Firework charge loading mechanical equipment and firework charge loading process

Abstract

The application discloses a firework powder loading mechanical equipment and a firework powder loading process. The firework powder loading process comprises the following steps: step S1: after a controller receives a starting signal, a driving part of a feeding assembly drives a rotating table to rotate, so that a full-load empty shell receiving drum positioning plate is aligned with a jacking position; a first oil cylinder jacks up the empty shell to a clamping height; and an on-load detector sends a ready signal to the controller after detection; step S2: the controller controls a linear cylinder of a displacement assembly to longitudinally fine-tune the clamp so as to be aligned, controls an electric sliding table to move an idle clamp laterally to above a feeding station, controls an up-down cylinder to lower the clamp, controls a finger cylinder to drive a clamping jaw to close and clamp the empty shell, and then the empty shell is lifted and moved laterally to a powder loading station; and step S3: the controller controls the up-down cylinder to lower the empty shell into a worktable positioning groove of a powder loading assembly; and a station detector is in place, then the finger cylinder is controlled to release the clamping jaw and move upward to avoid interference.

Description

Technical Field

[0001] This invention relates to the field of fireworks production technology, specifically to a fireworks loading and pressing machinery and equipment and a fireworks loading and pressing process. Background Technology

[0002] Fireworks production is a traditional and distinctive industry in my country, and my country is the world's largest producer of fireworks, accounting for more than 90% of global output. However, the processes of loading and pressing explosives into fireworks have long been the most dangerous and labor-intensive parts of the production process.

[0003] Currently, the main problems in the production of fireworks charging and pressing processes are as follows: First, the equipment used in the production of fireworks rocket propulsion devices, such as filling the bottom mud, loading the propellant, pressing the mud, pressing the propellant, and drilling holes, is relatively outdated and is basically in a manual or semi-mechanical state. Key propellant-related processes such as mixing, loading, and pressing the propellant are still completed manually in separate steps, resulting in low production efficiency. Secondly, the processes of loading and pressing fireworks directly involve gunpowder handling. Manual intervention increases the risk of safety accidents such as gunpowder explosions. Furthermore, the mixing and loading of gunpowder are mostly open structures, and the dust from the powder cannot be effectively controlled, further exacerbating safety hazards.

[0004] Therefore, in order to address the above-mentioned technical problems, it is necessary to provide a firework charging machinery and a firework charging process. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a fireworks charging and pressing machine and a fireworks charging and pressing process to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: This invention provides a fireworks charging equipment and a fireworks charging process, including the following steps: Step S1: After receiving the start signal, the controller controls the drive component of the feeding assembly to rotate the turntable so that the positioning plate of the fully loaded empty shell is aligned with the lifting position. The controller controls the first oil cylinder to lift the empty shell to the clamping height. After the feeding detector detects that it is in position, it sends a ready signal to the controller. Step S2: According to the ready signal, the controller controls the linear cylinder of the displacement component to make longitudinal fine adjustment to align the clamp, controls the electric slide to move the idle clamp laterally to above the loading station, controls the upper and lower cylinders to lower the clamp, controls the finger cylinder to drive the gripper to close and clamp the empty shell, and then moves it laterally to the pressing station. Step S3: The controller controls the upper and lower cylinders to descend and place the empty shell into the positioning slot of the worktable of the pressing component. After the station detector is in place, the controller controls the finger cylinder to release the gripper and move upward to avoid it. Step S4: The controller controls the second hydraulic cylinder to drive the punch downward to compact the gunpowder, and controls the stripper plate hydraulic cylinder to drive the second mold plate downward to scrape off the adhering gunpowder column to complete the demolding. Step S5: The controller controls another clamp to move to the pressing station, clamp the finished product, and then move it laterally to the unloading station; Step S6: The controller controls the clamp to descend and place the finished product into the receiving and positioning plate of the unloading component. After releasing, it controls the drive component to rotate the turntable to change position, and controls the first hydraulic cylinder to drive the pallet lifting frame to descend and stack in layers. Step S7: Repeat steps S1 to S6, continuously monitoring the feeding and unloading detectors during the cycle. If no empty shells are detected or the machine is full of finished products, the machine will stop and alarm.

[0007] In one or more embodiments of the present invention, step S1, in which the feeding detector sends a ready signal to the controller after detecting the position, specifically includes: The material loading detector continuously collects signals indicating the presence of an empty shell above the lifting section of the pallet lifting frame; When the pallet lifting frame lifts the entire row of empty fireworks shells to the preset clamping height, the optical path of the feeding detector is blocked by the entire row of empty fireworks shells, and the feeding detector converts the optical path blocking state into an empty shell ready signal. The empty shell ready signal is an electrical signal, and the material feeding detector sends the electrical signal to the input terminal of the controller; After receiving the electrical signal, the controller confirms that there is an empty shell ready at the loading station.

[0008] In one or more embodiments of the present invention, in step S2, the controller controls the linear cylinder of the longitudinal displacement component of the displacement assembly to perform longitudinal fine-tuning based on the received empty shell ready signal, so that the clamping component is aligned with the empty shell, specifically including: After receiving the empty shell ready signal, the controller reads the preset longitudinal offset from the internal memory; the controller generates a first control command based on the longitudinal offset and sends the first control command to the solenoid valve of the linear cylinder; the solenoid valve controls the flow direction and flow rate of compressed air according to the first control command, driving the piston rod of the linear cylinder to extend or retract by a preset displacement; the piston rod of the linear cylinder drives the first mounting plate and the entire displacement assembly mounted on the first mounting plate to move longitudinally by a preset displacement along the guide direction of the linear bearing, so that the clamping component is precisely aligned with the empty shell in the longitudinal direction.

