A full-automatic charge pressing device for shaped charge and a control method thereof

Abstract

This invention discloses a fully automatic shaped charge projectile pressing device and its control method, belonging to the technical field of fully automatic shaped charge projectile pressing equipment. The device includes an indexing plate assembly, with a guide sleeve placement assembly connected to the front end of the indexing plate assembly. One end of the guide sleeve placement assembly is connected to a third permanent magnet manipulator, and a first vacuum manipulator is installed at the end of the guide sleeve placement assembly furthest from the third permanent magnet manipulator. By integrating the entire process of cartridge case feeding, guide sleeve installation, shaped charge liner assembly, punch installation, blast chamber pressing, discharge, punch removal and floating charge cleaning, guide sleeve removal and cleaning, finished cartridge case placement, and pressing mold reset into full automation, no manual intervention is required. This improves equipment production efficiency, significantly reduces the number of operators in hazardous work areas, avoids direct contact with explosives and high-pressure work areas, effectively reduces personnel safety risks, and significantly improves the inherent safety level of the production line.

Description

Technical Field

[0001] This invention relates to the field of fully automatic propellant loading equipment, and more specifically, to a fully automatic propellant loading equipment for shaped charge projectiles and its control method. Background Technology

[0002] shaped charge perforating projectiles are core equipment in the field of oil and gas exploration and development. As a key bridge connecting the wellbore and the reservoir, their production quality and efficiency directly affect the safety, economy and effectiveness of oil and gas exploration and development. With the upgrading of global energy security needs and the extension of exploration and development to deep unconventional areas, the industry has put forward higher requirements for the output, quality stability and production safety of shaped charge perforating projectiles. It has become an inevitable trend for the industry to promote the transformation of shaped charge perforating projectile production towards automation, intelligence and intrinsic safety.

[0003] In existing perforated propellant production equipment, there is a lack of fully automated operation capabilities. From cartridge case feeding, propellant liner installation, and punch assembly to propellant pressing, discharge, floating propellant cleaning, and finished product tray placement, many processes require manual assistance or segmented automated operations. The connections between each process are not smooth, and closed-loop linkage cannot be achieved, making it difficult to improve production efficiency. Moreover, manual intervention is prone to operational errors, affecting product assembly accuracy and propellant density uniformity. At the same time, the transfer and operation mechanisms of perforated propellant production equipment are poorly designed. Traditional equipment often uses mechanical finger gripping or ordinary vacuum adsorption mode, which has problems such as unstable gripping, easy damage to the cartridge case or propellant liner, and high failure rate. Summary of the Invention

[0004] The purpose of this invention is to provide a fully automatic shaped charge projectile loading device and its control method to solve the problems mentioned in the background art.

[0005] An automated shaped charge perforating projectile pressing device includes an indexing plate assembly. A guide sleeve placement assembly is connected to the front end of the indexing plate assembly. A third permanent magnet manipulator is connected to one end of the guide sleeve placement assembly, and a first vacuum manipulator is installed at the end of the guide sleeve placement assembly away from the third permanent magnet manipulator. A second vacuum manipulator is installed at the rear end of the first vacuum manipulator. Moving components are connected to both sides of the rear end of the indexing plate assembly. An explosion-proof chamber is connected to the end of the moving components away from the indexing plate assembly. The first vacuum manipulator moves a shell filled with RDX explosive from a RDX explosive placement tray to the inner cavity of a pressing mold located to the left of the guide sleeve placement assembly. A stainless steel conveyor bar in the explosion-proof chamber moves one step distance under motor drive. This position is one step distance away from the pressing position of the press. This process is repeated several times until the projectile reaches the pressing position. Upon reaching the pressing position, a cylinder pushes the pressing mold to the pressing position, and the press starts pressing. After completion, the press returns to its original position, completing the pressing operation. The indexing plate assembly includes an indexing plate mechanism. A support base is connected to the lower outer side of the indexing plate mechanism. A first fixed base is connected to the outer sides of both ends of the support base. A first guide rail is connected to the upper end of the first fixed base. A first slider is connected to the outer side of the first guide rail. A punch permanent magnet manipulator is connected to the front end of the first slider. The punch permanent magnet manipulator loads the punch after cleaning the floating powder into the cartridge case with the powder liner under a certain pressure. Furthermore, the punch permanent magnet manipulator picks up the punch and moves it to the powder brushing position to perform powder brushing operation. After the operation is completed, it waits for the signal that the powder liner is installed before moving it to the punch loading position to perform the operation. The moving component includes a rectangular base, rectangular guide rails connected to the upper two sides of the rectangular base, limit blocks connected to both ends of the rectangular guide rails, and a second slider connected to the upper outer side of the rectangular guide rails, with a circular rotating block connected to the upper end of the second slider. The guide sleeve placement assembly includes a rectangular support rod, the upper end of which is connected to a second permanent magnet adsorption robot. The second permanent magnet adsorption robot places the guide sleeve after the floating medicine has been removed into the medicine pressing mold. Furthermore, the second permanent magnet adsorption robot performs a guide sleeve removal operation.

[0006] Preferably, the front end of the third permanent magnet manipulator is equipped with a perforation shell placement tray, the front end of the first vacuum manipulator is equipped with a RDX explosive placement tray, the end of the second vacuum manipulator away from the first vacuum manipulator is equipped with a shaped charge placement tray, and a safety door is installed at the corresponding position of the end of the explosion-proof room facing the moving component. The second vacuum manipulator puts the shaped charge shroud placed in the shaped charge placement tray into the explosive shell casing, and the third permanent magnet manipulator sucks up the finished shell and performs the tray placement operation according to the program.

[0007] Preferably, the indexing plate mechanism includes a hexagonal indexing plate, the lower end of which is connected to a first drive motor, and each corner of the hexagonal indexing plate is connected to a first permanent magnet manipulator. Each first permanent magnet manipulator is connected to a first fixing block below it, and the system rotates the first drive motor by a certain degree each time.

