An automatic firing device for hazardous products

Abstract

This invention discloses an automatic firing device for hazardous materials, relating to the field of ammunition handling equipment technology. It includes two sets of truss modules, a first robotic arm, a second robotic arm, a firing module, a waste gas collection trolley, a material unloading conveyor line, and a bag filter. The first and second robotic arms are driven by the truss modules, enabling fully automated transfer of cartridge cases from the high-speed chain conveyor line to the firing module and then to the unloading line. The firing module contains an array of firing fixtures and corresponding pneumatic hammers, enabling batch and precise firing of primers. It is also equipped with a sound sensor for firing detection and follow-up firing. The smoke and paper scraps generated during firing are initially settled by water mist via the waste gas collection trolley connected at the bottom, and then further purified by the bag filter before being discharged. This invention achieves human-machine isolation and fully automated operation in the hazardous materials firing process, offering significant advantages such as high safety, high production efficiency, good dust and noise reduction, and intelligent detection and sorting capabilities.

Description

Technical Field

[0001] This invention relates to the field of ammunition handling equipment technology, specifically an automatic firing device for hazardous products. Background Technology

[0002] In the production of hazardous products such as ammunition and pyrotechnics, the firing of the primer is a critical step. Traditional manual or semi-automatic firing methods pose serious safety hazards, requiring operators to be in close contact with hazardous materials, which can easily lead to personal injury in the event of an accident. Furthermore, manual operation is inefficient, making it difficult to ensure the consistency and reliability of the firing action. The firing process also generates large amounts of toxic fumes containing gunpowder residue and paper scraps, along with high-decibel noise, severely polluting the working environment and endangering the health of operators. Existing automated equipment is often complex in structure, has high maintenance costs, and lacks effective fume collection and treatment mechanisms and firing effect detection mechanisms, failing to meet the demands of modern safe, environmentally friendly, and highly efficient intelligent production. Therefore, there is an urgent need for an automatic firing device for hazardous products to solve these problems. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic firing device for hazardous products to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: An automatic firing device for hazardous products includes: a truss module, a first robotic arm, a firing module, an exhaust gas collection trolley, a second robotic arm, a material feeding conveyor line, a bag filter, and a double-speed chain conveyor line for conveying cartridges. The truss module is provided in two sets; The first robotic arm and the second robotic arm are respectively installed on the moving ends of the two sets of truss modules and are driven by the truss modules to move. The first robotic arm is used to grab multiple cartridges from the double-speed chain conveyor line and put them into the firing module. The second robotic arm is used to grab the fired cartridges from the firing module and put them into the unloading conveyor line. The firing module is provided with a smoke vent at the bottom, and the firing module is used to automatically fire the primer of the cartridge. The exhaust gas collection trolley is connected to the bottom exhaust port of the firing module and is used to collect the exhaust gas and paper scraps generated during firing. The bag filter is connected to the exhaust gas collection trolley via a pipeline and is used to purify the smoke and dust generated during firing.

[0005] As a further aspect of the present invention: the first robotic arm includes: a truss mounting base, a first solenoid valve group, a plurality of first gripper cylinders, and a first gripper block; The truss mounting base is fixed to the moving end of the truss module, the first solenoid valve group is fixed to the upper surface of the truss mounting base, and multiple first gripper cylinders are evenly fixed to the lower surface of the truss mounting base. The first solenoid valve group is connected to the air circuit of the multiple first gripper cylinders to achieve synchronous clamping or releasing action. The first clamping block is fixed to the piston rod end of the first gripper cylinder.

[0006] As a further aspect of the present invention: the firing module includes: a frame, a door panel, a sealing opening and closing assembly, and an automatic firing assembly; The bottom of the frame is provided with a smoke exhaust port; The frame is installed on the top of the machine frame, and the door panel is installed on the top of the frame and communicates with its interior. Two sets of material ports are symmetrically opened on both sides of the frame about the door panel, which are divided into inlet and outlet ports. The sealing and opening assembly is connected to the frame and is used to seal and cover the material ports. The automatic firing assembly is connected to the machine frame and is located inside the frame and door panel, and is used to automatically fire the primer of the cartridge case.

[0007] As a further embodiment of the present invention: the sealing opening and closing assembly includes: a transverse cylinder, a pressing cylinder, and a moving door; The cylinder body of the transverse cylinder is fixed on the frame, and its piston rod is connected to the cylinder body of the clamping cylinder. The piston rod of the clamping cylinder is connected to the top of the moving door. The transverse cylinder is used to drive the moving door to move horizontally to open and close the feed port. The clamping cylinder is used to drive the moving door to move longitudinally to achieve cavity sealing during firing.

[0008] As a further aspect of the present invention: the door panel is formed by sequentially stacking and pressing together a sheet metal cover, sound insulation cotton, a fireproof board and a shock-absorbing pad, wherein the fireproof board presses the sound insulation cotton into the cavity of the sheet metal cover, and the sheet metal cover is fixed to the frame by the shock-absorbing pad.