[0009] In one or more embodiments of the present invention, step S2, controlling the finger cylinder to actuate and drive two opposing grippers to close, thereby clamping the entire row of firework shells, specifically includes: After confirming that the clamping component has descended to the clamping position, the controller generates a clamping control command and sends the clamping control command to the solenoid valve of the finger cylinder. The solenoid valve controls the flow of compressed air according to the clamping control command, driving the two drive ends of the finger cylinder to move towards each other. The two opposite grippers move towards each other synchronously with the two drive ends, so that the elastic buffer pads on the inner contact surfaces of the two opposite grippers contact and press against the outer wall of the entire row of firework shells. Once the pressure sensor inside the finger cylinder detects that the clamping force has reached a preset threshold, it sends a clamping completion signal to the controller. After receiving the clamping completion signal, the controller confirms that the entire row of empty fireworks shells has been firmly clamped.

[0010] In one or more embodiments of the present invention, in step S4, after the controller confirms that it has received the empty shell arrival signal from the workstation detector and that the pressing assembly is ready, it controls the second cylinder of the pressing assembly to move, driving the punch downward to fill and compact the firework empty shell on the worktable with gunpowder, specifically including: After receiving the empty shell arrival signal sent by the workstation detector, the controller reads the preset pressing stroke parameters and pressing pressure parameters from the internal memory. The controller generates a pressing control command based on the pressing stroke parameters and pressing pressure parameters, and sends the pressing control command to the hydraulic control valve of the second oil cylinder; The hydraulic control valve controls the flow direction and flow rate of hydraulic oil according to the drug pressing control command, and drives the piston rod of the second oil cylinder to extend downward at a preset speed for a preset drug pressing stroke; The piston rod of the second cylinder drives the pressure plate, the first mold plate, and the punch fixedly installed on the first mold plate to move downward as a whole; During the downward movement of the punch, the second mold plate first contacts the upper end of the firework shell and stops moving downward, thus positioning and guiding the punch to continue moving downward. The punch continues to descend and insert into the empty shell of the firework, compacting the gunpowder to form a powder column; After the pressure sensor inside the second cylinder detects that the pressing pressure has reached the pressing pressure parameter, it sends a pressing completion signal to the controller.

[0011] In one or more embodiments of the present invention, in step S4, after compaction is completed, the controller controls the second hydraulic cylinder to return and simultaneously controls the ejector plate hydraulic cylinder to move, driving the second mold plate to move downward relative to the upward-moving punch, scraping off the medicated powder adhering to the punch, thus completing demolding. Specifically, this includes: After receiving the signal indicating that the pressing is complete, the controller generates return control and demolding control commands. The controller sends the return control command to the hydraulic control valve of the second cylinder, and at the same time sends the demolding control command to the hydraulic control valve of the stripper plate hydraulic cylinder. The hydraulic control valve of the second cylinder controls the hydraulic oil to switch directions according to the return control command, driving the piston rod of the second cylinder to return upward, thus moving the pressure plate, the first mold plate and the punch upward as a whole. The hydraulic control valve of the stripper plate hydraulic cylinder controls the hydraulic oil to enter the stripper plate hydraulic cylinder simultaneously according to the demolding control command, driving the piston rod of the stripper plate hydraulic cylinder to extend synchronously, pushing the second mold plate to move downward relative to the upward punch by a preset demolding displacement. The guide hole edge of the second mold plate scrapes away the propellant sticking to the surface of the punch during relative movement, leaving the propellant intact inside the firework shell; After the hydraulic cylinder of the stripper plate completes the preset demolding displacement, it sends a demolding completion signal to the controller.

[0012] In one or more embodiments of the present invention, in step S7, during the loop process, the controller continuously monitors the signals of the loading detector and the unloading detector, specifically including: The controller periodically acquires the first electrical signal output by the loading detector and the second electrical signal output by the unloading detector at a preset sampling frequency; The controller compares the first electrical signal with the first threshold stored internally: if the first electrical signal is lower than the first threshold, it is determined that the feeding detector has detected no empty shells, and the controller generates a first shutdown alarm signal and sends it to the alarm device. The controller compares the second electrical signal with the second threshold stored internally. If the second electrical signal is higher than the second threshold, it is determined that the material feeding detector has detected that the finished product is full. The controller generates a second shutdown alarm signal and sends it to the alarm device. After receiving the first shutdown alarm signal or the second shutdown alarm signal, the alarm device executes an audible and visual alarm and cuts off the power supply to the equipment.

[0013] A fireworks charging and pressing machine includes: Control panel; The feeding assembly is located on the outer side of one end of the operating table along its length and is used to store and supply empty fireworks shells without explosives. The feeding component is located on the outer side of the other end of the operating table along the length direction, and is symmetrically arranged with the feeding component. The structure of the feeding component is the same as that of the feeding component, and it is used to receive and store finished fireworks that have been loaded and pressed with explosives. The gunpowder loading assembly is fixedly installed in the middle of the upper surface of the operating table and is used to perform the gunpowder loading and compaction process. The displacement component is mounted across the upper surface of the operating table and is located in the area between the feeding component, the pressing component, and the unloading component. It is used to clamp and transfer the firework shell between the feeding station of the feeding component, the pressing station of the pressing component, and the unloading station of the unloading component. The control component is used to coordinate and control the sequence of actions of the various execution components.

