grasping the pallet or upper mold cover. The robot can then transfer the pallet and upper mold cover.

[0044] When it is determined that the material needs to be pushed out of the pallet, the device clamps the pallet and moves it to the feeding position through the robotic arm. The push-pull drug driver 31 extends and drives the push-pull plate 33 to act synchronously on the front and rear rows of materials in the pallet, so that the material is pushed out of the pallet. Then the robotic arm drives the entire device to move vertically, so that the push-pull plate 33 separates from the material, and the push-pull drug driver 31 resets, completing one feeding action.

[0045] When it is determined that the material needs to be pulled into the pallet, the device clamps the pallet and moves it to the receiving position through the robotic arm. Then, the push-pull drug driver 31 extends, and the robotic arm drives the entire device to move down, so that the front and rear rows of materials are embedded between the corresponding two push-pull plates 33. Then the push-pull drug driver 31 returns to its original position, and the material is synchronously fed into the pallet.

[0046] In summary, the propellant grain tray transfer and loading / unloading device provided in this application is compact in structure and integrates multiple functions. The fixture integrates multiple functions such as tray and upper mold cover gripping, and material transfer, improving space utilization and making it suitable for space-constrained environments. It reduces the number of devices and improves the level of automation. It is reliable in operation and highly safe. Employing a self-resetting structure with a tension spring, it can automatically retract in case of abnormal air pressure or power failure. Combined with an explosion-proof magnetic switch to confirm the action is complete, it effectively prevents material from falling due to malfunction, improving operational safety. It can also adopt a machined three-stage guide rail structure, equipped with deep groove ball bearings with sealed covers, avoiding the contamination and jamming problems caused by exposed traditional ball guide rails, ensuring smooth operation of the sliding mechanism and extending the service life of the fixture.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0048] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0049] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0050] The above description is merely a preferred embodiment of the present invention and is 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 are included within the scope of protection of the present invention.

Claims

1. A propellant column tray transfer and loading / unloading device, characterized in that, include: The gripper upper frame includes a cross beam assembly, which includes two horizontal beams and two vertical beams. One end of each of the two vertical beams is provided with a connecting plate for connecting to the robot arm. At least four gripper assemblies are provided, and the four gripper assemblies are connected one-to-one with the four end faces of the at least two crossbeams. Each gripper assembly includes a clamping plate driver and a clamping plate. The clamping plate driver is fixedly connected to the corresponding crossbeam, and the clamping plate is connected to the telescopic rod of the clamping plate driver. The clamping plate is provided with a plurality of gripping pins. The clamping plate driver is used to drive the clamping plate to switch between an extended state and a retracted state. In the extended state, the gripping pins are located on the outside of the transfer tray or upper mold cover to be gripped. In the retracted state, the gripping pins enter the slots on the transfer tray or the upper mold cover. The feeding / discharging actuator includes a push-pull drug actuator, a pair of guide rail assemblies, and at least one set of push-pull plate assemblies. Each set of push-pull plate assemblies includes two push-pull plates. A space is formed between the two push-pull plates to accommodate a drug column placed coaxially with the longitudinal beam. The cylinder of the push-pull drug actuator is connected to the upper frame of the gripper, and the telescopic rod of the push-pull drug actuator is connected to one of the push-pull plates. The pair of guide rail assemblies are respectively connected to the two longitudinal beams, and at least two push-pull plates are connected to the pair of guide rail assemblies. The push-pull drug actuator is used to drive at least one set of push-pull plate assemblies to extend and retract along the axial direction of the longitudinal beam, so as to push the drug column on the transfer tray out of the transfer tray or send the drug column into the transfer tray.

2. The propellant grain tray transfer and feeding / discharging device according to claim 1, characterized in that, The clamp driver includes a slide cylinder.

3. The propellant grain tray transfer and feeding / discharging device according to claim 2, characterized in that, The gripper assembly also includes a tension spring, one end of which is connected to the crossbeam, and the other end of which is connected to the telescopic rod of the slide cylinder.

4. The propellant grain tray transfer and feeding / discharging device according to claim 1, characterized in that, Each of the beams is equipped with an anti-detachment bracket on its end face.

5. The propellant grain tray transfer and feeding / discharging device according to claim 1, characterized in that, The push-pull plate assembly includes two sets, and the guide rail assembly includes three levels of guide rails.

6. The propellant grain tray transfer and feeding / discharging device according to claim 5, characterized in that, The three-level guide rail includes a first guide rail, a second guide rail, and a basic guide rail; the basic guide rail is fixedly connected to the longitudinal beam, the second guide rail is connected to the basic guide rail in a set, the first guide rail is connected to the second guide rail in a set, one set of push-pull plate assemblies is connected to the first guide rail, and another set of push-pull plate assemblies is connected to the second guide rail.

7. The propellant grain tray transfer and feeding / discharging device according to claim 6, characterized in that, Bearing assemblies are provided between the first guide rail and the second guide rail, as well as between the second guide rail and the basic guide rail. Each bearing assembly includes a first bearing group and a second bearing group. The first bearing group includes a first deep groove ball bearing, a longitudinal bearing shaft, and a longitudinal bushing. The second bearing group includes a second deep groove ball bearing, a transverse bearing shaft, a transverse bushing, and a gasket.

8. The propellant grain tray transfer and feeding / discharging device according to claim 1, characterized in that, The push-pull drug actuator includes a standard cylinder component, and the telescopic shaft of the standard cylinder component is connected to the push-pull plate via an extension rod.

9. The propellant grain tray transfer and feeding / discharging device according to claim 8, characterized in that, The standard cylinder component is connected to the two crossbeams via a cylinder mounting base.

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