Full-automatic precision fastening equipment for warhead detonator base screw
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- KUNSHAN BAIAO INTELLIGENT EQUIP CO LTD
- Filing Date
- 2026-05-12
- Publication Date
- 2026-06-12
Smart Images
Figure CN122192107A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of ammunition manufacturing technology, and in particular to a fully automatic precision fastening device for the base screw of a warhead detonation device. Background Technology
[0002] Missiles, artillery shells, bombs, and other munitions are equipped with detonation devices. These devices consist of a cylinder and a base screw assembly, which is screwed onto the end of the cylinder. To prevent the base screw assembly from loosening or falling off during munition storage, transportation, and operation, and to ensure the reliability and safety of the detonation device, the wrench groove of the base screw assembly needs to be securely engaged with the corresponding groove on the cylinder to lock and prevent loosening.
[0003] Currently, the anti-loosening and tightening of the base screws for such detonating devices is generally carried out using a semi-automatic riveting method with manual assistance. After the pre-tightening process of the base screws is completed, the workpiece needs to be loaded and unloaded, and the fixtures need to be clamped and positioned manually. The operator relies on manually calibrating the riveting point characteristics of the base screw components to align them with the riveting fixture, and then the riveting operation is completed by pneumatic or hydraulic riveting tools.
[0004] This processing method heavily relies on manual intervention in core processes, resulting in slow production cycles and low operational efficiency, making it difficult to adapt to the demands of large-scale, batch production. The riveting alignment relies on manual calibration, leading to poor alignment accuracy and an inability to precisely control the riveting position and force, easily resulting in riveting misalignment, incomplete riveting, or over-riveting. Furthermore, the stability and consistency of the bottom screw locking mechanism are difficult to guarantee. In addition, the detonation device is a flammable and explosive component, posing significant safety hazards due to close-range manual operation. Existing semi-automated equipment lacks specific safety adaptations for the unique conditions of ammunition manufacturing, and key process parameters cannot be precisely controlled or fully traced, failing to meet the stringent quality and safety control requirements of the ammunition manufacturing industry. Summary of the Invention
[0005] The problem to be solved by the present invention is to provide a fully automatic precision fastening device for the base screw of a warhead detonation device, so as to overcome the defects of the existing technology in the anti-loosening and fastening of the base screw of the detonation device, such as low processing efficiency, difficulty in ensuring processing quality, and significant personal safety hazards.
[0006] The technical solution adopted by this invention to solve its technical problem is: a fully automatic precision fastening device for the base screw of a warhead detonation device, comprising: A translational clamping mechanism includes a clamping module and a translational drive device. The clamping module is driven by the translational drive device to reciprocate between the loading / unloading station and the riveting station. The clamping module includes a sliding plate, a floating plate floating on the sliding plate, a pneumatic chuck fixed on the floating plate, and a support rod coaxially disposed inside the pneumatic chuck and fixedly connected to the floating plate. The product to be riveted is clamped in the center by the pneumatic chuck and simultaneously supported axially by the support rod. The sliding plate has a clearance hole for the lower end of the support rod to pass through. A support block is provided at the riveting station to support the support rod during the product riveting process. A conveying mechanism is used to transfer products to be riveted to the pneumatic chuck, and to remove riveted products from the pneumatic chuck. A riveting mechanism, mounted directly above the riveting station, includes a guide shaft, a connector module, a bushing module, a rotary drive mechanism, and a pressure drive device. The upper end of the guide shaft is connected to the output end of the pressure drive device via the connector module, and the guide shaft can be driven by the rotary drive mechanism to rotate relative to the connector module. The middle part of the guide shaft is connected to the rotary drive mechanism via the bushing module, and the guide shaft can be driven by the pressure drive device to move axially relative to the bushing module. A riveting head is provided at the lower end of the guide shaft. A visual guidance mechanism is used to photograph and identify the riveting features on the product held by the pneumatic chuck, and to guide the rotary drive mechanism to drive the guide shaft to rotate so that the riveting head is accurately aligned with the riveting features on the product.
[0007] As a further improvement of the present invention, the floating plate is mounted on the top of the sliding plate in a way that allows it to float up and down via several floating guide components, and several springs are also provided between the floating plate and the sliding plate.
[0008] As a further improvement of the present invention, the translation clamping mechanism further includes a base plate, and the sliding plate is slidably mounted on the base plate via a linear guide rail; the translation driving device is a first cylinder, which is fixed on the base plate and driven to connect to the sliding plate; when the first cylinder drives the clamping module to move to the riveting station, the sliding plate is above the support block, and the lower end of the support rod is exactly vertically opposite to the support block.
[0009] As a further improvement of the present invention, the conveying mechanism includes a hollow rotating platform and a picking and placing module installed on the hollow rotating platform. The picking and placing module includes a lifting cylinder, a gripper cylinder installed on the lifting cylinder, and two grippers symmetrically installed on the gripper cylinder. The gripper cylinder is used to drive the two grippers to move closer or further apart to clamp or release the product. The lifting cylinder is used to drive the gripper cylinder and the product it carries to move up and down synchronously.