[0014] In one or more embodiments of the present invention, the feeding assembly includes: a support plate, a driving component, a turntable, a first hydraulic cylinder, a nylon guide plate, a pallet lifting frame, and multiple sets of collecting positioning plates; the turntable surface is provided with a through hole along the circumference, and the lifting part of the pallet lifting frame can pass through the through hole to lift the hollow shell under the drive of the hydraulic cylinder; The pressing assembly includes: a worktable, a second hydraulic cylinder, a pressure plate, a first mold plate, four stripping plate hydraulic cylinders, a second mold plate, and multiple punches; the second mold plate is suspended below the pressure plate and can float up and down, and the punches pass through the guide holes of the second mold plate; The displacement assembly includes a lateral displacement component, two clamping components and a longitudinal displacement component. The lateral displacement component includes a robot arm frame, a first guide rail, a first slider, a first mounting frame, an electric guide rail, an electric slide table, upper and lower cylinders and upper and lower support frames. The electric slide table is rigidly connected to the first mounting frame. Two clamping components are symmetrically installed at both ends of the upper and lower support frames. Each clamping component includes a finger cylinder and two opposing grippers. The inner side of each gripper is provided with an elastic buffer pad. The longitudinal displacement component includes a slide rail support, two linear bearings, and two linear cylinders. The piston rod of each linear cylinder passes through the linear bearing and is connected to the first mounting plate.

[0015] In one or more embodiments of the present invention, the control component includes: The controller is a programmable logic controller; A feeding detector is installed above the pallet lifting frame of the feeding assembly to detect whether there are empty fireworks shells ready at the lifting station. The signal output terminal of the feeding detector is electrically connected to the first signal input terminal of the controller. A station detector is installed near the workbench of the pressing assembly to detect whether the displacement assembly has accurately placed the firework shell in place. The signal output terminal of the station detector is electrically connected to the second signal input terminal of the controller. The material feeding detector is installed at the topmost collecting and positioning plate of the material feeding assembly to detect whether the current material feeding station is full of finished products. The signal output terminal of the material feeding detector is electrically connected to the third signal input terminal of the controller. The control signal output terminal of the controller is electrically connected to the control terminals of the drive unit and the first oil cylinder of the feeding component, the drive unit and the first oil cylinder of the unloading component, the second oil cylinder and the ejector plate hydraulic cylinder of the pressing component, and the electric guide rail, electric slide, upper and lower cylinders, finger cylinders and linear cylinders of the displacement component.

[0016] The beneficial effects of this invention are as follows: 1. It realizes the fully automated closed-loop control of the entire process from empty shell feeding, precise transfer, automatic loading and compaction to finished product unloading and stacking. No manual intervention is required in the intermediate links, which greatly reduces labor costs and effectively solves the technical problems of low automation and high manual operation in the existing technology. 2. The loading and pressing processes are integrated into the workbench of the pressing component. The entire pressing process is completed within a closed mold system. When the punch descends to compact the gunpowder, the second mold plate first contacts the upper end of the firework shell and seals the powder inside the shell cavity. This effectively suppresses dust from the powder. The entire process is automatically executed by the controller, minimizing direct human intervention in dangerous processes. 3. The controller continuously monitors the signals of the feeding and unloading detectors. When abnormalities such as empty shells or finished product piles are detected, the machine will automatically stop and alarm. This realizes real-time monitoring and safety interlock of the equipment's operating status and solves the technical problems of large safety hazards and difficulty in controlling drug powder dust in existing technologies. 4. The pressing assembly is equipped with a second mold plate and a stripper plate hydraulic cylinder. During demolding, the controller controls the second cylinder to return upwards, while simultaneously controlling the stripper plate hydraulic cylinder to push the second mold plate downwards relative to the punch. The guide hole edge of the second mold plate reliably scrapes off the propellant adhering to the punch surface, ensuring that the propellant is completely retained inside the firework shell. This effectively avoids the problem of insufficient material or damage caused by the propellant being carried out by the punch. At the same time, the pressing is completed by using both the downward displacement of the punch and the applied pressure to ensure that the compaction density of each batch of products remains highly consistent. This solves the technical problem in the prior art where product quality is greatly affected by the skill level of the operator and consistency is difficult to guarantee. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 The present invention provides a process flow for loading propellant into fireworks according to one embodiment of the present invention. Figure 1 ; Figure 2 The present invention provides a process flow for loading propellant into fireworks according to one embodiment of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of a fireworks charging and pressing device according to an embodiment of the present invention. Figure 1 ; Figure 4This is a schematic diagram of the structure of a fireworks charging and pressing device according to an embodiment of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the structure of a fireworks charging and pressing device according to an embodiment of the present invention. Figure 3 ; Figure 6 This is a schematic diagram of the structure of a fireworks charging and pressing device according to an embodiment of the present invention. Figure 4 ; Figure 7 This is a cross-sectional view of a fireworks charging and pressing device according to an embodiment of the present invention. Figure 1 ; Figure 8 This is a cross-sectional view of a fireworks charging and pressing device according to an embodiment of the present invention. Figure 2 ; Figure 9 for Figure 6 Schematic diagram of the structure at point A; Figure 10 for Figure 7 Schematic diagram of the structure at point B; Figure 11 for Figure 8 A schematic diagram of the structure at point C.