[0008] Preferably, the first permanent magnet manipulator includes a U-shaped manipulator, a pusher cylinder is installed in the inner cavity of the U-shaped manipulator, and a pressing mold is connected in the groove of each U-shaped manipulator, with the lower end of the pressing mold connected to the upper surface of the first fixed block.

[0009] Preferably, the upper end of the circular rotating block is connected to a fixed disk, and a second electric telescopic rod is located in the upper cavity of the fixed disk. One end of the second electric telescopic rod facing the middle of the fixed disk is connected to a second permanent magnet manipulator, and the components of the second permanent magnet manipulator are the same as those of the first permanent magnet manipulator. One end of the second electric telescopic rod is connected to the outer surface of the U-shaped manipulator in the second permanent magnet manipulator. The first slider and the second slider are both driven by stainless steel chains. The second permanent magnet manipulator in the moving assembly installed on the right side of the indexing plate assembly is a discharge permanent magnet manipulator, which brings the pressed medicine mold into the discharge position of the hexagonal indexing plate. The second permanent magnet manipulator in the moving assembly installed on the left side of the indexing plate assembly is a feeding permanent magnet manipulator.

[0010] Preferably, a second rectangular support rod is connected to the middle part of the rear end of the rectangular support rod, and a guide sleeve storage bucket is connected to the middle part of the second rectangular support rod.

[0011] Preferably, the end of the second rectangular support rod away from the rectangular support rod is connected to the brush float position, the indexing plate assembly is equipped with the main control unit command, and the center line of the brush float position, the center line of the hexagonal indexing plate and the center line of the punch permanent magnet manipulator are on the same plane, and the manipulator of the second permanent magnet adsorption manipulator corresponds to the guide sleeve storage bucket.

[0012] Preferably, a control method for a fully automatic shaped charge projectile loading device includes the following steps: S1. Cartridge Case Loading: The main control unit commands the first vacuum manipulator to start, grabs a cartridge case filled with RDX explosive from the RDX explosive placement tray, uses the vacuum adsorption principle to keep the cartridge case stable, and moves the cartridge case precisely to the inner cavity of the compression mold located on the left side of the guide sleeve placement assembly according to the preset trajectory. The compression mold is placed in the groove of the first permanent magnet manipulator on the hexagonal indexing plate and is supported and fixed by the first fixing block to ensure that the cartridge case and the compression mold are accurately positioned and without deviation. S2. Guide sleeve loading: Simultaneously, the second permanent magnet adsorption robot is activated to grab the guide sleeve that has been cleared of floating medicine. According to the positioning instructions, the guide sleeve is accurately placed into the pressing mold that has been filled with cartridge case, and the guide sleeve is coaxially positioned with the cartridge case. After the guide sleeve is placed, the second permanent magnet adsorption robot is reset and sends a loading completion signal to the main control unit, and the loading process ends. S3, Station Flow: After receiving the material loading completion signal, the main control unit instructs the first drive motor of the indexing plate mechanism to rotate 60 degrees, driving the hexagonal indexing plate to rotate one station, accurately transferring the pressing mold containing the cartridge case and guide sleeve to the hood release and punch release station. S4. Molding liner installation: The second vacuum robot is activated and grabs the molding liner from the energy liner placement tray. The vacuum adsorption principle is used to avoid damaging the surface of the molding liner. The position of the cartridge case opening is confirmed by visual positioning. The molding liner is placed smoothly and accurately into the cartridge case with propellant, ensuring that the molding liner and the cartridge case are coaxial and fit tightly. After the molding liner is installed, the second vacuum robot is reset. S5. Punch Installation: The main control unit commands the first slider on the first guide rail to move, driving the punch permanent magnet robot arm to the punch installation position. The punch permanent magnet robot arm grabs the punch that has been cleared of floating explosives beforehand, and slowly installs the punch into the cartridge case with the shaped charge liner according to the preset pressure parameters, ensuring that the punch is installed in place, while avoiding excessive pressure that could damage the shaped charge liner or compact the explosive. After the punch installation is completed, the punch permanent magnet robot arm resets and sends a signal to the main control unit that the loading is complete, and the entire loading assembly process is finished. S6. Safety Confirmation: The main control unit first checks the internal status of the explosion-proof room. Only when the previous round of pressing operation in the explosion-proof room is completely finished, the press is reset, the safety door is open, and there are no other materials inside, is the feeding action allowed to start, so as to prevent safety risks caused by unauthorized feeding. S7. Material Transfer: The second electric telescopic rod of the left-side moving component extends and retracts, driving the second permanent magnet manipulator to grab the compressed mold that has been filled with explosives on the hexagonal indexing plate; then, the second slider slides along the rectangular guide rail under the drive of the stainless steel chain, transferring the compressed mold to the door of the explosion-proof room and aligning it with the safety door position; S8. Safety Closed Loop: The feeding permanent magnet robot sends the pressing mold into the explosion-proof chamber and places it on the stainless steel conveyor bar to ensure that the material is placed stably and accurately positioned. After the material is placed, the feeding permanent magnet robot exits the explosion-proof chamber along the original trajectory. After the robot has completely exited, the main control unit commands the safety door to close, forming a closed explosion-proof space. At the same time, it sends a signal to the conveyor mechanism inside the explosion-proof chamber to prepare for pressing, and the feeding process is completed. S9. Step-by-step conveying and positioning: After receiving the instruction from the main control unit, the stainless steel conveying bar in the explosion-proof room moves one step distance according to the preset step distance. At this time, there are still three steps distance between the pressing mold and the pressing position of the press. The conveying mechanism moves three times according to this step distance to accurately transfer the pressing mold to the pressing position of the press. During the conveying process, the position sensor positions it in real time to ensure that the pressing mold has no deviation. S10. Pressing preparation: After the pressing mold reaches the pressing position, the main control unit commands the cylinder to move and smoothly push the pressing mold to the bottom of the press, accurately aligning it with the press punch to complete the pressing positioning. At the same time, the pressure sensor starts to preheat and monitors the pressing pressure in real time to ensure that the pressure parameters meet the process requirements. S11, High-pressure pressing: After positioning is completed, the main control unit commands the large-tonnage press to start and applies high pressure to the pressing mold according to the preset pressure parameters. At the same time, the pressure holding program is executed to ensure that the explosive is fully compacted and the density is uniform. After pressing is completed, the press resets according to the preset trajectory, and the pressure sensor feeds back the pressing completion signal. S12. Discharge and transfer: After the press is reset, the cylinder pushes the pressing mold back to the stainless steel conveyor bar. The conveyor bar continues to transfer the pressed mold to the discharge position according to the preset step distance. After three step distances of transmission, the pressing mold accurately reaches the discharge position in the explosion-proof room. After the main control unit detects the pressing completion signal and confirms that it is qualified, it instructs the safety door to open to prepare for subsequent discharge. S13, Material Transfer: After the safety door of the explosion-proof room is opened, the main control unit commands the pusher cylinder on the pressing mold to push out the pressing mold on the stainless steel drive chain and accurately deliver it to the gripping position of the discharge permanent magnet robot. S14. Transfer to indexing plate: The second electric telescopic rod of the right moving component extends and retracts, driving the second permanent magnet robot to grab the pressing mold. Then, the second slider slides along the rectangular guide rail under the drive of the stainless steel chain, transferring the pressing mold to the discharge position of the hexagonal indexing plate and placing it in the corresponding groove of the first permanent magnet robot, completing the transfer of the material from the explosion-proof room. S15. Closed-loop preparation: After the material is transferred out, the discharge permanent magnet manipulator is reset, the main control unit commands the explosion-proof room safety door to close, the internal conveying mechanism of the explosion-proof room is reset, and the next reciprocating motion program is started to prepare to receive the next batch of feed material, so as to realize continuous operation. S16. Workstation Transfer: After material discharge is completed, the main control unit instructs the first drive motor to rotate 60 degrees, driving the hexagonal indexing plate to rotate one workstation, accurately transferring the freshly pressed medicine mold to the punch unloading position. S17 Punch Removal: The first slider on the first guide rail moves, driving the punch permanent magnet robot arm to the punch push-out position. The punch permanent magnet robot arm uses the principle of permanent magnet adsorption to accurately adsorb the punch in the pressing mold and smoothly pull out the punch according to the preset trajectory. S18. Floating drug cleaning: The permanent magnet manipulator carries the punch and moves along the first guide rail to the floating drug brushing position. The floating drug brushing mechanism is activated to thoroughly clean the floating drug remaining on the surface of the punch. S19. Punch ready: After the floating drug is cleaned, the permanent magnet manipulator of the punch returns to its original position and waits for the main control unit to send a signal that the filling of the molten drug liner is complete. Then it moves to the punch loading position to prepare to participate in the next round of punch assembly operations, so as to realize the recycling of the punch. S20. Guide sleeve removal and cleaning: After the punch is removed, the main control unit instructs the first drive motor to rotate 60°, driving the hexagonal indexing plate to rotate one station, transferring the pressing mold to the guide sleeve processing station. The second permanent magnet adsorption robot of the guide sleeve placement component is started, adsorbing and pulling out the guide sleeve in the pressing mold. At the same time, the floating medicine on the surface of the guide sleeve and inside the pressing mold is cleaned. After cleaning, the guide sleeve is transferred to the guide sleeve storage bucket for subsequent reuse. S21. Finished projectile ejection: After the guide sleeve is removed, the third permanent magnet robot is activated. Using the principle of permanent magnet adsorption, it adsorbs the ejected finished projectile and transfers it to the perforation projectile placement tray according to the preset program, completing the orderly placement of the finished projectiles. After the placement is completed, the third permanent magnet robot is reset. S22, Pressing Mold Reset: After the finished projectile is removed, the main control unit instructs the first drive motor to rotate 60 degrees again, driving the hexagonal indexing plate to rotate one station, accurately sending the empty pressing mold to the feeding position, waiting for the next round of feeding action. At this point, the entire pressing assembly process of the shaped charge projectile is completed, and the equipment enters the next operation cycle.