[0009] As a further aspect of the present invention: the automatic firing assembly includes: a reciprocating lateral movement assembly, a moving plate, a lifting cylinder, a smoke exhaust pipe, a connecting plate, multiple firing fixtures, multiple pneumatic hammers, and multiple clamping cylinders. The reciprocating lateral movement assembly is connected to the frame, the moving plate is connected to the reciprocating lateral movement assembly, upright plates are symmetrically arranged on both sides of the moving plate, the top of the upright plates is connected to the adapter plate, and multiple firing fixtures are arranged in an array on the adapter plate. The lifting cylinder is connected to the moving plate, and the piston rod is connected to the upper end of the exhaust pipe. The outer diameter of the exhaust pipe matches the diameter of the exhaust port. Multiple clamping cylinders are connected to the adapter plate, and a positioning clamping block is fixed to the end of the piston rod for clamping the cartridge in the positioning firing fixture. The adapter plate is provided with a second linear guide rail, and the positioning clamping block is slidably connected to the second linear guide rail. The frame is symmetrically provided with support plates, which are located inside the door panel. The top of the support plate is connected to the panel. Multiple pneumatic hammers are arranged in an array on the panel, and the pneumatic hammers are correspondingly set with the firing fixture. The pneumatic hammers are connected to the hammer control solenoid valves in a corresponding air circuit. A hammer head is installed at the bottom of the pneumatic hammer.

[0010] As a further embodiment of the present invention: the reciprocating transverse traverse assembly includes: an explosion-proof servo motor, a lead screw, and a linear guide rail; The explosion-proof servo motor, lead screw, and linear guide rail are all fixed on the frame. The output shaft of the explosion-proof servo motor is coaxially and fixedly connected to the lead screw. The lead screw is rotatably connected to the frame and threadedly connected to the bottom of the moving plate. The moving plate is slidably mounted on the linear guide rail.

[0011] As a further aspect of the present invention: the firing module further includes: a sound sensor and a defective fixture placement rack; the sound sensor is fixed on the side wall of the firing fixture and is used to detect the sound signal of the primer firing to determine whether the firing is successful; the defective fixture placement rack is fixed on the frame and close to the discharge port side, and a photoelectric sensor is installed on the defective fixture placement rack to detect whether there is material in the defective fixture placement rack.

[0012] As a further embodiment of the present invention: the second manipulator includes: a truss adapter, an explosion-proof servo motor, a planetary reducer, a rotating platform, a second solenoid valve group, multiple second gripper cylinders, and a second gripper block. The truss adapter is fixed to the moving end of the truss module, and the second explosion-proof servo motor is fixed on the truss adapter. Its output shaft is coaxially connected to the central shaft of the rotating platform through a planetary reducer, and is used to drive the rotating platform to rotate horizontally. The second solenoid valve assembly is fixed to the upper surface of the rotating platform, and multiple second gripper cylinders are evenly fixed to the lower surface of the rotating platform. The solenoid valves in the second solenoid valve assembly are connected to the second gripper cylinders in a one-to-one air circuit to realize the independent action of each second gripper cylinder. The second clamping block is fixed to the piston rod end of the second gripper cylinder.

[0013] As a further embodiment of the present invention: the exhaust gas collection trolley includes: a trolley body, a guide ball, an air inlet and outlet, multiple water inlets and outlets, a water collection block, a water pump, and a mesh partition; The trolley body is located at the bottom of the smoke exhaust port, and the guide ball is fixed on the trolley body for guiding entry and exit. The partition is horizontally and detachably fixed inside the trolley body, dividing it into upper and lower cavities. The air inlet and outlet are located on the upper side wall of the trolley body and are connected to the air inlet pipe of the bag filter. The water pump is fixed to the outer side wall of the trolley body, and its inlet is connected to the lower cavity of the trolley body through a pipeline, and its outlet is connected to the water collection block through a pipeline. Multiple water inlets and outlets are evenly arranged above the partition and connected to the water collection block through pipelines. The water inlets and outlets are connected to the interior of the trolley body.

[0014] Compared with the prior art, the beneficial effects of the present invention are: High safety and automation: The gantry module drives the robotic arm to automatically complete loading, unloading and sorting, realizing remote automated operation with human-machine isolation, fundamentally avoiding direct contact between operators and hazardous materials, and significantly improving the safety of the production process.

[0015] High efficiency and high precision: The high-precision servo-driven gantry truss module, combined with multi-station synchronous grippers, can grab and place multiple cartridge cases at once, realizing batch continuous operation. The array-arranged firing fixtures, together with the pneumatic hammer, can efficiently and accurately complete the primer firing, greatly improving production efficiency.

[0016] Environmental protection and noise reduction: It integrates a waste gas collection cart and a bag filter. Through a two-stage purification system of water mist dust suppression and bag filtration, it effectively treats the smoke and paper scraps generated by firing. At the same time, the door panel adopts a multi-layer sound insulation structure, which significantly reduces firing noise and creates a clean and quiet production environment.