[0019] Explanation of reference numerals in the attached figures: 1. Operating platform; 2. Feeding assembly; 3. Displacement assembly; 4. Pressing assembly; 5. Discharging assembly; 6. Control assembly; 21. Support plate; 22. Drive component; 23. Turntable; 24. Hydraulic cylinder; 25. Nylon guide plate; 26. Pallet lifting frame; 27. Retractor positioning plate; 31. Lateral displacement component; 32. Clamping component; 33. Longitudinal displacement component; 311. First mounting plate; 312. Robotic arm frame; 313. First guide rail; 314. First slider; 315. First mounting frame; 3 16. Electric guide rail; 317. Electric slide table; 318. Upper and lower cylinders; 319. Upper and lower support frames; 321. Finger cylinder; 322. Edge clamping claw; 331. Slide rail support; 332. Linear bearing; 333. Linear cylinder; 41. Worktable; 42. Second hydraulic cylinder; 43. Pressure plate; 44. First mold plate; 45. Second mold plate; 46. Stripping plate hydraulic cylinder; 47. Punch; 61. Controller; 62. Loading detector; 63. Unloading detector; 64. Station detector. Detailed Implementation

[0020] 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.

[0021] Example 1: like Figure 1 Figure 11 As shown, a fireworks charging process according to an embodiment of the present invention includes the following steps: Step S1: After receiving the start signal, the controller 61 controls the drive component 22 of the feeding component 2 to drive the turntable 23 to rotate so that the full-load empty shell collection positioning plate 27 is aligned with the lifting position. The controller controls the oil cylinder 24 to lift the empty shell to the clamping height. After the feeding detector 62 detects that it is in place, it sends a ready signal to the controller. Step S2: According to the ready signal, the controller 61 controls the linear cylinder 333 of the displacement component 3 to make longitudinal fine adjustment to align the clamp, controls the electric slide 317 to move the empty clamp laterally to above the loading station, controls the up and down cylinder 318 to lower the clamp, controls the finger cylinder 321 to drive the gripper to close and clamp the empty shell, and then moves it laterally to the pressing station. Step S3: The controller 61 controls the upper and lower cylinders to descend and put the empty shell into the positioning slot of the worktable 41 of the pressing component 4. After the station detector 64 is in place, it controls the finger cylinder to release the gripper and move upward to avoid it. Step S4: Controller 61 controls the second oil cylinder 42 to drive the punch 47 downward to compact the gunpowder. During the return stroke, controller 61 controls the stripper plate hydraulic cylinder 46 to drive the second mold plate 45 downward to scrape off the adhering gunpowder column and complete the demolding. Step S5: Controller 61 controls another clamp to move to the pressing station, clamp the finished product, and then move it laterally to the unloading station; Step S6: The controller 61 controls the clamp to descend and place the finished product into the receiving positioning plate 27 of the unloading component 5. After releasing, it controls its drive component 22 to rotate the turntable to change position, and controls its hydraulic cylinder 24 to drive the pallet lifting frame 26 to descend and stack in layers. Step S7: Repeat steps S1 to S6, continuously monitoring the feeding detector and unloading detector 63 during the cycle. If no empty shells are detected or the machine is full of finished products, the machine will stop and alarm.

[0022] Furthermore, in step S1, after the loading detector 62 detects the position, it sends a ready signal to the controller 61, specifically including: The material feeding detector 62 continuously collects signals indicating the presence of an empty shell above the lifting section of the pallet lifting frame 26; When the pallet lifting frame 26 lifts the entire row of empty fireworks shells to the preset clamping height, the optical path of the feeding detector 62 is blocked by the entire row of empty fireworks shells. The feeding detector 62 then converts the optical path blocking state into an empty shell ready signal. The empty shell ready signal is an electrical signal, and the feeding detector 62 sends the electrical signal to the input terminal of the controller 61. Specifically, the feeding detector 62 is a through-beam photoelectric sensor, and its output signal Over time Changes. Let the theoretical minimum shading length be when the detection optical path is completely blocked by the empty shell. When the actual lifting height of the pallet lifting frame 26 Reach the preset gripping height At that time, the following conditions are met:

[0023] in, The signal is in a low-level active blocking state. The loading detector 62 converts the blocking state into a digital ready signal. ,satisfy:

[0024] After receiving the electrical signal, the controller 61 confirms that there is an empty shell ready at the loading station and proceeds to step S2.

[0025] Furthermore, in step S2, the controller 61, based on the received empty shell ready signal, controls the linear cylinder 333 of the longitudinal displacement component 33 of the displacement assembly 3 to perform longitudinal fine-tuning, so that the clamping component 32 is aligned with the empty shell, specifically including: After receiving the empty shell ready signal, the controller 61 reads the preset longitudinal offset from the internal memory; the controller 61 generates a first control command based on the longitudinal offset and sends the first control command to the solenoid valve of the linear cylinder 333; the solenoid valve controls the flow direction and flow rate of compressed air according to the first control command, driving the piston rod of the linear cylinder 333 to extend or retract by a preset displacement; the piston rod of the linear cylinder 333 drives the first mounting plate 311 and the entire displacement assembly 3 mounted on the first mounting plate 311 to move longitudinally by a preset displacement along the guide direction of the linear bearing 332, so that the clamping component 32 is precisely aligned with the empty shell in the longitudinal direction.