[0010] As a further improvement of the present invention, two picking and placing modules are provided, and the two picking and placing modules are symmetrically installed on the hollow rotating platform; when the pneumatic chuck is in the loading and unloading station, one of the picking and placing modules performs the action of transferring the product to be riveted to the pneumatic chuck, while at the same time, the other picking and placing module performs the action of taking the riveted product off the pneumatic chuck.
[0011] As a further improvement of the present invention, the connector module includes a limiting connector, a transition connector, and a shaft connector. The transition connector is fixed to the top of the limiting connector, and a tension / compression sensor is installed between the transition connector and the output end of the pressure driving device. The limiting connector has a stepped hole with an inner diameter that gradually decreases from top to bottom. The shaft connector is located in the stepped hole, and a thrust bearing is installed between the shaft connector and the limiting connector. At the same time, the top surface of the shaft connector is clearance-fitted with the bottom surface of the transition connector. The upper end of the guide shaft extends into the stepped hole and is fixedly connected to the shaft connector.
[0012] As a further improvement of the present invention, the bushing module includes an inner bushing, which is fitted onto the guide shaft, and a limiting structure is provided between the inner bushing and the guide shaft. The limiting structure is configured to restrict circumferential relative rotation between the inner bushing and the guide shaft, while allowing the guide shaft to slide relative to the inner bushing along the axial direction.
[0013] As a further improvement of the present invention, the riveting mechanism further includes a first bracket and a second bracket fixed on the first bracket, and the pressure driving device is fixed on the first bracket in the vertical direction; the bushing module further includes an outer bushing and an annular mounting seat, the annular mounting seat is fixed on the second bracket, the outer bushing is located inside the annular mounting seat and is fixedly fitted on the inner bushing, and a ball bearing is provided between the outer bushing and the annular mounting seat.
[0014] As a further improvement of the present invention, the rotary drive mechanism includes a rotary drive motor and a synchronous belt drive mechanism. The rotary drive motor is fixed on the second bracket, and the synchronous belt drive mechanism is drively connected between the outer bushing and the rotary drive motor.
[0015] As a further improvement of the present invention, the visual guidance mechanism is disposed on one side of the loading and unloading station, and includes a camera, a light source, a push plate, a dovetail slide, a slide cylinder, and a second cylinder. The camera is mounted on the push plate via the dovetail slide, and the light source is mounted on the push plate via the slide cylinder and is located directly below the camera. The second cylinder is connected to the push plate and is used to drive the push plate to move horizontally so as to bring the camera directly above the product held by the pneumatic chuck at the loading and unloading station.
[0016] The beneficial effects of this invention are as follows: This invention provides a fully automatic precision fastening device for the base screw of a warhead detonation device. By integrating a translational clamping mechanism, a conveying mechanism, a riveting mechanism, and a vision guidance mechanism, the translational clamping mechanism can smoothly switch the product between the loading / unloading station and the riveting station. The pneumatic chuck achieves precise centering and clamping of the product, and the support rod provides stable axial support for the product. The riveting mechanism adopts a composite motion structure integrating rotary drive and pressure drive with a guide shaft, which can simultaneously complete the riveting head angle alignment and axial downward pressing action. The vision guidance mechanism automatically identifies the riveting features of the product and guides precise alignment. Thus, a fully automated operation system for the precision fastening of the base screw of a warhead detonation device is constructed. It can completely replace manual labor in loading / unloading, transfer, clamping, alignment, and riveting operations, greatly improving processing efficiency and meeting the requirements of flammable and explosive military applications. The invention improves operational safety by efficiently coupling the floating buffer design of the translational clamping mechanism, the rigid support of the riveting station support block, and the axial downward pressing action of the guide shaft. On the one hand, when the riveting head initially contacts the product, the floating design can immediately buffer and absorb the impact stress, preventing damage to the product cylinder, bottom screw component, and internal precision components from rigid impact. On the other hand, when the guide shaft continues to press down, the floating plate, pneumatic chuck, and support rod in the clamping module move downward, causing the support rod to abut against the support block to form a stable rigid support system. This evenly transmits the riveting pressure to the rigid support structure, preventing product shaking, displacement, and deformation, while ensuring stable and controllable riveting pressure. From a structural mechanism perspective, this invention ensures smooth and reliable implementation of the riveting operation, fully meeting the high precision, high safety, and high consistency processing requirements for the bottom screw fastening of the detonation device. Attached Figure Description
[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is a perspective view of the fully automatic precision fastening device for the base screw of the warhead detonation device of the present invention; Figure 2 This is a perspective view of the conveying mechanism in this invention; Figure 3 This is a perspective view of the translational clamping mechanism in this invention; Figure 4 This is a cross-sectional view of the translational clamping mechanism in this invention; Figure 5 This is a perspective view of the riveting mechanism in this invention; Figure 6 This is a cross-sectional view of the remaining part of the riveting mechanism in this invention after removing the pressure driving device and the first bracket. Figure 7 This is a cross-sectional view of the guide shaft and inner bushing of the riveting mechanism in this invention; Figure 8 This is a perspective view of the visual guidance mechanism in this invention.