[0017] Intelligent detection and sorting: The sound sensor monitors the firing sound intensity in real time, which can automatically determine whether the firing is successful and control the re-firing. For cartridges that fail to fire multiple times, the second robotic arm automatically grabs them and places them in the defective product rack, realizing the automatic separation of qualified and defective products and ensuring product quality.

[0018] Stable and reliable: The firing module has a sealed opening and closing component to ensure that the cavity is sealed during firing, preventing smoke and dust from leaking out. The clamping cylinder and positioning clamp block ensure the precise alignment of the cartridge and the pneumatic hammer, ensuring the stability and reliability of firing. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of an automatic firing device for hazardous products according to an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the structure of the first robotic arm in an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of the sealing opening and closing assembly in an embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the door panel in an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of the automatic firing component in an embodiment of the present invention.

[0024] Figure 6 This is a partial structural diagram of the automatic firing component in an embodiment of the present invention.

[0025] Figure 7 for Figure 6 A magnified schematic diagram of the structure at point A in the middle.

[0026] Figure 8 This is a cross-sectional view of the exhaust pipe and firing fixture in an embodiment of the present invention.

[0027] Figure 9 This is a schematic diagram of the structure of the second robotic arm in an embodiment of the present invention.

[0028] Figure 10 This is a schematic diagram of the structure of the exhaust gas collection vehicle in an embodiment of the present invention.

[0029] In the diagram: 1. Truss module; 2. First robotic arm; 3. Firing module; 4. Exhaust gas collection trolley; 5. Second robotic arm; 6. Material unloading conveyor line; 7. Bag filter; 8. Truss mounting base; 9. First solenoid valve group; 10. First gripper cylinder; 11. First clamping block; 12. Frame; 13. Door panel; 14. Lateral movement cylinder; 15. Pressing cylinder; 16. Sliding door; 17. Sheet metal cover; 18. Sound insulation cotton; 19. Fireproof board; 20. Vibration damping pad; 21. Frame; 22. Explosion-proof servo motor one; 23. Lead screw; 24. Linear guide rail one; 25. Moving plate; 26. Lifting cylinder; 27. Exhaust chimney; 28. Vertical plate; 29. 30. Adapter plate; 31. Firing jig; 32. Support plate; 33. Panel; 34. Hammer control solenoid valve; 35. Pneumatic hammer; 36. Hammer head; 37. Clamping cylinder; 38. Linear guide rail II; 39. Positioning clamping block; 40. Defective jig placement rack; 41. Photoelectric sensor; 42. Sound sensor; 43. Truss adapter seat; 44. Explosion-proof servo motor II; 45. Planetary reducer; 46. Rotating platform; 47. Second solenoid valve group; 48. Second gripper cylinder; 49. Second clamping block; 50. Cart body; 51. Guide ball; 52. Air inlet / outlet; 53. Water inlet / outlet; 54. Water collection block; 55. Water pump; 56. Partition with mesh. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] In the embodiments of this invention, please refer to Figures 1 to 10 An automatic firing device for hazardous products includes: a truss module 1, a first robotic arm 2, a firing module 3, an exhaust gas collection trolley 4, a second robotic arm 5, a material feeding conveyor line 6, a bag filter dust collector 7, and a double-speed chain conveyor line for conveying cartridges. The truss module 1 is provided in two sets; The first robotic arm 2 and the second robotic arm 5 are respectively installed on the moving ends of the two sets of truss modules 1 and are driven to move by the truss modules 1. The first robotic arm 2 is used to grab multiple cartridges from the double-speed chain conveyor line and put them into the firing module 3. The second robotic arm 5 is used to grab the fired cartridges from the firing module 3 and put them into the unloading conveyor line 6. The firing module 3 is provided with a smoke vent at the bottom, and the firing module 3 is used to automatically fire the primer of the cartridge. The exhaust gas collection trolley 4 is connected to the bottom exhaust port of the firing module 3 and is used to collect the exhaust gas and paper scraps generated during firing. The bag filter 7 is connected to the exhaust gas collection trolley 4 via a pipeline and is used to purify the smoke and dust generated during firing.

[0032] In this embodiment, the truss module 1 adopts a gantry structure. The X-axis is driven by a servo motor and uses a rack and pinion transmission, the Y-axis is driven by a servo motor and uses a ball screw transmission, and the Z-axis is driven by a servo motor and uses a ball screw transmission. The repeatability positioning accuracy can reach ±0.1mm, which can realize the precise movement of the first manipulator 2 and the second manipulator 5 in three-dimensional space.