[0013] Compared with the prior art, the advantages of this invention are: 1. In this invention, the entire process of cartridge case feeding, guide sleeve installation, shaped charge liner assembly, punch installation, explosive charge pressing in the explosion-proof room, material discharge, punch removal and floating charge cleaning, guide sleeve removal and cleaning, finished cartridge case placement and charge mold reset is fully automated without the need for manual intervention. This can improve equipment production efficiency, while significantly reducing the number of operators in hazardous work areas, avoiding direct contact between personnel and explosives and high-pressure work areas, effectively reducing personnel safety risks, and significantly improving the inherent safety level of the production line.

[0014] 2. In this invention, by applying a permanent magnet manipulator to the gripping and assembly of perforating projectiles and related components, not only is the stable and precise gripping of the projectile body, guide sleeve, punch, and finished projectile achieved, avoiding damage to the projectile body and shaped charge liner during the gripping process, but the production line structure is also simplified, significantly reducing the equipment failure rate. At the same time, the vacuum suction liner mode is optimized, making the shaped charge liner adsorption more stable and efficient, further improving assembly reliability and ensuring product assembly accuracy.

[0015] 3. In this invention, by using a hexagonal indexing plate as the core transfer mechanism and cooperating with the double turntable layout inside and outside the explosion-proof room, the precise and rapid transfer of the dynamite mold and materials between various work stations is realized, which simplifies the logistics mode of the dynamite cover and the projectile, reduces the redundancy of the operation process, realizes the efficient connection of each process, and further improves the overall operating efficiency and continuous operation capability of the equipment. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a partial structural schematic diagram of the present invention; Figure 3 This is a schematic diagram of the indexing plate assembly structure of the present invention; Figure 4 This is a schematic diagram of the indexing plate mechanism of the present invention; Figure 5 This is a schematic diagram of the punch permanent magnet manipulator structure of the present invention; Figure 6 This is a schematic diagram of the guide sleeve placement assembly structure of the present invention; Figure 7 This is a schematic diagram of the mobile component structure of the present invention.