[0019] Referring to the accompanying drawings, the following explanations are provided: 1. Translation clamping mechanism; 11. Sliding plate; 1101. Clearance hole; 12. Floating plate; 13. Pneumatic chuck; 14. Support rod; 15. Support block; 16. Floating guide assembly; 17. Spring; 18. Base plate; 19. Linear guide rail; 110. First cylinder; 111. Explosion-proof photoelectric switch; 2. Handling mechanism; 21. Hollow rotary platform; 22. Lifting cylinder; 23. Gripper cylinder; 24. Gripper; 25. Third bracket; 3. Riveting mechanism; 31. Guide shaft; 32. Pressure drive device; 33. Riveting head; 34. Limit joint; 3 5. Transition joint; 36. Shaft connector; 37. Thrust bearing; 38. Tension / compression sensor; 39. Inner bushing; 310. Outer bushing; 311. Annular mounting base; 312. Ball bearing; 313. First bracket; 314. Second bracket; 315. Rotary drive motor; 316. Synchronous belt drive mechanism; 317. Laser sensor; 318. Ball bearing; 4. Vision guidance mechanism; 41. Camera; 42. Light source; 43. Push plate; 44. Dovetail slide; 45. Slide cylinder; 46. Second cylinder; 47. Fourth bracket; 5. Explosion-proof junction box. Detailed Implementation
[0020] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0021] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.
[0022] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The illustrations only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the shape, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.
[0023] Additionally, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that practice can be carried out without these specific details.
[0024] The technical solutions provided by the various embodiments of this application are described below with reference to the accompanying drawings.
[0025] See Figures 1 to 8 The present invention provides a fully automatic precision fastening device for the base screw of a warhead detonation device, comprising: a translation clamping mechanism 1, a transport mechanism 2, a riveting mechanism 3, and a vision guidance mechanism 4.
[0026] For ease of understanding, the following definitions apply: the translation direction of the translation clamping mechanism 1 is the X-axis, the direction perpendicular to the X-axis is the Y-axis, and the direction perpendicular to both the X-axis and the Y-axis is the Z-axis (i.e., the vertical direction).
[0027] In this embodiment, the product refers to the detonation device, which includes a cylindrical body and a bottom screw component tightened on the cylindrical body. The bottom screw component has a wrench groove (with a groove bottom), and the wrench groove is opposite to the notch on the cylindrical body. The purpose of the fully automatic precision fastening device for the bottom screw of the warhead detonation device of the present invention is to rivet the bottom point of the wrench groove of the bottom screw component into the notch of the cylindrical body, thereby realizing the locking and anti-loosening of the bottom screw component.
[0028] The translational clamping mechanism 1 includes a clamping module and a translational drive device. The clamping module is configured to slide along the X-axis, and the translational drive device is connected to the clamping module. The translational clamping mechanism 1 is provided with a loading / unloading station and a riveting station. The clamping module is driven by the translational drive device to reciprocate between the loading / unloading station and the riveting station.
[0029] In this invention, the clamping module includes a sliding plate 11, a floating plate 12, a pneumatic chuck 13, and a support rod 14. The floating plate 12 is floatingly mounted on the sliding plate 11 and can float relative to the sliding plate 11 within a set range along the Z-axis. The pneumatic chuck 13 has a hollow structure and is fixed to the top of the floating plate 12, allowing it to float synchronously with the floating plate 12. The support rod 14 is cylindrical and coaxially mounted inside the pneumatic chuck 13. The upper end of the support rod 14 extends upward beyond the pneumatic chuck 13, and a flange is provided near its lower end. The support rod 14 is fixedly connected to the floating plate 12 through this flange. Furthermore, the sliding plate 11 has a clearance hole 1101 for the lower end of the support rod 14 to pass through, and the inner diameter of the clearance hole 1101 is larger than the outer diameter of the lower end of the support rod 14. The lower end of the support rod 14 extends downward through the clearance hole 1101. The product to be riveted is centered and clamped by the pneumatic chuck 13, and is axially supported by the support rod 14.
[0030] It is worth mentioning that the present invention provides a support block 15 at the riveting station. The support block 15 can be fixed on the machine platform and remain fixed. The height of the support block 15 is less than the height of the bottom surface of the sliding plate 11. The support block 15 is used to provide rigid support for the support rod 14 during the product riveting process.
[0031] In this invention, the conveying mechanism 2 is used to transfer the product to be riveted to the pneumatic chuck 13, and to remove the riveted product from the pneumatic chuck 13.
[0032] In this invention, the riveting mechanism 3 is mounted directly above the riveting station. It includes a guide shaft 31, a connector module, a bushing module, a rotary drive mechanism, and a pressure drive device 32. The upper end of the guide shaft 31 is connected to the output end of the pressure drive device 32 through the connector module, and the guide shaft 31 can be driven by the rotary drive mechanism to rotate relative to the connector module. The middle part of the guide shaft is connected to the rotary drive mechanism through the bushing module, and the guide shaft 31 can be driven by the pressure drive device 32 to move axially relative to the bushing module. The lower end of the guide shaft 31 is provided with a riveting head 33.