[0026] Specifically, the controller 61 reads the preset vertical offset from the internal memory. Actual longitudinal displacement The extension amount of the piston rod of linear cylinder 333 is determined by the displacement speed of linear cylinder 333. With solenoid valve opening and gas supply pressure satisfy:

[0027] in, The effective working area of ​​the cylinder piston. The total load mass of displacement component 3. It is the equivalent mass of the gas that participates in the movement within the cylinder.

[0028] To ensure precise alignment, controller 61 employs incremental PID closed-loop position control, and its control output... for:

[0029] Among them, position error Defined as , Sampling period, The current sampling frame number. , , These are the proportional, integral, and derivative gain coefficients, which are tuned during the equipment commissioning phase based on the actual load inertia and cylinder response characteristics. The controller 61 will then calculate the... The solenoid valve, acting as a control command, sends a control command to the linear cylinder 333. Based on this command, the solenoid valve controls the direction and flow rate of compressed air, driving the piston rod of the linear cylinder 333 to extend or retract by a corresponding displacement. When hour( (for positional tolerance), controller 61 determines that alignment is complete, and clamping component 32 is precisely aligned with the empty shell in the longitudinal direction.

[0030] Furthermore, after the clamping component 32 descends into position, it enters the clamping process. Specifically, each clamping component 32 includes a finger cylinder 321 and two opposing grippers 322. The finger cylinder 321 has two drive ends that can be opened and closed relative to each other. The two opposing grippers 322 are respectively fixedly connected to these two drive ends, and an elastic buffer pad is fixedly attached to the inner contact surface of each opposing gripper 322. The surface of the buffer pad is usually processed with anti-slip textures to increase friction.

[0031] After confirming that the clamping component 32 has descended to the gripping position, the controller 61 generates a gripping control command and sends it to the solenoid valve of the finger cylinder 321. The solenoid valve controls the flow of compressed air according to the gripping control command, driving the two drive ends of the finger cylinder 321 to move towards each other. The two opposite grippers 322 move synchronously towards each other along with the two drive ends. At this time, the actual gripping force... Gas supply pressure and the effective area of ​​finger cylinder 321 The decision is made based on the compression amount of the elastic cushioning pad. The influence and relationship are as follows:

[0032] in, The force transmission efficiency of the finger cylinder 321 ranges from 0.85 to 0.95. The equivalent linear stiffness of the elastic cushioning pad is expressed in Newtons per millimeter. The pressure sensor built into the finger cylinder 321 monitors the clamping force in real time. The clamping completion signal is sent to the controller 61 when the clamping is completed.

[0033] in, This is a preset safety clamping force threshold, measured in Newtons. This threshold must simultaneously meet the upper limit constraint of not crushing the paper firework casing, i.e. ,in, , The effective contact area between a single opposite-side gripper 322 and the firework casing. For safety, a typical value is 1.5 to 2.0. After receiving the clamping completion signal, the controller 61 confirms that the entire row of empty fireworks shells has been firmly clamped. Then, it controls the upper and lower cylinders 318 to lift the clamping component 32, and then controls the electric slide 317 to drive the clamping component 32 to move laterally to directly above the pressing station, completing all the actions in step S2.

[0034] Furthermore, at the pressing station, the controller 61 controls the upper and lower cylinders 318 to drive the clamping component 32 to descend, placing the clamped firework shell into the positioning groove of the worktable 41 of the pressing assembly 4. The pressing assembly 4 is fixedly installed above the center of the operating table 1, and its bottom is the worktable 41 fixed to the table surface of the operating table 1. The upper surface of the worktable 41 is provided with a positioning groove that matches the shape of the firework shell, which is used to accurately support the firework shell transferred by the displacement component 3.

[0035] The station detector 64 is installed near the workbench 41. Its working principle is similar to that of the loading detector 62. When it detects that the empty shell is placed in place, it sends an empty shell placement signal to the controller 61. According to the signal, the controller 61 controls the finger cylinder 321 to release the opposite gripper 322 and controls the upper and lower cylinders 318 to drive the clamping component 32 to move upward to avoid it, thus completing the precise positioning of the empty shell at the pressing station.

[0036] Further, in step S4, after the controller 61 confirms that it has received the empty shell arrival signal from the station detector 64 and that the pressing assembly 4 is ready, it controls the second cylinder 42 of the pressing assembly 4 to move, driving the punch 47 downward to fill and compact the firework empty shell on the workbench 41 with gunpowder. Specifically: after receiving the empty shell arrival signal sent by the station detector 64, the controller 61 reads the preset pressing stroke parameters and pressing pressure parameters from its internal memory. The controller 61 generates a pressing control command based on the pressing stroke parameters and pressing pressure parameters, and sends the pressing control command to the hydraulic control valve of the second cylinder 42. The hydraulic control valve controls the flow direction and flow rate of the hydraulic oil according to the pressing control command, driving the piston rod of the second cylinder 42 to extend downward at a preset speed for a preset pressing stroke. The piston rod of the second cylinder 42 drives the pressure plate 43, the first mold plate 44, and the punch 47 fixedly installed on the first mold plate 44 to move downward as a whole. During the downward movement of the punch 47, the second mold plate 45 first contacts the upper end of the firework shell and stops descending, positioning and guiding the punch 47 to continue its downward movement. The punch 47 continues to descend and inserts into the firework shell, compacting the gunpowder to form a propellant column. After the pressure sensor in the second hydraulic cylinder 42 detects that the propellant pressure has reached the propellant pressure parameter, it sends a propellant compaction completion signal to the controller 61.