[0017] Explanation of the numbers in the diagram: 1. Indexing plate assembly; 101. Indexing plate mechanism; 102. Support base; 103. First fixed base; 104. First guide rail; 105. First slider; 106. Punch permanent magnet manipulator; 107. Hexagonal indexing plate; 108. First drive motor; 109. First permanent magnet manipulator; 110. First fixing block; 111. U-shaped manipulator; 112. Push cylinder; 2. Guide sleeve placement assembly; 201. Rectangular support rod; 202. Second permanent magnet adsorption manipulator; 205. 2. Rectangular support rod; 206. Guide sleeve storage bucket; 207. Brush floating charge position; 3. Third permanent magnet manipulator; 4. First vacuum manipulator; 5. Second vacuum manipulator; 6. Moving component; 601. Rectangular base; 602. Rectangular guide rail; 603. Second slider; 604. Circular rotating block; 605. Fixed plate; 606. Second electric telescopic rod; 607. Second permanent magnet manipulator; 7. Explosion-proof room; 8. Perforation shell placement tray; 9. RDX explosive placement tray; 10. Condensed charge placement tray; 11. Safety door. Detailed Implementation

[0018] Example: Please refer to Figure 1 and Figure 2An automated shaped charge projectile loading device includes an indexing plate assembly 1. A guide sleeve placement assembly 2 is connected to the front end of the indexing plate assembly 1. A third permanent magnet manipulator 3 is connected to one end of the guide sleeve placement assembly 2. A first vacuum manipulator 4 is installed at the end of the guide sleeve placement assembly 2 furthest from the third permanent magnet manipulator 3. A second vacuum manipulator 5 is installed at the rear end of the first vacuum manipulator 4. Moving components 6 are connected to both sides of the rear end of the indexing plate assembly 1. The ends of the moving components 6 furthest from the indexing plate assembly 1 are connected to… With the explosion-proof chamber 7 connected, the first vacuum manipulator 4 moves the shell filled with RDX explosive placed in the RDX explosive placement tray 9 to the inner cavity of the pressing mold located on the left side of the guide sleeve placement assembly 2. The stainless steel conveyor bar in the explosion-proof chamber 7 moves one step distance under the drive of the motor. This position is 3 steps away from the pressing position of the press. Repeat this 3 steps to move the shell to the pressing position. After reaching the pressing position, the cylinder pushes the pressing mold to the pressing position, the press starts to press, and after completion, the press returns to its original position, completing the pressing action. Please see Figure 3 The indexing plate assembly 1 includes an indexing plate mechanism 101. A support base 102 is connected to the lower outer side of the indexing plate mechanism 101. A first fixed base 103 is connected to both outer sides of the support base 102. A first guide rail 104 is connected to the upper end of the first fixed base 103. A first slider 105 is connected to the outer side of the first guide rail 104. A punch permanent magnet manipulator 106 is connected to the front end of the first slider 105. The punch permanent magnet manipulator 106 loads the punch after cleaning the floating powder into the cartridge case with the powder liner under a certain pressure. Furthermore, the punch permanent magnet manipulator 106 picks up the punch and moves it to the powder brushing position to perform powder brushing operation. After the operation is completed, it waits for the signal that the powder liner is installed before moving to the punch loading position to perform the operation. Please see Figure 7 The moving component 6 includes a rectangular base 601, rectangular guide rails 602 connected to both sides of the upper end of the rectangular base 601, and a second slider 603 connected to the outer side of the upper end of the rectangular guide rail 602. A circular rotating block 604 is connected to the upper end of the second slider 603, and limit blocks are connected to both ends of the rectangular guide rail 602. Please see Figure 6 The guide sleeve placement assembly 2 includes a rectangular support rod 201, the upper end of which is connected to a second permanent magnet adsorption robot 202. The second permanent magnet adsorption robot 202 places the guide sleeve after the floating medicine has been removed into the medicine pressing mold. Furthermore, the second permanent magnet adsorption robot 202 performs the guide sleeve removal operation.

[0019] Please see Figure 1 and Figure 2The front end of the third permanent magnet manipulator 3 is equipped with a perforation shell placement tray 8, the front end of the first vacuum manipulator 4 is equipped with a RDX explosive placement tray 9, the end of the second vacuum manipulator 5 away from the first vacuum manipulator 4 is equipped with a shaped charge placement tray 10, and a safety door 11 is installed at the corresponding position of the end of the explosion-proof room 7 facing the moving component 6. The second vacuum manipulator 5 puts the shaped charge shroud placed in the shaped charge placement tray 10 into the explosive shell casing, and the third permanent magnet manipulator 3 sucks away the finished shell and performs the tray placement operation according to the program. The explosion-proof room 7 is equipped with a position sensor and a pressure sensor.

[0020] Please see Figure 4 The indexing mechanism 101 includes a hexagonal indexing plate 107. The lower end of the hexagonal indexing plate 107 is connected to a first drive motor 108, and each corner of the hexagonal indexing plate 107 is connected to a first permanent magnet manipulator 109. Each first permanent magnet manipulator 109 is connected to a first fixing block 110 below it. The system rotates the first drive motor 108 by 60 degrees each time. The hexagonal indexing plate 107 is a six-position turntable.

[0021] Please see Figure 5 The first permanent magnet manipulator 109 includes a U-shaped manipulator 111. A pusher cylinder 112 is installed in the inner cavity of the U-shaped manipulator 111. A pressing mold is connected in the groove of each U-shaped manipulator 111. The lower end of the pressing mold is connected to the upper surface of the first fixed block 110.

[0022] Specifically, by using the hexagonal indexing plate 107 as the core transfer mechanism, and in conjunction with the double turntable layout inside and outside the explosion-proof room 7, the precise and rapid transfer of the dynamite mold and materials between various work stations is realized, simplifying the logistics mode of the dynamite cover and the projectile, reducing redundancy in the work process, realizing efficient connection between various processes, and further improving the overall operating efficiency and continuous operation capability of the equipment.