[0033] In this invention, the visual guidance mechanism 4 is used to take pictures to identify the riveting features on the product held by the pneumatic chuck 13, and to guide the rotary drive mechanism to drive the guide shaft 31 to rotate so that the riveting head 33 is accurately aligned with the riveting features on the product.
[0034] This invention relates to a fully automated precision fastening device for the base screw of a warhead detonation device. It integrates a translational clamping mechanism 1, a transport mechanism 2, a riveting mechanism 3, and a vision guidance mechanism 4. The translational clamping mechanism 1 smoothly switches between the loading / unloading station and the riveting station. The pneumatic chuck 13 achieves precise centering and clamping of the product. The support rod 14 provides stable axial support for the product. The riveting mechanism 3 uses a guide shaft 31 to integrate a composite motion structure of rotary drive and pressure drive, simultaneously completing the angle alignment and axial pressing action of the riveting head 33. The vision guidance mechanism 4 automatically identifies the riveting features of the product and guides precise alignment. This constructs a fully automated operation system for the precision fastening of the base screw of the warhead detonation device. It can completely replace manual labor in loading / unloading, transport, clamping, alignment, and riveting operations, significantly improving processing efficiency and operational safety in flammable and explosive military environments.
[0035] Specifically, this invention efficiently couples the floating buffer design of the translation clamping mechanism 1, the rigid support of the riveting station support block 15, and the axial downward pressing action of the guide shaft 31. On the one hand, when the riveting head 33 initially contacts the product, the floating design can immediately buffer and absorb the impact stress, preventing damage to the product cylinder, bottom screw component, and internal precision components from rigid impact. On the other hand, when the guide shaft 31 continues to press down, the floating plate 12, pneumatic chuck 13, and support rod 14 in the clamping module move downward, causing the support rod 14 to abut against the support block 15 to form a stable rigid support system. This evenly transmits the riveting pressure to the rigid support structure, preventing product shaking, displacement, and deformation, while ensuring stable and controllable riveting pressure. From a structural mechanism perspective, this ensures smooth and reliable implementation of the riveting operation, fully meeting the high precision, high safety, and high consistency processing requirements for the bottom screw fastening of the detonation device.
[0036] See Figure 1 and Figure 2The conveying mechanism 2 is located on the front side of the loading and unloading station. The conveying mechanism 2 includes a third support 25, a hollow rotating platform 21 and a picking and placing module. The hollow rotating platform 21 is installed on the top of the third support 25, and the picking and placing module is installed on the hollow rotating platform 21. The hollow rotating platform 21 is used to drive the picking and placing module to rotate.
[0037] Specifically, the material handling module includes a lifting cylinder 22 mounted on a hollow rotating platform 21, a gripper cylinder 23 mounted on the lifting cylinder 22, and two grippers 24 symmetrically mounted on the gripper cylinder 23. The gripper cylinder 23 is used to drive the two grippers 24 to move closer or further apart to clamp or release the product. The lifting cylinder 22 is used to drive the gripper cylinder 23 and the product it carries to move up and down synchronously.
[0038] In this embodiment, the hollow rotating platform 21 is an explosion-proof servo motor driven hollow rotating platform.
[0039] The conveying mechanism 2 used in this invention is based on a hollow rotating platform 21, and is equipped with a lifting cylinder 22, a gripper cylinder 23 and a gripper 24 to form an automated material handling structure. It can independently complete the entire process of loading products to be riveted and unloading products that have been riveted, without the need for manual intervention in the product handling process. This effectively avoids the safety hazards of manual operation in military flammable and explosive processing scenarios, and improves the automation level of the equipment and the continuity of production.
[0040] It is worth mentioning that the present invention has two material handling modules, which are symmetrically installed on the hollow rotary platform 21. When the pneumatic chuck 13 is in the loading / unloading position, one of the material handling modules transfers the product to be riveted to the pneumatic chuck 13, while the other material handling module removes the riveted product from the pneumatic chuck 13. Thus, by symmetrically arranging two sets of material handling modules on the hollow rotary platform 21, the present invention can simultaneously complete the loading of the product to be processed and the unloading of the processed product in a single rotation, significantly shortening the equipment cycle time and significantly improving overall production efficiency. This is suitable for the large-scale, high-cycle production needs of military products, and the dual-station synchronous operation design also optimizes the equipment space layout and process flow.