[0033] As one embodiment of the present invention, please refer to Figure 1 and Figure 2 The first robotic arm 2 includes: a truss mounting base 8, a first solenoid valve group 9, a plurality of first gripper cylinders 10 and a first gripper block 11; The truss mounting base 8 is fixed to the moving end of the truss module 1. The first solenoid valve group 9 is fixed to the upper surface of the truss mounting base 8. The first gripper cylinders 10 are evenly fixed to the lower surface of the truss mounting base 8. The first solenoid valve group 9 is connected to the air passage of the first gripper cylinders 10 to achieve synchronous clamping or releasing action. The first clamping block 11 is fixed to the piston rod end of the gripper cylinder 10.

[0034] The feed side truss module 1 drives the first robot arm 2 to move above the double-speed chain conveyor line. The first robot arm 2 descends above the cartridge case. The first solenoid valve group 9 controls multiple first gripper cylinders 10 to extend synchronously and clamp multiple cartridge cases through the first clamping block 11. The first robot arm 2 rises to a safe height, and the truss module 1 drives it to move above the feed port of the firing module 3. Then it descends above the firing fixture 30. The first gripper cylinders 10 release synchronously, and multiple cartridge cases are placed into the positioning grooves of multiple firing fixtures 30 respectively. The first robot arm 2 rises to reset, and the truss module 1 drives it back to the initial position.

[0035] As one embodiment of the present invention, please refer to Figure 1 , Figures 3 to 8 The firing module 3 includes: a frame 21, a frame 12, a door panel 13, a sealing opening and closing assembly, and an automatic firing assembly; The bottom of the frame 21 is provided with a smoke exhaust port; The frame 12 is installed on the top of the frame 21, and the door panel 13 is installed on the top of the frame 12 and communicates with its interior. The frame 12 has two sets of material inlets symmetrically opened on both sides of the door panel 13, which are divided into inlet and outlet. The sealing and opening assembly is connected to the frame 12 and is used to seal and cover the material inlets. The automatic firing assembly is connected to the frame 21 and is located inside the frame 12 and the door panel 13, and is used to automatically fire the primer of the cartridge.

[0036] As one embodiment of the present invention, please refer to Figure 1 and Figure 3 The sealing opening and closing assembly includes: a transverse cylinder 14, a pressing cylinder 15, and a moving door 16; The cylinder body of the transverse cylinder 14 is fixed on the frame 12, and its piston rod is connected to the cylinder body of the pressing cylinder 15. The piston rod of the pressing cylinder 15 is connected to the top of the moving door 16. The transverse cylinder 14 is used to drive the moving door 16 to move laterally to realize the opening and closing of the feed port. The pressing cylinder 15 is used to drive the moving door 16 to move longitudinally to realize the sealing of the cavity during firing.

[0037] The pressing cylinder 15 retracts or extends, lifting the moving door 16 upward or pressing it downward. The lateral movement cylinder 14 retracts or extends, moving the moving door 16 laterally to one side to open the feed inlet or laterally to the other side to close the feed inlet.

[0038] In this embodiment, the bottom of the movable door 16 is provided with a sealing strip.

[0039] As one embodiment of the present invention, please refer to Figure 4The door panel 13 is formed by stacking and pressing sheet metal cover 17, sound insulation cotton 18, fireproof board 19 and shock-absorbing pad 20 in sequence. The fireproof board 19 presses the sound insulation cotton 18 into the cavity of the sheet metal cover 17. The sheet metal cover 17 is attached and fixed to the frame 12 by the shock-absorbing pad 20.

[0040] The sound insulation cotton 18 absorbs the sound of the explosion.

[0041] As one embodiment of the present invention, please refer to Figures 5 to 8 The automatic firing assembly includes: a reciprocating lateral movement assembly, a moving plate 25, a lifting cylinder 26, a smoke exhaust pipe 27, a connecting plate 29, multiple firing fixtures 30, multiple pneumatic hammers 34, and multiple clamping cylinders 36. The reciprocating lateral movement assembly is connected to the frame 21, the moving plate 25 is connected to the reciprocating lateral movement assembly, the moving plate 25 has symmetrical upright plates 28 on both sides, the top of the upright plates 28 is connected to the adapter plate 29, and a plurality of firing fixtures 30 are arranged in an array on the adapter plate 29. The lifting cylinder 26 is connected to the moving plate 25, and the piston rod is connected to the upper end of the exhaust pipe 27. The outer diameter of the exhaust pipe 27 matches the diameter of the exhaust port. Multiple clamping cylinders 36 are connected to the adapter plate 29, and a positioning clamping block 38 is fixed at the end of its piston rod for clamping the cartridge in the positioning firing fixture 30. The adapter plate 29 is provided with a second linear guide rail 37, and the positioning clamping block 38 is slidably connected to the second linear guide rail 37. The frame 21 is symmetrically provided with support plates 31, which are located inside the door panel 13. The top of the support plate 31 is connected to the panel 32. Multiple pneumatic hammers 34 are arranged in an array on the panel 32, and the pneumatic hammers 34 are correspondingly set with the firing fixture 30. The pneumatic hammers 34 are connected to the hammer control solenoid valve 33 in a corresponding air circuit. A hammer head 35 is installed at the bottom of the pneumatic hammer 34.