[0037] During the compaction process, let the downward displacement of the punch 47 be... Downlink speed gunpowder compaction density With applied pressure The piecewise elastoplastic constitutive relation is given. The applied pressure is defined as:

[0038] in This refers to the real-time pressure output by the second hydraulic cylinder 42. This represents the equivalent total cross-sectional area of ​​all punches 47, in square millimeters.

[0039] The volume compressibility of gunpowder is defined as:

[0040] in, To compact the initial loose volume of the propellant, for The real-time volume of the gunpowder. This refers to the displacement of the punch when the second mold plate 45 contacts the upper port of the firework shell. The effective charge height inside the empty shell of the firework.

[0041] When the downward displacement of the punch 47 reaches the preset pressing stroke and the applied pressure reaches the preset pressing pressure threshold, the pressure sensor in the second cylinder 42 sends a pressing completion signal to the controller 61, indicating that the pressing operation is complete.

[0042] Furthermore, after compaction is completed, the controller 61 controls the second hydraulic cylinder 42 to return, and at the same time controls the action of the stripper plate hydraulic cylinder 46, driving the second mold plate 45 to move downward relative to the upward-moving punch 47, scraping off the medicated powder adhering to the punch 47, and completing the demolding.

[0043] Specifically, after receiving the pressing completion signal, the controller 61 generates return control command and demolding control command; The controller 61 sends a return control command to the hydraulic control valve of the second cylinder 42, and simultaneously sends a demolding control command to the hydraulic control valve of the ejector plate hydraulic cylinder 46. The hydraulic control valve of the second cylinder 42 controls the hydraulic oil to reverse direction according to the return control command, driving the piston rod of the second cylinder 42 to return upwards, thus moving the pressure plate 43, the first mold plate 44, and the punch 47 upwards as a whole. The hydraulic control valve of the ejector plate hydraulic cylinder 46 controls the hydraulic oil to simultaneously enter the ejector plate hydraulic cylinder 46 according to the demolding control command, driving the piston rod of the ejector plate hydraulic cylinder 46 to extend synchronously, pushing the second mold plate 45 downwards relative to the upward-moving punch 47 by a preset demolding displacement. During the relative movement, the guide hole edge of the second mold plate 45 scrapes away the propellant adhering to the surface of the punch 47, leaving the propellant intact inside the firework shell. After completing the preset demolding displacement, the ejector plate hydraulic cylinder 46 sends a demolding completion signal to the controller 61.

[0044] Furthermore, in step S5, after confirming that the pressing and demolding are complete, the controller 61 controls another clamping component 32 of the displacement assembly 3 to move above the pressing station, controls the upper and lower cylinders 318 to drive the clamping component 32 to descend, and controls the finger cylinders 321 to actuate and close the opposite grippers 322, clamping the entire row of finished fireworks that have completed pressing. After clamping, the upper and lower cylinders 318 are controlled to lift the clamping component 32, and then the lateral displacement assembly 31 is controlled to drive the clamping component 32 to move laterally to directly above the unloading station.

[0045] Further, in step S6, at the unloading station, the controller 61 controls the upper and lower cylinders 318 to drive the clamping component 32 to descend, placing the finished fireworks into the slot of the collecting positioning plate 27 of the unloading assembly 5, which is currently in the receiving position. Then, the controller controls the finger cylinder 321 to release the opposite gripper 322, and controls the upper and lower cylinders 318 to drive the clamping component 32 to rise and reset. The structure of the unloading assembly 5 is exactly the same as that of the loading assembly 2, but its working direction is opposite. Next, the controller 61 controls the drive component 22 of the unloading assembly 5 to move, causing the turntable 23 to rotate one station, so that the collecting positioning plate 27 with the finished product placed on it rotates away, while the next set of empty collecting positioning plates 27 rotates to the receiving position; at the same time, the controller controls the hydraulic cylinder 24 of the unloading assembly 5 to drive its pallet lifting frame 26 to descend layer by layer, realizing the layered stacking of finished products. The unloading detector 63 is installed at the top collecting positioning plate 27 of the unloading assembly 5 to monitor the stacking height.

[0046] Step S7 involves looping and judgment. After completing one finished product unloading, controller 61 controls the equipment to automatically repeat steps S1 to S6, forming a continuous automated production cycle.

[0047] During the cycle, the controller 61 continuously monitors the signals from the loading detector 62 and the unloading detector 63. Specifically, the controller 61 periodically acquires the first electrical signal output by the loading detector 62 and the second electrical signal output by the unloading detector 63 at a preset sampling frequency. The controller 61 compares the first electrical signal with a first threshold stored internally: if the first electrical signal is lower than the first threshold, it is determined that the loading detector 62 has detected no empty shells, and the controller 61 generates a first shutdown alarm signal and sends it to the alarm device. The controller 61 compares the second electrical signal with a second threshold stored internally; if the second electrical signal is higher than the second threshold, it is determined that the unloading detector 63 has detected that the finished product stack is full, and the controller 61 generates a second shutdown alarm signal and sends it to the alarm device. After receiving the first or second shutdown alarm signal, the alarm device executes an audible and visual alarm and cuts off the equipment's power supply.