[0041] See Figure 3 and Figure 4The floating plate 12 is mounted vertically on top of the sliding plate 11 via several floating guide components 16, ensuring the stability of the floating plate 12's vertical movement. The floating guide components 16 can be linear bearing assemblies, with four sets distributed at the four corners of the floating plate 12 and the sliding plate 11. Each linear bearing assembly includes a linear bearing and a first guide shaft. The first guide shaft is fixed vertically to the sliding plate 11, and the linear bearing is fixed to the floating plate 12 and slidably fitted onto the first guide shaft. Alternatively, the floating guide components 16 can also be oil-free bushing assemblies, also with four sets distributed at the four corners of the floating plate 12 and the sliding plate 11. Each oil-free bushing assembly includes an oil-free bushing and a second guide shaft. The second guide shaft is fixed vertically to the sliding plate 11, and the oil-free bushing is fixed to the floating plate 12 and slidably fitted onto the second guide shaft. Furthermore, the floating guide assembly 16 can also be a combination of linear bearing assembly and oilless bushing assembly, that is: two sets of linear bearing assembly and two sets of oilless bushing assembly are set, the two sets of linear bearing assembly are diagonally distributed, and the two sets of oilless bushing assembly are also diagonally distributed.
[0042] Meanwhile, several springs 17 are provided between the floating plate 12 and the sliding plate 11. The springs 17 are used to provide floating reset force and cooperate with the floating structure to achieve buffering and tolerance compensation.
[0043] Among them, the sliding plate 11 is also equipped with an explosion-proof photoelectric switch 111. The explosion-proof photoelectric switch 111 meets the safety requirements of flammable and explosive working conditions (such as military industry and new energy), and realizes the detection of whether the product on the pneumatic chuck 13 has a signal.
[0044] Furthermore, the translation clamping mechanism 1 also includes a base plate 18, and a sliding plate 11 is slidably mounted on the base plate 18 via a linear guide rail 19. The translation drive device is a first cylinder 110, which can be, but is not limited to, a rodless cylinder, fixed to the base plate 18 along the X-axis and driven by the sliding plate 11. When the first cylinder 110 drives the clamping module to the riveting position, the sliding plate 11 is above the support block 15, and the lower end of the support rod 14 is exactly vertically opposite to the support block 15.
[0045] In addition, a hydraulic damper is also installed on the base plate 18. The hydraulic damper achieves flexible deceleration at the end of the movement to avoid mechanical impact and ensure positioning accuracy.
[0046] See Figure 5 The riveting mechanism 3 also includes a first bracket 313 and a second bracket 314. The first bracket 313 includes a fixed top plate and four long columns supporting the fixed top plate. The second bracket 314 is fixed to the bottom of the fixed top plate by four short columns. The pressure driving device 32 is fixed vertically to the fixed top plate of the first bracket 313.
[0047] In this embodiment, the pressure driving device 32 is a press driven by an explosion-proof servo motor.
[0048] See Figure 5 and Figure 6 The joint module includes a limiting joint 34, a transition joint 35, and a shaft connector 36. The transition joint 35 is fixed to the top of the limiting joint 34. A flange head is installed on the output end of the pressure drive device 32. The flange head and the transition joint 35 are connected by a tension and pressure sensor 38. The tension and pressure sensor 38 collects the riveting pressure data in real time and forms a closed-loop control, which can accurately adjust the riveting pressure and avoid riveting defects caused by overpressure or underpressure. At the same time, it realizes real-time recording and traceability of process parameters, meeting the stringent quality control requirements of military products.
[0049] Furthermore, the limiting joint 34 is provided with a stepped hole whose inner diameter gradually decreases from top to bottom, and the shaft connector 36 is located in the stepped hole. The longitudinal section of the shaft connector 36 is T-shaped, and a thrust bearing 37 is installed between its top convex ring and the bottom of the stepped hole groove of the limiting joint 34; at the same time, the top surface of the shaft connector 36 is clearance-fitted with the bottom surface of the transition joint 35. The upper end of the guide shaft 31 extends into the stepped hole and is fixedly connected to the shaft connector 36. The guide shaft 31 is clearance-fitted with the limiting joint 34. The connector module in this invention uses the limiting joint 34, the transition joint 35, the shaft connector 36 and the thrust bearing 37 working together to achieve the separation and transmission of the rotational movement of the guide shaft 31 and the axial pressure, ensuring that the rotation of the guide shaft 31 is smooth and unobstructed, and ensuring that the downward pressure of the pressure drive device is stably and evenly transmitted to the riveting head 33.
[0050] Please refer to it again. Figure 6 The bushing module includes an inner bushing 39, an outer bushing 310, and an annular mounting base 311. The inner bushing 39 is fitted onto the guide shaft 31, and the outer bushing 310 is fixedly fitted onto the outside of the inner bushing 39. The annular mounting base 311 is fixed onto the second bracket 314. The outer bushing 310 is located inside the annular mounting base 311, and a ball bearing 312 is provided between the outer bushing 310 and the annular mounting base 311. At the same time, the outer bushing 310 is locked by a nut to restrict axial movement between the outer bushing 310 and the annular mounting base 311, but the outer bushing 310 can rotate relative to the annular mounting base 311 through the ball bearing 312. This invention utilizes an outer bushing 310, an annular mounting base 311, and a ball bearing 312 to form a high-precision rotary support structure. This structure provides low-friction, high-rigidity rotary support for the inner bushing 39 and the guide shaft 31, reducing mechanical wear and wobbling during rotation and ensuring smooth rotation and accurate positioning of the guide shaft 31. The overall structure is compact and stable, adaptable to high-precision continuous riveting conditions, providing reliable support for the composite motion of the guide shaft 31, and improving the structural stability and service life of the riveting mechanism 3.