[0023] Please see Figure 7 The upper end of the circular rotating block 604 is connected to a fixed disk 605. The upper end of the fixed disk 605 contains a second electric telescopic rod 606. One end of the second electric telescopic rod 606 facing the middle of the fixed disk 605 is connected to a second permanent magnet manipulator 607. The components of the second permanent magnet manipulator 607 are the same as those of the first permanent magnet manipulator 109. One end of the second electric telescopic rod 606 is connected to the outer surface of the U-shaped manipulator 111 in the second permanent magnet manipulator 607. The first slider 105 and the second slider 603 are both driven by stainless steel chains. The second permanent magnet manipulator 607 in the moving assembly 6 installed on the right side of the indexing plate assembly 1 is a discharge permanent magnet manipulator. The discharge permanent magnet manipulator brings the pressed medicine mold into the discharge position of the hexagonal indexing plate 107. The second permanent magnet manipulator 607 in the moving assembly 6 installed on the left side of the indexing plate assembly 1 is a feeding permanent magnet manipulator.

[0024] Specifically, by applying permanent magnet manipulators to the gripping and assembly of perforated projectiles and related components, not only is the smooth and precise gripping of the projectile body, guide sleeve, punch, and finished projectile achieved, avoiding damage to the projectile body and shaped charge liner during the gripping process, but the production line structure is also simplified, significantly reducing the equipment failure rate. At the same time, the vacuum suction mode is optimized, making the shaped charge liner adsorption more stable and efficient, further improving assembly reliability and ensuring product assembly accuracy.

[0025] Please see Figure 6 A second rectangular support rod 205 is connected to the middle part of the rear end of the rectangular support rod 201, and a guide sleeve storage bucket 206 is connected to the middle part of the second rectangular support rod 205.

[0026] Please see Figure 6 The end of the second rectangular support rod 205 away from the rectangular support rod 201 is connected to the brush float position 207. The indexing plate assembly 1 is equipped with the main control unit command, and the center line of the brush float position 207, the center line of the hexagonal indexing plate 107 and the center line of the punch permanent magnet manipulator 106 are on the same plane. The manipulator of the second permanent magnet adsorption manipulator 202 corresponds to the guide sleeve storage bucket 206.

[0027] Specifically, by integrating the entire process of cartridge case feeding, guide sleeve installation, shaped charge liner assembly, punch installation, explosive charge pressing in the explosion-proof room, material discharge, punch removal and floating charge cleaning, guide sleeve removal and cleaning, finished cartridge case placement and charge mold reset into full automation, no manual intervention is required. This can improve equipment production efficiency, while significantly reducing the number of operators in hazardous work areas, avoiding direct contact between personnel and explosives and high-pressure work areas, effectively reducing personnel safety risks, and significantly improving the inherent safety level of the production line.