[0042] The reciprocating lateral movement component drives the moving plate 25 to move laterally back and forth. First, the moving plate 25 is moved to below the feed port. The first robot arm 2 places multiple cartridges in the firing fixture 30. Then, the moving plate 25 moves to the bottom of the hammer head 35. The clamping cylinder 36 extends synchronously and drives the positioning clamping block 38 to move towards the middle along the small linear guide rail 37. The cartridges in the positioning firing fixture 30 are clamped from both sides to ensure that the center of the cartridge coincides with the central axis of the pneumatic hammer 34 above. The hammer control solenoid valve 33 is energized in sequence to control the corresponding pneumatic hammer 34 to extend. The hammer head 35 strikes the primer at the bottom of the cartridge with a set impact force to achieve primer firing. After firing, the moving plate 25 moves to below the discharge port.

[0043] As one embodiment of the present invention, please refer to Figure 5The reciprocating transverse component includes: an explosion-proof servo motor 22, a lead screw 23, and a linear guide rail 24; The explosion-proof servo motor 22, lead screw 23, and linear guide rail 24 are all fixed on the frame 21. The output shaft of the explosion-proof servo motor 22 is coaxially and fixedly connected to the lead screw 23. The lead screw 23 is rotatably connected to the frame 21. The lead screw 23 is threadedly connected to the bottom of the moving plate 25. The moving plate 25 is slidably mounted on the linear guide rail 24.

[0044] When the explosion-proof servo motor 22 starts, it drives the lead screw 23 to rotate, which in turn drives the moving plate 25 to move laterally along the linear guide rail 24, thereby moving the moving plate 25.

[0045] As one embodiment of the present invention, please refer to Figure 5 and Figure 8 The firing module 3 further includes: a sound sensor 41 and a defective fixture placement rack 39; the sound sensor 41 is fixed on the side wall of the firing fixture 30 and is used to detect the sound signal of the primer firing to determine whether the firing is successful; the defective fixture placement rack 39 is fixed on the frame 21 and is close to the discharge port side, and a photoelectric sensor 40 is installed on the defective fixture placement rack 39 to detect whether there is material in the defective fixture placement rack 39.

[0046] The sound sensor 41 detects the sound signal generated by each primer firing in real time and transmits the signal to the control system. If the firing sound intensity of a certain cartridge is detected to be lower than the set threshold, it is judged as a firing failure. The control system will control the corresponding pneumatic hammer 34 to extend again for a second firing. After multiple firings, if the firing still fails, the second robotic arm 5 picks up the unfired cartridge and places it on the defective fixture placement rack 39. The photoelectric sensor 40 detects whether there is material in the defective fixture placement rack 39 to avoid placing it in the wrong position.

[0047] As one embodiment of the present invention, please refer to Figure 1 and Figure 9 The second robotic arm 5 includes: a truss adapter 42, an explosion-proof servo motor 43, a planetary reducer 44, a rotating platform 45, a second solenoid valve group 46, multiple second gripper cylinders 47, and a second gripper block 48. The truss adapter 42 is fixed to the moving end of the truss module 1, and the explosion-proof servo motor 43 is fixed on the truss adapter 42. Its output shaft is coaxially connected to the central axis of the rotating platform 45 through the planetary reducer 44, and is used to drive the rotating platform 45 to rotate horizontally. The second solenoid valve assembly 46 is fixed to the upper surface of the rotating platform 45, and a plurality of second gripper cylinders 47 are evenly fixed to the lower surface of the rotating platform 45. The solenoid valves in the second solenoid valve assembly 46 are connected to the second gripper cylinders 47 in a one-to-one air circuit to realize the independent action of each second gripper cylinder 47. The second clamping block 48 is fixed to the piston rod end of the second gripper cylinder 47.

[0048] The discharge side truss module 1 drives the second robotic arm 5 to move above the discharge port of the firing module 3. The second robotic arm 5 descends above the firing fixture 30. The second solenoid valve group 46 controls multiple second gripper cylinders 47 to extend synchronously and clamp multiple cartridges. The second robotic arm 5 rises to a safe height, and the truss module 1 drives it to move above the unloading conveyor line 6. The explosion-proof servo motor 43 starts and drives the rotating platform 45 to rotate horizontally by 90 degrees through the planetary reducer 44, so that the axis of the cartridge is consistent with the conveying direction of the unloading conveyor line 6. According to the detection result of the sound sensor 41, the control system controls the second gripper cylinder 47 of the corresponding successfully fired cartridge to release, and puts the qualified product into the unloading conveyor line 6, which is then conveyed to the next process. For defective cartridges that still fail to fire after re-firing, the truss module 1 drives the second robotic arm 5 to move above the defective fixture placement rack 39 and controls the corresponding second gripper cylinder 47 to release, and puts the defective cartridge into the defective fixture placement rack 39.