[0051] The inner bushing 39 and the guide shaft 31 are provided with a limiting structure. The limiting structure is configured to restrict the circumferential relative rotation between the inner bushing 39 and the guide shaft 31, while allowing the guide shaft 31 to slide relative to the inner bushing 39 in the axial direction.
[0052] The limiting structure can be any of the following structures: Structure 1: such as Figure 7 As shown, at least one semi-circular first semi-keyway is formed on the inner wall of the inner bushing 39 along the axial direction, and at least one semi-circular second semi-keyway is formed on the outer wall of the guide shaft 31 along the axial direction. The first semi-keyway and the second semi-keyway together form a ball assembly groove, and a plurality of balls 318 are provided in the ball assembly groove.
[0053] Structure 2: The inner bushing 39 and the guide shaft 31 form a limiting fit through a spline structure.
[0054] The limiting structure between the inner bushing 39 and the guide shaft 31 can effectively restrict their relative circumferential rotation, ensuring that the rotational driving force is transmitted to the guide shaft 31 without loss, and ensuring the accuracy of the riveting head angle alignment. At the same time, this structure allows the guide shaft 31 to slide freely relative to the inner bushing 39 along the axial direction, so that the rotational alignment motion and the axial downward pressing motion of the guide shaft 31 are independent of each other and do not interfere with each other. Structurally, it avoids motion interference, ensures that the two actions are executed stably and accurately, and improves the operational reliability and action accuracy of the riveting mechanism 3.
[0055] In this invention, the rotary drive mechanism includes a rotary drive motor 315 and a synchronous belt drive mechanism 316. The rotary drive motor 315 is fixed on the second bracket 314, and the synchronous belt drive mechanism 316 is drively connected between the outer bushing 310 and the rotary drive motor 315. In this embodiment, the rotary drive motor 315 is an explosion-proof servo motor.
[0056] See Figure 5 The riveting mechanism 3 also includes a laser sensor 317, which is fixed on the second bracket 314. The laser sensor 317 detects whether the riveting head 33 is damaged in real time, provides early warning of faults, and avoids the generation of defective products and equipment damage.
[0057] See Figure 1 and Figure 8The visual guidance mechanism 4 is located on one side of the loading and unloading station. It includes a camera 41, a light source 42, a push plate 43, a dovetail slide 44, a slide cylinder 45, a second cylinder 46, and a fourth bracket 47. The push plate 43 is slidably mounted on the fourth bracket 47 along the Y-axis. The camera 41 is mounted on the push plate 43 via the dovetail slide 44. The light source 42 is mounted on the push plate 43 via the slide cylinder 45 and is located directly below the camera 41. The second cylinder 46 is fixed on the fourth bracket 47 and connected to the push plate 43. The second cylinder 46 is used to drive the push plate 43 to move along the Y-axis so that the camera 41 can reach directly above the product held by the pneumatic chuck 13 at the loading and unloading station.
[0058] Among them, the camera 41 adopts an adjustable mounting structure with a dovetail slide 44 and the light source 42 adopts a slide cylinder 45, which can adapt to the imaging and lighting needs of products with different specifications and surface conditions, ensuring stable and reliable recognition results, and providing solid data support for the precise alignment of the riveting head 33.
[0059] In addition, the translation clamping mechanism 1, the handling mechanism 2, the riveting mechanism 3, and the visual guidance mechanism 4 in this invention are all equipped with explosion-proof junction boxes 5. The explosion-proof junction boxes 5 provide centralized sealing protection and safe wiring for the electrical circuits of each mechanism, which can effectively eliminate safety hazards caused by electrical sparks, leakage, etc. It is fully compatible with the special working conditions of flammable and explosive materials during the processing of warhead detonation devices, greatly improving the operational safety and stability of the equipment in military production scenarios, and providing reliable safety assurance for fully automatic precision fastening operations.
[0060] The working principle of the fully automatic precision fastening device for the base screw of the warhead detonation device of the present invention is as follows: After the equipment is started, initially the clamping module of the translation clamping mechanism 1 stays at the loading and unloading station, the two sets of picking and placing modules of the conveying mechanism 2 are in the waiting position, the riveting mechanism 3 and the vision guidance mechanism 4 complete the initial self-test, and the explosion-proof junction box 5, explosion-proof servo motor and explosion-proof photoelectric switch 111 of each mechanism are put into safety protection work simultaneously.
[0061] First, the automatic loading and unloading process is executed. The explosion-proof servo motor of the conveying mechanism 2 drives the hollow rotating platform 21 to rotate, which in turn drives two symmetrically arranged picking and unloading modules to move synchronously. The lifting cylinder 22 of one picking and unloading module moves downward, and the gripper cylinder 23 drives the gripper 24 to clamp the product to be riveted. After the lifting cylinder 22 moves upward, the hollow rotating platform 21 rotates back, accurately transferring the product to be riveted to the center of the pneumatic chuck 13. At the same time, the other picking and unloading module simultaneously removes the product that has been riveted from the pneumatic chuck 13 and moves it for unloading, realizing the synchronous completion of loading and unloading. After the product is placed in the pneumatic chuck 13, the explosion-proof photoelectric switch 111 detects the product arrival signal, and the pneumatic chuck 13 moves to center and clamp the product, while the support rod 14 simultaneously provides axial support to the bottom of the product.