[0048] Example 2: like Figures 3 to 11 As shown, this invention provides a fireworks charging and pressing machine, including an operating platform 1. The operating platform 1 is equipped with supporting feet or shock-absorbing pads, providing a stable mounting foundation for all functional components of the entire device. A feeding assembly 2 is fixedly installed on the outer side of one end of the operating platform 1 along its length, and a discharging assembly 5 is fixedly installed on the outer side of the other end of the operating platform 1, symmetrically opposite to the feeding assembly 2. The discharging assembly 5 and the feeding assembly 2 are mechanically identical, only mirror images of each other in their working direction and application scenario.

[0049] A pressing assembly 4 is fixedly installed in the middle of the upper surface of the operating table 1. This pressing assembly 4 is located in the middle area between the feeding assembly 2 and the unloading assembly 5. A displacement assembly 3 is also installed across the upper surface of the operating table 1. This displacement assembly 3 is located in the area above the feeding assembly 2, the pressing assembly 4, and the unloading assembly 5, and achieves reciprocating motion across the three stations through its own guide rails and drive mechanism. The entire equipment is also equipped with a control assembly 6. The controller 61 of the control assembly 6 is usually installed in the electrical control cabinet below the operating table 1, while the various detectors are installed nearby to the respective execution components.

[0050] The main supporting component of the feeding assembly 2 is a support plate 21 vertically fixed to the end of the operating table 1. The support plate 21 is fixedly connected to the end face of the operating table 1 by bolts, and its plate surface is perpendicular to the table surface of the operating table 1. A drive unit 22 is installed on the upper front side of the support plate 21. The drive unit 22 is preferably a servo motor, and its output shaft is set vertically upward. The output shaft of the drive unit 22 is fixedly connected to the central shaft of a disc-shaped turntable 23 through a coupling. The turntable 23 is supported on a plane bearing set on the top of the support plate 21 and can perform precise rotation indexing in the horizontal plane under the drive of the drive unit 22. Each indexing angle is equal to the included angle between two adjacent sets of collecting positioning plates 27.

[0051] On the surface of the turntable 23, multiple through holes are evenly distributed along its circumference. The number and position of these through holes correspond one-to-one with the number of sets of collecting positioning plates 27 provided on the upper surface of the turntable 23. The diameter of each through hole is slightly larger than the outer diameter of the lifting part of the pallet lifting frame 26 to ensure that the lifting part can pass through smoothly. On the support plate 21, located below the turntable 23, a first hydraulic cylinder 24 is also fixedly installed. The cylinder body of the first hydraulic cylinder 24 is fixedly connected to the support plate 21 through a flange. The piston rod of the first hydraulic cylinder 24 extends vertically upward, and its axis coincides with the center of the rotation trajectory of a certain set of through holes on the turntable 23. A nylon guide plate 25 is slidably sleeved on the piston rod of the first hydraulic cylinder 24. The nylon guide plate 25 is clearance-fitted with the piston rod through the guide hole in its center and can slide freely up and down along the axial direction of the piston rod. The nylon material has good self-lubricating properties, which can effectively reduce wear and noise during the lifting process.

[0052] The pallet lifting frame 26 is fixedly connected to the nylon guide plate 25. Specifically, the lower part of the pallet lifting frame 26 is fastened to the side of the nylon guide plate 25 by bolts, and rises and falls together with the nylon guide plate 25. The upper part of the pallet lifting frame 26 has an upwardly protruding cylindrical lifting part, the diameter of which matches the diameter of the through hole on the turntable 23. On the upper surface of the turntable 23, multiple sets of collecting and positioning plates 27 are evenly arranged radially. Each set of collecting and positioning plates 27 consists of two parallel strip plates spaced at a certain distance, forming an elongated slot between the two strip plates. The width of the slot matches the outer diameter of the firework shell, used to accommodate and position a row of firework shells. These slots are radially distributed on the turntable 23, and the extension direction of each set of collecting and positioning plates 27 is arranged radially along the turntable 23. When the piston rod of the first cylinder 24 extends, the pallet lifting frame 26 moves upward accordingly. Its lifting part can accurately pass through the corresponding through hole on the turntable 23 and continue to move upward for a distance, lifting the whole row of empty firework shells that are pre-placed in the slot of the corresponding collecting tube positioning plate 27, so that they are removed from the bottom of the slot and reach the preset height for clamping.

[0053] The unloading assembly 5 is located on the outer side of the other end of the operating platform 1 along its length, opposite to the loading assembly 2. The unloading assembly 5 is identical to the loading assembly 2, except that the unloading assembly 5's collecting and positioning plate 27 receives the finished fireworks that have been pressed with explosives, transferred from the displacement assembly 3. Its tray lifting frame 26 initially has its lifting section positioned downwards. As the finished fireworks are placed layer by layer, the first hydraulic cylinder 24 drives the tray lifting frame 26 to descend layer by layer, thus providing stacking space for subsequent finished products. The assembly relationships and mechanical cooperation between the components of the unloading assembly 5 are completely consistent with those of the loading assembly 2, and will not be repeated here.