[0049] As one embodiment of the present invention, please refer to Figure 1 and Figure 10 The exhaust gas collection trolley 4 includes: a trolley body 49, a guide ball 50, an air inlet and outlet 51, multiple water inlets and outlets 52, a water collection block 53, a water pump 54, and a mesh partition 55. The trolley body 49 is located at the bottom of the smoke exhaust port, and the guide ball 50 is fixed on the trolley body 49 for guiding entry and exit. The partition 55 is horizontally and detachably fixed inside the trolley body 49, dividing it into upper and lower cavities. The air inlet and outlet 51 is located on the upper side wall of the trolley body 49 and is connected to the air inlet pipe of the bag filter 7. The water pump 54 is fixed to the outer side wall of the trolley body 49. Its inlet is connected to the lower cavity of the trolley body 49 through a pipe, and its outlet is connected to the water collection block 53 through a pipe. Multiple inlet and outlet ports 52 are evenly arranged above the partition plate 55 and connected to the water collection block 53 through pipelines. The inlet and outlet ports 52 are connected to the interior of the trolley body 49.

[0050] During firing, the lifting cylinder 26 extends, driving the exhaust pipe 27 to descend and insert into the exhaust port at the bottom of the frame 21, sealing and connecting with the top receiving port of the exhaust gas collection trolley 4. The water pump 54 starts, pumping water from the lower layer of the trolley body 49 to the water collection block 53, which sprays out through the atomizing nozzles on multiple inlet and outlet water ports 52, forming water mist. The water mist wets the paper scraps generated during firing, causing them to settle on the perforated partition 55, while absorbing some harmful gases. Excess water flows back to the lower layer of the trolley body 49 through the mesh of the perforated partition 55, realizing water recycling. At the same time, the bag filter 7 starts, drawing dust-laden gas from the exhaust gas collection trolley 4 into the bag filter 7 through the inlet and outlet air ports 51. After filtration and purification, the gas is discharged in compliance with standards.

[0051] In this embodiment, the water circulation and dust removal process automatically stops after a set time (usually 10-15 seconds).

[0052] The working principle of this invention is as follows: a high-speed chain jig disc containing multiple cartridge cases to be fired is placed on a high-speed chain conveyor line, and the conveyor line provides mechanical energy to the jig disc. The clamping cylinder 15 on the feed side of the firing module 3 retracts, lifting the moving door 16 upwards. Then, the lateral movement cylinder 14 extends, moving the moving door 16 to one side to open the feed inlet. The feed side truss module 1 drives the first robotic arm 2 to move above the double-speed chain fixture plate. The first robotic arm 2 descends above the cartridge case. The first solenoid valve group 9 controls multiple first gripper cylinders 10 to extend synchronously, clamping multiple cartridge cases through the first clamping block 11. The first robotic arm 2 rises to a safe height, and the truss module 1... Drive it to move above the feed port of the firing module 3, and then descend to above the firing fixture 30. The first gripper cylinder 10 releases simultaneously, and multiple cartridges are placed into the positioning grooves of multiple firing fixtures 30 respectively. The first robot arm 2 rises and resets, and the truss module 1 drives it back to the initial position. The transverse cylinder 14 retracts, and the moving door 16 is moved to directly above the feed port. Then the pressing cylinder 15 extends and presses the moving door 16 against the sealing surface of the frame 12, closing and sealing the feed port. The explosion-proof servo motor 22 starts, driving the lead screw 23 to rotate, which in turn moves the moving plate 25 to the right along the linear guide rail 24, causing multiple firing fixtures 30 on the adapter plate 29 to move to the position directly below the firing station. Once in position, the lifting cylinder 26 extends, driving the exhaust pipe 27 to descend and insert into the exhaust port at the bottom of the frame 21, sealing and connecting with the top receiving port of the exhaust gas collection trolley 4. At the same time, multiple clamping cylinders 36 extend synchronously, driving the positioning clamping block 38 to move towards the center along the linear guide rail 37, clamping the cartridges inside the positioning firing fixtures 30 from both sides, ensuring that the center of the cartridge coincides with the central axis of the pneumatic hammer 34 above. Multiple hammer control solenoid valves 33 are energized in sequence, controlling the corresponding pneumatic hammers 34 to extend. The hammer head 35 strikes the primer at the bottom of the cartridge with a set impact force to achieve primer firing. The sound sensor 41 detects the sound signal generated by each primer firing in real time and transmits the signal to the control system. If the firing sound intensity of a cartridge is detected to be lower than the set threshold, it is judged as firing failure. The control system will control the corresponding pneumatic hammer 34 to extend again for a supplementary strike. After firing, the water pump 54 starts, pumping water from the lower layer of the trolley body 49 to the water collection block 53. The water is sprayed out through the atomizing nozzles on the multiple inlet and outlet ports 52 to form water mist. The water mist wets the paper scraps generated during firing, causing them to settle on the mesh partition 55. At the same time, it absorbs some harmful gases. Excess water flows back to the lower layer of the trolley body 49 through the mesh of the mesh partition 55, realizing water recycling. Meanwhile, the bag filter 7 starts, drawing dust-laden gas from the exhaust gas collection trolley 4 into the bag filter 7 through the air inlet and outlet ports 51. After filtration and purification, the gas is discharged in compliance with standards. After the exhaust gas is treated, the lifting cylinder 26 retracts, driving the exhaust pipe 27 to rise and disengage from the exhaust gas collection trolley 4. The clamping cylinder 36 retracts synchronously, releasing the cartridge. The explosion-proof servo motor 22 starts, driving the lead screw 23 to rotate, which in turn drives the moving plate 25 to continue to move to the right along the linear guide rail 24, so that the multiple firing fixtures 30 on the adapter plate 29 move to directly below the discharge station. The clamping cylinder 15 on the discharge side of the firing module 3 retracts, lifting the moving door 16 upward. Then, the lateral cylinder 14 extends to open the discharge port. The discharge side truss module 1 drives the second robot arm 5 to move above the discharge port of the firing module 3. The second robot arm 5 descends above the firing fixture 30. The second solenoid valve group 46 controls multiple second gripper cylinders 47 to extend synchronously, clamping multiple cartridges. The second robot arm 5 rises to a safe height, and the truss module 1 drives it to move above the unloading conveyor line 6. The explosion-proof servo motor 43 starts, driving the rotating platform 45 to rotate horizontally by 90 degrees via the planetary reducer 44, aligning the axis of the cartridge with the conveying direction of the feeding conveyor line 6. Based on the detection result of the sound sensor 41, the control system controls the second gripper cylinder 47 of the successfully fired cartridge to release, placing the qualified cartridge into the feeding conveyor line 6, which then transports it to the next process. For defective cartridges that fail to fire after re-firing, the gantry module 1 drives the second robotic arm 5 to move above the defective fixture placement rack 39, controlling the corresponding second gripper cylinder 47 to release, placing the defective cartridge into the defective fixture placement rack 39. The photoelectric sensor 40 detects the placement of the defective cartridge and sends a signal to the control system, reminding the operator to handle the situation promptly. After the second robotic arm 5 completes the unloading, the explosion-proof servo motor 43 starts in reverse, driving the rotating platform 45 to rotate and reset. The truss module 1 drives the second robotic arm 5 back to the initial position, the transverse cylinder 14 retracts, closing the discharge port, the clamping cylinder 15 extends, and presses the moving door 16 to seal. The explosion-proof servo motor 22 starts, driving the moving plate 25 to move laterally to the left and reset, waiting for the next batch of cartridges to be fired.