[0028] A control method for a fully automatic shaped charge projectile loading device includes the following steps: S1. Cartridge casing loading: The main control unit commands the first vacuum manipulator 4 to start, grab the cartridge casing filled with RDX explosive from the RDX explosive placement tray 9, use the vacuum adsorption principle to keep the cartridge casing stable, and move the cartridge casing precisely to the inner cavity of the compression mold located on the left side of the guide sleeve placement assembly 2 according to the preset trajectory. The compression mold is placed in the groove of the first permanent magnet manipulator 109 of the hexagonal indexing plate 107 and is supported and fixed by the first fixing block 110 to ensure that the cartridge casing and the compression mold are accurately positioned and without deviation. S2. Guide sleeve loading: Simultaneously, the second permanent magnet adsorption robot 202 is activated to grab the guide sleeve that has been cleared of floating medicine. According to the positioning command, the guide sleeve is accurately placed into the pressing mold that has been loaded with the cartridge case, and the guide sleeve is coaxially positioned with the cartridge case. After the guide sleeve is placed, the second permanent magnet adsorption robot 202 is reset and sends a loading completion signal to the main control unit, and the loading process ends. S3, Workstation Flow: After receiving the material loading completion signal, the main control unit instructs the first drive motor 108 of the indexing plate mechanism 101 to rotate 60°, driving the hexagonal indexing plate 107 to rotate one workstation, accurately transferring the pressing mold containing the cartridge case and guide sleeve to the cover release and punch release workstation. S4. Installation of the propellant liner: The second vacuum robot arm 5 is activated and grabs the propellant liner from the energy liner placement tray 10. The vacuum adsorption principle is used to avoid damaging the surface of the propellant liner. The position of the cartridge case opening is confirmed by visual positioning. The propellant liner is placed smoothly and accurately into the cartridge case with propellant, ensuring that the propellant liner and the cartridge case are coaxial and fit tightly. After the propellant liner is installed, the second vacuum robot arm 5 is reset. S5. Punch installation: The main control unit commands the first slider 105 on the first guide rail 104 to move, driving the punch permanent magnet robot 106 to the punch installation position. The punch permanent magnet robot 106 grabs the punch that has been cleared of floating explosives in advance, and slowly installs the punch into the cartridge case with the shaped charge liner according to the preset pressure parameters, ensuring that the punch is installed in place, while avoiding excessive pressure that could damage the shaped charge liner or compact the explosive. After the punch is installed, the punch permanent magnet robot 106 resets and sends a signal to the main control unit that the loading is complete, and the entire loading assembly process ends. S6. Safety Confirmation: The main control unit first checks the internal status of the explosion-proof room 7. Only when the previous round of pressing operation in the explosion-proof room 7 is completely finished, the press is reset, the safety door 11 is in the open state, and there are no other working materials inside, is the feeding action allowed to start, so as to prevent safety risks caused by unauthorized feeding. S7. Material transfer: The second electric telescopic rod 606 of the left moving component 6 extends and retracts, driving the second permanent magnet manipulator 607 to grab the compression mold that has been filled with medicine on the hexagonal indexing plate 107. Then, the second slider 603 slides along the rectangular guide rail 602 under the drive of the stainless steel chain, and transfers the compression mold to the door of the explosion-proof room 7, aligning it with the position of the safety door 11. S8. Safety closed loop: The feeding permanent magnet robot sends the pressing mold into the explosion-proof chamber 7 and places it on the stainless steel conveyor bar to ensure that the material is placed stably and accurately positioned. After the material is placed, the feeding permanent magnet robot exits the explosion-proof chamber 7 along the original trajectory. After the robot has completely exited, the main control unit commands the safety door 11 to close, forming a closed explosion-proof space. At the same time, it sends a signal to the conveyor mechanism inside the explosion-proof chamber 7 to prepare for pressing, and the feeding process is completed. S9. Step-by-step conveying and positioning: After receiving the instruction from the main control unit, the stainless steel conveying bar in explosion-proof room 7 moves one step distance according to the preset step distance. At this time, the pressing mold is still 3 steps away from the pressing position of the press. The conveying mechanism moves repeatedly 3 times according to this step distance to accurately transfer the pressing mold to the pressing position of the press. During the conveying process, the position sensor positions it in real time to ensure that the pressing mold has no deviation. S10. Pressing preparation: After the pressing mold reaches the pressing position, the main control unit commands the cylinder to move and smoothly push the pressing mold to the bottom of the press, accurately aligning it with the press punch to complete the pressing positioning. At the same time, the pressure sensor starts to preheat and monitors the pressing pressure in real time to ensure that the pressure parameters meet the process requirements. S11, High-pressure pressing: After positioning is completed, the main control unit commands the large-tonnage press to start and applies high pressure to the pressing mold according to the preset pressure parameters. At the same time, the pressure holding program is executed to ensure that the explosive is fully compacted and the density is uniform. After pressing is completed, the press resets according to the preset trajectory, and the pressure sensor feeds back the pressing completion signal. S12, Material Transfer: After the press is reset, the cylinder pushes the pressing mold back to the stainless steel conveyor bar. The conveyor bar continues to transfer the pressed mold to the discharge position according to the preset step distance. After 3 steps of transmission, the pressing mold accurately reaches the discharge position of the explosion-proof room 7. After the main control unit detects the pressing completion signal and confirms that it is qualified, it instructs the safety door 11 to open to prepare for subsequent material discharge. S13, Material Transfer: After the safety door 11 of the explosion-proof room 7 is opened, the main control unit instructs the pusher cylinder 112 on the pressing mold to push out the pressing mold on the stainless steel drive chain and accurately deliver it to the gripping position of the discharge permanent magnet robot. S14. Transfer to indexing plate: The second electric telescopic rod 606 of the right moving component 6 extends and retracts, driving the second permanent magnet manipulator 607 to grab the pressing mold. Subsequently, the second slider 603, driven by the stainless steel chain, slides along the rectangular guide rail 602 to transfer the pressing mold to the discharge position of the hexagonal indexing plate 107 and place it in the corresponding groove of the first permanent magnet manipulator 109, completing the transfer of the material from the explosion-proof room. S15. Closed-loop preparation: After the material is transferred out, the discharge permanent magnet manipulator is reset, the main control unit commands the explosion-proof room 7 safety door 11 to close, the internal conveying mechanism of the explosion-proof room is reset, and the next reciprocating motion program is started to prepare to receive the next batch of feed material to achieve continuous operation. S16, Station Flow: After the material is discharged, the main control unit instructs the first drive motor 108 to rotate 60°, driving the hexagonal indexing plate 107 to rotate one station, accurately transferring the just-pressed medicine mold to the punch unloading position. S17. Punch removal: The first slider 105 on the first guide rail 104 moves, driving the punch permanent magnet robot 106 to the punch push-out position. The punch permanent magnet robot 106 uses the principle of permanent magnet adsorption to accurately adsorb the punch in the pressing mold and pulls the punch out smoothly according to the preset trajectory. S18. Floating drug cleaning: The punch permanent magnet manipulator 106 carries the punch and moves along the first guide rail 104 to the floating drug brushing position 207, and starts the floating drug brushing mechanism to thoroughly clean the floating drug remaining on the surface of the punch. S19. Punch standby: After the floating drug is cleaned up, the permanent magnet manipulator 106 carries the punch back to its original position and waits for the main control unit to send a signal that the filling of the molten drug liner is complete. Then it moves to the punch loading position to prepare to participate in the next round of punch assembly operations, so as to realize the recycling of the punch. S20. Guide sleeve removal and cleaning: After the punch is removed, the main control unit instructs the first drive motor 108 to rotate 60°, driving the hexagonal indexing plate 107 to rotate one station, transferring the pressing mold to the guide sleeve processing station. The second permanent magnet adsorption robot 202 of the guide sleeve placement component 2 is started, adsorbing and pulling out the guide sleeve in the pressing mold. At the same time, the floating medicine on the surface of the guide sleeve and inside the pressing mold is cleaned. After cleaning, the guide sleeve is transferred to the guide sleeve storage bucket 206 for subsequent reuse. S21. Finished projectile ejection: After the guide sleeve is removed, the third permanent magnet robot 3 is activated. Using the principle of permanent magnet adsorption, it adsorbs the ejected finished projectile and transfers it to the perforation projectile placement tray 8 according to the preset program, completing the orderly placement of the finished projectiles. After the placement is completed, the third permanent magnet robot 3 is reset. S22, Pressing mold reset: After the finished projectile is taken out, the main control unit instructs the first drive motor 108 to rotate 60° again, driving the hexagonal indexing plate 107 to rotate one station, accurately sending the empty pressing mold to the loading position, waiting for the next round of loading action. At this point, the entire pressing assembly process of the shaped charge projectile is completed, and the equipment enters the next operation cycle.