[0062] Next, the visual precision alignment process is performed. The second cylinder 46 of the visual guidance mechanism 4 drives the push plate 43 to move along the Y-axis, sending the camera 41 and the light source 42 directly above the product. The camera 41 takes pictures and identifies the wrench groove riveting features of the bottom screw component and transmits the position signal to the control system. The control system drives the rotation drive motor 315 of the riveting mechanism 3 to operate according to the identification data. Through the synchronous belt transmission mechanism 316, the outer bushing 310 and the inner bushing 39 rotate. Under the limiting structure of the inner bushing 39 and the guide shaft 31, the guide shaft 31 drives the lower end riveting head 33 to rotate synchronously, so that the riveting head 33 is precisely aligned with the riveting position on the product, completing the angle positioning before riveting.
[0063] At the same time, the first cylinder 110 of the translation clamping mechanism 1 drives the sliding plate 11 to move along the linear guide rail 19 to the riveting station. The hydraulic buffer performs flexible deceleration and limit on the sliding plate 11 to ensure that the clamping module accurately stops at the riveting station. At this time, the lower end of the support rod 14 and the support block 15 at the riveting station are coaxially aligned and directly opposite each other.
[0064] Finally, the precision riveting process is executed. The pressure drive device 32 of the riveting mechanism 3 is activated, driving the guide shaft 31 to press downward along the Z-axis, and the riveting head 33 moves downward to contact the product. In the initial stage of riveting, the spring 17 between the floating plate 12 and the sliding plate 11 provides elastic buffering, absorbing the impact stress of the riveting head 33 when it contacts the product, avoiding damage to the cylinder, bottom screw components and internal precision structure from rigid impact, while also adaptively accommodating the product's dimensional tolerances. In the riveting pressure stage, the pressure drive device 32 continues to press down, and the floating plate 12 overcomes the elastic force of the spring 17 and floats downward along the Z-axis, driving the pneumatic chuck 13, the product and the support rod 14 to move downward synchronously until the lower end of the support rod 14 abuts against the support block 15, which provides rigid support for the support rod 14. The riveting pressure is evenly transmitted to the rigid support structure through the product and the support rod 14, preventing the product from shaking, shifting and deforming. At this time, the rivet head 33 stably rivets the bottom of the wrench groove of the bottom screw component into the notch of the cylinder, realizing the locking and anti-loosening of the bottom screw component; during the operation, the tension and pressure sensor 38 collects the rivet pressure data in real time and forms a closed-loop control. When the pressure reaches the set value, the pressure drive device 32 automatically stops pressing down, and the laser sensor 317 synchronously detects whether the rivet head 33 is damaged, and provides early warning of equipment failure.
[0065] After the riveting operation is completed, the pressure drive device 32 drives the guide shaft 31 and the riveting head 33 to move upward and reset. The spring 17 pushes the floating plate 12, the pneumatic chuck 13 and the product to float upward and reset. The support rod 14 separates from the support block 15. The first cylinder 110 drives the clamping module to return to the loading and unloading station. The conveying mechanism 2 performs the unloading and loading actions synchronously again. The equipment enters the next working cycle, realizing continuous operation with full automation, high precision and high safety.
[0066] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A fully automatic precision fastening device for the base screw of a warhead detonation device, characterized in that, include; The translation clamping mechanism (1) includes a clamping module and a translation drive device. The clamping module is driven by the translation drive device to reciprocate between the loading / unloading station and the riveting station. The clamping module includes a sliding plate (11), a floating plate (12) floating on the sliding plate (11), a pneumatic chuck (13) fixed on the floating plate (12), and a support rod (14) coaxially disposed inside the pneumatic chuck (13) and fixedly connected to the floating plate (12). The product to be riveted is clamped in the center by the pneumatic chuck (13) and axially supported by the support rod (14). The sliding plate (11) is provided with a clearance hole (1101) for the lower end of the support rod (14) to pass through. A support block (15) is provided at the riveting station. The support block (15) is used to support the support rod (14) during the product riveting process. The conveying mechanism (2) is used to transfer the product to be riveted to the pneumatic chuck (13) and to remove the riveted product from the pneumatic chuck (13); The riveting mechanism (3) is mounted directly above the riveting station. It includes a guide shaft (31), a joint module, a bushing module, a rotary drive mechanism, and a pressure drive device (32). The upper end of the guide shaft (31) is connected to the output end of the pressure drive device (32) through the joint module, and the guide shaft (31) can be driven by the rotary drive mechanism to rotate relative to the joint module. The middle part of the guide shaft is connected to the rotary drive mechanism through the bushing module, and the guide shaft (31) can be driven by the pressure drive device (32) to move axially relative to the bushing module. The lower end of the guide shaft (31) is provided with a riveting head (33). The visual guidance mechanism (4) is used to take pictures to identify the riveting features on the product held by the pneumatic chuck (13) and guide the rotary drive mechanism to drive the guide shaft (31) to rotate so that the riveting head (33) is accurately aligned with the riveting features on the product.