[0053] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0054] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A hazardous product auto-firing device, characterized by, include: Truss module, first robot arm, firing module, exhaust gas collection trolley, second robot arm, unloading conveyor line, bag filter dust collector, and double-speed chain conveyor line for conveying cartridges; The truss module is provided in two sets; The first robotic arm and the second robotic arm are respectively installed on the moving ends of the two sets of truss modules and are driven by the truss modules to move. The first robotic arm is used to grab multiple cartridges from the double-speed chain conveyor line and put them into the firing module. The second robotic arm is used to grab the fired cartridges from the firing module and put them into the unloading conveyor line. The firing module is provided with a smoke vent at the bottom, and the firing module is used to automatically fire the primer of the cartridge. The exhaust gas collection trolley is connected to the bottom exhaust port of the firing module and is used to collect the exhaust gas and paper scraps generated during firing. The bag filter is connected to the exhaust gas collection trolley via a pipeline and is used to purify the smoke and dust generated during firing.

2. An automatic firing device for hazardous products according to claim 1, characterized in that, The first robotic arm includes: a truss mounting base, a first solenoid valve group, multiple first gripper cylinders, and a first gripper block; The truss mounting base is fixed to the moving end of the truss module, the first solenoid valve group is fixed to the upper surface of the truss mounting base, and multiple first gripper cylinders are evenly fixed to the lower surface of the truss mounting base. The first solenoid valve group is connected to the air circuit of the multiple first gripper cylinders to achieve synchronous clamping or releasing action. The first clamping block is fixed to the piston rod end of the first gripper cylinder.

3. The automatic firing device for hazardous products according to claim 1, characterized in that, The firing module includes: a frame, a door panel, a sealing and opening assembly, and an automatic firing assembly; The bottom of the frame is provided with a smoke exhaust port; The frame is installed on the top of the machine frame, and the door panel is installed on the top of the frame and communicates with its interior. Two sets of material ports are symmetrically opened on both sides of the frame about the door panel, which are divided into inlet and outlet ports. The sealing and opening assembly is connected to the frame and is used to seal and cover the material ports. The automatic firing assembly is connected to the machine frame and is located inside the frame and door panel, and is used to automatically fire the primer of the cartridge case.