[0029] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic charging device for shaped charge projectiles, comprising an indexing plate assembly (1), characterized in that: The indexing plate assembly (1) is connected to a guide sleeve placement assembly (2) at its front end. A third permanent magnet manipulator (3) is connected to one end of the guide sleeve placement assembly (2). A first vacuum manipulator (4) is installed at the end of the guide sleeve placement assembly (2) away from the third permanent magnet manipulator (3). A second vacuum manipulator (5) is installed at the rear end of the first vacuum manipulator (4). Moving assemblies (6) are connected to both sides of the rear end of the indexing plate assembly (1). An explosion-proof chamber (7) is connected to the end of the moving assembly (6) away from the indexing plate assembly (1). The indexing plate assembly (1) includes an indexing plate mechanism (101). A support base (102) is connected to the lower outer side of the indexing plate mechanism (101). A first fixed base (103) is connected to both outer sides of the support base (102). A first guide rail (104) is connected to the upper end of the first fixed base (103). A first slider (105) is connected to the outer side of the first guide rail (104). A punch permanent magnet manipulator (106) is connected to the front end of the first slider (105). The moving component (6) includes a rectangular base (601), with rectangular guide rails (602) connected to both sides of the upper end of the rectangular base (601), and a second slider (603) connected to the outer side of the upper end of the rectangular guide rails (602), with a circular rotating block (604) connected to the upper end of the second slider (603). The guide sleeve placement assembly (2) includes a rectangular support rod (201), and the upper end of the rectangular support rod (201) is connected to a second permanent magnet adsorption manipulator (202).

2. The fully automatic propellant loading device for shaped charge projectiles according to claim 1, characterized in that: The front end of the third permanent magnet manipulator (3) is equipped with a perforation shell placement plate (8), the front end of the first vacuum manipulator (4) is equipped with a RDX explosive placement plate (9), the end of the second vacuum manipulator (5) away from the first vacuum manipulator (4) is equipped with a shaped charge placement plate (10), and the explosion-proof room (7) is equipped with a safety door (11) at the corresponding position of the end facing the moving component (6).

3. The fully automatic propellant loading device for shaped charge projectiles according to claim 2, characterized in that: The indexing plate mechanism (101) includes a hexagonal indexing plate (107), the lower end of which is connected to a first drive motor (108), and each corner of the hexagonal indexing plate (107) is connected to a first permanent magnet manipulator (109), and each first permanent magnet manipulator (109) is connected to a first fixing block (110) below it.

4. The fully automatic propellant loading device for shaped charge projectiles according to claim 3, characterized in that: The first permanent magnet manipulator (109) includes a U-shaped manipulator (111), and a pusher cylinder (112) is installed in the inner cavity of the U-shaped manipulator (111).

5. The fully automatic propellant loading device for shaped charge projectiles according to claim 4, characterized in that: The upper end of the circular rotating block (604) is connected to a fixed disk (605), and a second electric telescopic rod (606) is located in the inner cavity of the upper end of the fixed disk (605). The end of the second electric telescopic rod (606) facing the middle part of the fixed disk (605) is connected to a second permanent magnet manipulator (607).

6. The fully automatic propellant loading device for shaped charge perforating projectiles according to claim 5, characterized in that: The second rectangular support rod (205) is connected to the middle part of the rear end of the rectangular support rod (201), and the middle part of the second rectangular support rod (205) is connected to the guide sleeve storage bucket (206).

7. The fully automatic propellant loading device for shaped charge projectiles according to claim 6, characterized in that: The end of the second rectangular support rod (205) away from the rectangular support rod (201) is connected to the brush float position (207), and the indexing plate assembly (1) is equipped with the main control unit command.