2. The fully automatic precision fastening device for the base screw of the warhead detonation device according to claim 1, characterized in that, The floating plate (12) is mounted on the top of the sliding plate (11) in a floating manner via several floating guide components (16), and several springs (17) are also provided between the floating plate (12) and the sliding plate (11).
3. The fully automatic precision fastening device for the base screw of the warhead detonation device according to claim 1, characterized in that, The translation clamping mechanism (1) also includes a base plate (18), and the sliding plate (11) is slidably mounted on the base plate (18) via a linear guide rail (19); the translation drive device is a first cylinder (110), which is fixed on the base plate (18) and driven to the sliding plate (11); when the first cylinder (110) drives the clamping module to move to the riveting station, the sliding plate (11) is above the support block (15), and the lower end of the support rod (14) is just vertically opposite to the support block (15).
4. The fully automatic precision fastening device for the base screw of the warhead detonation device according to claim 1, characterized in that, The conveying mechanism (2) includes a hollow rotating platform (21) and a picking and placing module installed on the hollow rotating platform (21). The picking and placing module includes a lifting cylinder (22), a gripper cylinder (23) installed on the lifting cylinder (22), and two grippers (24) symmetrically installed on the gripper cylinder (23). The gripper cylinder (23) is used to drive the two grippers (24) to move closer or further apart to clamp or release the product. The lifting cylinder (22) is used to drive the gripper cylinder (23) and the product it carries to move up and down synchronously.
5. The fully automatic precision fastening device for the base screw of the warhead detonation device according to claim 4, characterized in that, Two material handling modules are provided, and the two material handling modules are symmetrically installed on the hollow rotating platform (21). When the pneumatic chuck (13) is in the loading and unloading station, one of the material handling modules performs the action of transferring the product to be riveted to the pneumatic chuck (13), while the other material handling module performs the action of taking the riveted product off the pneumatic chuck (13).
6. The fully automatic precision fastening device for the base screw of the warhead detonation device according to claim 1, characterized in that, The connector module includes a limiting connector (34), a transition connector (35), and a shaft connector (36). The transition connector (35) is fixed to the top of the limiting connector (34), and a tension / compression sensor (38) is installed between the transition connector (35) and the output end of the pressure drive device (32). The limiting connector (34) has a stepped hole with an inner diameter that gradually decreases from top to bottom. The shaft connector (36) is located in the stepped hole, and a thrust bearing (37) is installed between the shaft connector (36) and the limiting connector (34). At the same time, the top surface of the shaft connector (36) is clearance-fitted with the bottom surface of the transition connector (35). The upper end of the guide shaft (31) extends into the stepped hole and is fixedly connected to the shaft connector (36).
7. The fully automatic precision fastening device for the base screw of the warhead detonation device according to claim 1, characterized in that, The bushing module includes an inner bushing (39), which is fitted onto the guide shaft (31). A limiting structure is provided between the inner bushing (39) and the guide shaft (31). The limiting structure is configured to restrict circumferential relative rotation between the inner bushing (39) and the guide shaft (31), while allowing the guide shaft (31) to slide axially relative to the inner bushing (39).
8. The fully automatic precision fastening device for the base screw of the warhead detonation device according to claim 7, characterized in that, The riveting mechanism (3) further includes a first bracket (313) and a second bracket (314) fixed on the first bracket (313). The pressure driving device (32) is fixed on the first bracket (313) in the vertical direction. The bushing module further includes an outer bushing (310) and an annular mounting seat (311). The annular mounting seat (311) is fixed on the second bracket (314). The outer bushing (310) is located inside the annular mounting seat (311) and is fixedly fitted on the inner bushing (39). At the same time, a ball bearing (312) is provided between the outer bushing (310) and the annular mounting seat (311).
9. The fully automatic precision fastening device for the base screw of the warhead detonation device according to claim 8, characterized in that, The rotary drive mechanism includes a rotary drive motor (315) and a synchronous belt drive mechanism (316). The rotary drive motor (315) is fixed on the second bracket (314), and the synchronous belt drive mechanism (316) is connected between the outer bushing (310) and the rotary drive motor (315).
10. The fully automatic precision fastening device for the base screw of the warhead detonation device according to claim 1, characterized in that, The visual guidance mechanism (4) is located on one side of the loading and unloading station. It includes a camera (41), a light source (42), a push plate (43), a dovetail slide (44), a slide cylinder (45), and a second cylinder (46). The camera (41) is mounted on the push plate (43) via the dovetail slide (44). The light source (42) is mounted on the push plate (43) via the slide cylinder (45) and is located directly below the camera (41). The second cylinder (46) is connected to the push plate (43) and is used to drive the push plate (43) to move horizontally so that the camera (41) can reach directly above the product held by the pneumatic chuck (13) at the loading and unloading station.