4. An automatic firing device for hazardous products as defined in claim 3, characterized in that The sealing and opening assembly includes: a transverse cylinder, a clamping cylinder, and a movable door; The cylinder body of the transverse cylinder is fixed on the frame, and its piston rod is connected to the cylinder body of the clamping cylinder. The piston rod of the clamping cylinder is connected to the top of the moving door. The transverse cylinder is used to drive the moving door to move horizontally to open and close the feed port. The clamping cylinder is used to drive the moving door to move longitudinally to achieve cavity sealing during firing.

5. An automatic firing device for hazardous products as defined in claim 3, wherein The door panel is made of sheet metal cover, sound insulation cotton, fireproof board and shock-absorbing pad stacked and pressed together in sequence. The fireproof board presses the sound insulation cotton into the cavity of the sheet metal cover, and the sheet metal cover is attached and fixed to the frame by the shock-absorbing pad.

6. An automatic firing device for hazardous products as defined in claim 3, wherein The automatic firing assembly includes: a reciprocating lateral movement assembly, a moving plate, a lifting cylinder, a smoke exhaust pipe, a connecting plate, multiple firing fixtures, multiple pneumatic hammers, and multiple clamping cylinders; The reciprocating lateral movement assembly is connected to the frame, the moving plate is connected to the reciprocating lateral movement assembly, upright plates are symmetrically arranged on both sides of the moving plate, the top of the upright plates is connected to the adapter plate, and multiple firing fixtures are arranged in an array on the adapter plate. The lifting cylinder is connected to the moving plate, and the piston rod is connected to the upper end of the exhaust pipe. The outer diameter of the exhaust pipe matches the diameter of the exhaust port. Multiple clamping cylinders are connected to the adapter plate, and a positioning clamping block is fixed to the end of the piston rod for clamping the cartridge in the positioning firing fixture. The adapter plate is provided with a second linear guide rail, and the positioning clamping block is slidably connected to the second linear guide rail. The frame is symmetrically provided with support plates, which are located inside the door panel. The top of the support plate is connected to the panel. Multiple pneumatic hammers are arranged in an array on the panel, and the pneumatic hammers are correspondingly set with the firing fixture. The pneumatic hammers are connected to the hammer control solenoid valves in a corresponding air circuit. A hammer head is installed at the bottom of the pneumatic hammer.

7. An automatic firing device for hazardous products as defined in claim 6, wherein The reciprocating transverse component includes: an explosion-proof servo motor, a lead screw, and a linear guide rail; The explosion-proof servo motor, lead screw, and linear guide rail are all fixed on the frame. The output shaft of the explosion-proof servo motor is coaxially and fixedly connected to the lead screw. The lead screw is rotatably connected to the frame and threadedly connected to the bottom of the moving plate. The moving plate is slidably mounted on the linear guide rail.

8. An automatic firing device for hazardous products according to claim 6, characterized in that The firing module also includes: a sound sensor and a defective fixture placement rack; the sound sensor is fixed on the side wall of the firing fixture and is used to detect the sound signal of the primer firing to determine whether the firing is successful; the defective fixture placement rack is fixed on the frame and close to the discharge port, and a photoelectric sensor is installed on the defective fixture placement rack to detect whether there is material in the defective fixture placement rack.

9. An automatic firing device for hazardous products as defined in claim 1, wherein The second robotic arm includes: a truss adapter, two explosion-proof servo motors, a planetary reducer, a rotary platform, a second solenoid valve group, multiple second gripper cylinders, and a second gripper block; The truss adapter is fixed to the moving end of the truss module, and the second explosion-proof servo motor is fixed on the truss adapter. Its output shaft is coaxially connected to the central shaft of the rotating platform through a planetary reducer, and is used to drive the rotating platform to rotate horizontally. The second solenoid valve assembly is fixed to the upper surface of the rotating platform, and multiple second gripper cylinders are evenly fixed to the lower surface of the rotating platform. The solenoid valves in the second solenoid valve assembly are connected to the second gripper cylinders in a one-to-one air circuit to realize the independent action of each second gripper cylinder. The second clamping block is fixed to the piston rod end of the second gripper cylinder.

10. An automatic firing device for hazardous products according to claim 1, characterized in that, The exhaust gas collection trolley includes: a trolley body, a guide ball, an air inlet and outlet, multiple water inlets and outlets, a water collection block, a water pump, and a mesh partition; The trolley body is located at the bottom of the smoke exhaust port, and the guide ball is fixed on the trolley body for guiding entry and exit. The partition is horizontally and detachably fixed inside the trolley body, dividing it into upper and lower cavities. The air inlet and outlet are located on the upper side wall of the trolley body and are connected to the air inlet pipe of the bag filter. The water pump is fixed to the outer side wall of the trolley body, and its inlet is connected to the lower cavity of the trolley body through a pipeline, and its outlet is connected to the water collection block through a pipeline. Multiple water inlets and outlets are evenly arranged above the partition and connected to the water collection block through pipelines. The water inlets and outlets are connected to the interior of the trolley body.

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