8. A control method for a fully automatic shaped charge perforating projectile loading device, as described in claim 7, comprising the following steps, characterized in that: S1, cartridge case loading: The main control unit commands the first vacuum manipulator (4) to start, grab the cartridge case filled with RDX explosive from the RDX explosive placement tray (9), use the vacuum adsorption principle to keep the cartridge case stable, and move the cartridge case precisely to the inner cavity of the compression mold located on the left side of the guide sleeve placement component (2) according to the preset trajectory. The compression mold is placed in the groove of the first permanent magnet manipulator (109) of the hexagonal indexing plate (107) and is supported and fixed by the first fixing block (110); S2, Guide sleeve loading: Simultaneously, the second permanent magnet adsorption robot (202) is started to grab the guide sleeve that has been cleared of floating medicine in advance. According to the positioning instruction, the guide sleeve is accurately placed into the pressing mold that has been loaded with the shell, and the guide sleeve is coaxially positioned with the shell. After the guide sleeve is placed, the second permanent magnet adsorption robot (202) is reset and feeds back the loading completion signal to the main control unit, and the loading process ends. S3, Workstation Flow: After receiving the material loading completion signal, the main control unit instructs the first drive motor (108) of the indexing plate mechanism (101) to rotate 60°, driving the hexagonal indexing plate (107) to rotate one workstation, and accurately transferring the pressing mold containing the cartridge case and guide sleeve to the hood and punch release workstation. S4. Installation of the propellant liner: The second vacuum manipulator (5) is activated and grabs the propellant liner from the energy liner placement tray (10). The vacuum adsorption principle is used to avoid damaging the surface of the propellant liner. The position of the cartridge case opening is confirmed by visual positioning. The propellant liner is placed smoothly and accurately into the cartridge case. After the propellant liner is installed, the second vacuum manipulator (5) is reset. S5. Punch installation: The main control unit commands the first slider (105) on the first guide rail (104) to move, driving the punch permanent magnet robot (106) to the punch installation position. The punch permanent magnet robot (106) grabs the punch that has been cleared of floating powder in advance, and slowly installs the punch into the cartridge case with the powder shaped cover according to the preset pressure parameters. After the punch installation is completed, the punch permanent magnet robot (106) resets and sends a signal to the main control unit that the powder loading is complete. The entire powder loading assembly process ends. S6. Safety confirmation: The main control unit first checks the internal status of the explosion-proof room (7). Only when the previous round of pressing operation in the explosion-proof room is completely finished, the press is reset, the safety door (11) is in the open state, and there are no other working materials inside, the feeding action is allowed to start. S7, Material Transfer: The second electric telescopic rod (606) of the left moving component (6) extends and retracts, driving the second permanent magnet manipulator (607) to grab the compressed mold that has been filled with medicine on the hexagonal indexing plate (107); then, the second slider (603) slides along the rectangular guide rail (602) under the drive of the stainless steel chain, and transfers the compressed mold to the door of the explosion-proof room (7) and aligns it with the position of the safety door (11); S8, Safety closed loop: The feeding permanent magnet robot sends the pressing mold into the explosion-proof room (7) and places it on the stainless steel conveying strip. After the material is placed, the feeding permanent magnet robot exits the explosion-proof room (7) along the original trajectory. After the robot has completely exited, the main control unit commands the safety door (11) to close, forming a closed explosion-proof space. At the same time, it sends a signal to the conveying mechanism inside the explosion-proof room (7) to prepare for pressing. The feeding process is completed. S9, Step-by-step conveying and positioning: After receiving the instruction from the main control unit, the stainless steel conveying strip in the explosion-proof room (7) moves one step distance according to the preset step distance. At this time, the pressing mold is still 3 steps away from the pressing position of the press. The conveying mechanism moves repeatedly 3 times according to this step distance to accurately transfer the pressing mold to the pressing position of the press. The position sensor positions it in real time during the conveying process. S10, Pressing Preparation: After the pressing mold reaches the pressing position, the main control unit commands the cylinder to move and smoothly push the pressing mold directly under the press, accurately aligning it with the press punch to complete the pressing positioning. At the same time, the pressure sensor starts to preheat and monitors the pressing pressure in real time. S11, High-pressure pressing: After positioning is completed, the main control unit commands the large-tonnage press to start and applies high pressure to the pressing mold according to the preset pressure parameters. At the same time, the pressure holding program is executed to ensure that the explosive is fully compacted and the density is uniform. After pressing is completed, the press resets according to the preset trajectory, and the pressure sensor feeds back the pressing completion signal. S12, Material Transfer: After the press is reset, the cylinder pushes the pressing mold back to the stainless steel conveyor bar. The conveyor bar continues to transfer the pressed mold to the discharge position according to the preset step distance. After 3 steps of transmission, the pressing mold accurately reaches the discharge position of the explosion-proof room (7). After the main control unit detects the pressing completion signal and confirms that it is qualified, it instructs the safety door (11) to open to prepare for subsequent material discharge. S13, Material Transfer: After the safety door (11) of the explosion-proof room (7) is opened, the main control unit instructs the push cylinder (112) on the pressing mold to move, push out the pressing mold on the stainless steel drive chain, and accurately send it to the gripping position of the discharge permanent magnet robot. S14. Transfer to indexing plate: The second electric telescopic rod (606) of the right moving component (6) extends and retracts, driving the second permanent magnet manipulator (607) to grab the pressing mold. Then, the second slider (603) slides along the rectangular guide rail (602) under the drive of the stainless steel chain, transferring the pressing mold to the discharge position of the hexagonal indexing plate (107) and placing it in the corresponding groove of the first permanent magnet manipulator (109) to complete the transfer of the material from the explosion-proof room. S15, Closed-loop preparation: After the material is transferred out, the discharge permanent magnet robot arm is reset, the main control unit instructs the explosion-proof room (7) safety door (11) to close, the internal conveying mechanism of the explosion-proof room is reset, and the next reciprocating action program is started to prepare to receive the next batch of feed material. S16, Workstation Flow: After the material is discharged, the main control unit instructs the first drive motor (108) to rotate 60°, driving the hexagonal indexing plate (107) to rotate one workstation, and accurately transferring the just-pressed medicine mold to the punch unloading position. S17, Punch removal: The first slider (105) on the first guide rail (104) moves, driving the punch permanent magnet robot (106) to the punch push-out position. The punch permanent magnet robot (106) uses the principle of permanent magnet adsorption to accurately adsorb the punch in the pressing mold and pulls the punch out smoothly according to the preset trajectory. S18. Floating drug cleaning: The punch permanent magnet manipulator (106) carries the punch and moves along the first guide rail (104) to the floating drug brushing position (207), and starts the floating drug brushing mechanism to thoroughly clean the floating drug remaining on the surface of the punch; S19, Punch standby: After the floating drug is cleaned up, the punch permanent magnet manipulator (106) carries the punch back to its original position, waits for the main control unit to send a signal that the filling of the medicated cover is completed, and then moves to the punch loading position to prepare to participate in the next round of punch assembly operation. S20, Guide sleeve removal and cleaning: After the punch is removed, the main control unit instructs the first drive motor (108) to rotate 60°, driving the hexagonal indexing plate (107) to rotate one station, transferring the pressing mold to the guide sleeve processing station. The second permanent magnet adsorption robot (202) of the guide sleeve placement component (2) is started, adsorbing and pulling out the guide sleeve in the pressing mold. At the same time, the floating medicine on the surface of the guide sleeve and inside the pressing mold is cleaned. After cleaning, the guide sleeve is transferred to the guide sleeve storage bucket (206) for subsequent reuse. S21, Finished bullet ejection: After the guide sleeve is removed, the third permanent magnet robot (3) is started. Using the principle of permanent magnet adsorption, it adsorbs the ejected finished bullet and transfers it to the perforation bullet placement tray (8) according to the preset program to complete the orderly placement of the finished bullet. After the placement is completed, the third permanent magnet robot (3) is reset. S22, Pressing mold reset: After the finished projectile is taken out, the main control unit instructs the first drive motor (108) to rotate 60° again, driving the hexagonal indexing plate (107) to rotate one station, accurately sending the empty pressing mold to the loading position, waiting for the next round of loading action. At this point, the entire pressing assembly process of the shaped charge projectile is completed, and the equipment enters the next working cycle.

Images