[0054] The pressing assembly 4 is fixedly installed on the upper surface of the middle part of the operating platform 1. Its bottom part is a workbench 41 fixed to the surface of the operating platform 1, which is bolted to the platform. The upper surface of the workbench 41 is machined with positioning grooves that match the shape of the firework shells. These positioning grooves are semi-circular or V-shaped grooves, used to precisely support the entire row of empty firework shells transferred by the displacement assembly 3, ensuring that they do not shift horizontally during the pressing process. Directly above the workbench 41, a pressing mold mechanism is installed. The power source for this pressing mold mechanism is a second hydraulic cylinder 42 fixed to the top frame of the operating platform 1. This top frame is supported by four columns on the upper surface of the operating platform 1. The cylinder body of the second hydraulic cylinder 42 is fixed to the crossbeam at the top of the frame, and the piston rod of the second hydraulic cylinder 42 extends vertically downwards.

[0055] A pressure plate 43 is fixedly connected to the end of the piston rod of the second hydraulic cylinder 42 via a flange. The pressure plate 43 is a horizontally arranged rectangular metal plate that can move up and down under the drive of the second hydraulic cylinder 42. A first mold plate 44 is fixedly installed at the bottom of the pressure plate 43, and the first mold plate 44 is fastened to the pressure plate 43 with bolts. The lower surface of the first mold plate 44 is the mounting surface. At the four corners of the bottom of the pressure plate 43, the cylinder bodies of four stripping plate hydraulic cylinders 46 are fixedly installed. These four stripping plate hydraulic cylinders 46 are arranged in a rectangle with the center of the pressure plate 43 as the center of symmetry, and the cylinder bodies are set vertically downward.

[0056] A second mold plate 45 is fixedly connected to the piston rod ends of four ejector plate hydraulic cylinders 46. The second mold plate 45 is located directly below and parallel to the first mold plate 44. The second mold plate 45 is suspended below the pressure plate 43 by the four ejector plate hydraulic cylinders 46 and can float up and down a small distance relative to the pressure plate 43. Multiple punches 47 are fixedly installed on the lower surface of the first mold plate 44. The number and arrangement of the punches 47 correspond one-to-one with the number and arrangement of a row of empty firework shells in the positioning groove of the worktable 41. The upper ends of the punches 47 are fixed to the first mold plate 44 by threads or clamping. The punches 47 extend vertically downwards, and their lower ends pass through pre-machined guide holes on the second mold plate 45 that match the number and position of the punches 47. The punches 47 and the guide holes have a small clearance fit. The guide holes guide and straighten the up and down movement of the punches 47. When the second mold plate 45 floats with the ejector plate hydraulic cylinders 46, the punches 47 can slide freely within the guide holes.

[0057] The displacement assembly 3 mainly consists of three parts: a lateral displacement component 31, two clamping components 32, and a longitudinal displacement component 33. The lateral displacement component 31 is based on a robotic arm 312, which is fixedly mounted on the upper surface of the operating table 1 via a first mounting plate 311. Specifically, the first mounting plate 311 is a horizontally positioned rectangular plate, fixed to the operating table 1 with bolts. The robotic arm 312 consists of two vertical columns and a crossbeam connecting the tops of the two columns. The bottoms of the two vertical columns are fixed to both ends of the first mounting plate 311. The entire robotic arm 312 spans across the operating table 1, traversing the loading station, the pressing station, and the unloading station. A first guide rail 313 is fixedly installed on the top crossbeam of the robotic arm 312 along the transverse direction of the equipment (i.e., the length direction of the operating table 1, corresponding to the direction from the loading station to the unloading station). Two first sliders 314 are fitted onto the first guide rail 313 in a paired manner and can slide freely along the first guide rail 313. A rolling element is provided between the first guide rail 313 and the first sliders 314 to reduce friction.

[0058] The top of the first mounting bracket 315 is fixedly connected to the two first sliders 314. The first mounting bracket 315 has a portal-shaped or inverted U-shaped frame structure, with its top connected to the first sliders 314 and its side walls extending downwards. Therefore, the first mounting bracket 315 can slide laterally on the first guide rail 313 with the help of the first sliders 314. To drive the first mounting bracket 315 to move laterally, an electric guide rail 316 is fixedly installed on one side of the robot frame 312 (e.g., the side of one of the vertical columns). Two electric slides 317 are slidably mounted on the electric guide rail 316, and the housings of the two electric slides 317 are rigidly connected to the side walls of the first mounting bracket 315 through connecting plates. When the electric slides 317 are driven on the electric guide rail 316, the rigid connection allows the entire first mounting bracket 315 and all the components it carries to move precisely laterally. An upper and lower cylinder 318 is fixedly installed at the center of the first mounting frame 315. The cylinder body of the upper and lower cylinder 318 is fixed to the top crossbeam of the first mounting frame 315, and the piston rod of the upper and lower cylinder 318 extends vertically downward. The upper and lower support frame 319 is fixedly connected to the piston rod end of the upper and lower cylinder 318 through a connector. The upper and lower support frame 319 is a long strip-shaped frame extending longitudinally along the equipment, which can move vertically up and down under the drive of the upper and lower cylinder 318.

[0059] Two clamping components 32 are symmetrically fixedly installed at both ends of the upper and lower support frames 319 along the longitudinal direction. The distance between the two clamping components 32 is exactly equal to the center distance between the loading station and the pressing station, and also equal to the center distance between the pressing station and the unloading station. This structural feature allows the displacement assembly 3 to carry two clamps simultaneously for alternating operations. When one clamp is picking up an empty shell at the loading station, the other clamp is picking up the finished product at the pressing station, greatly improving the transfer efficiency. Each clamping component 32 includes a finger cylinder 321 and two opposing grippers 322. The finger cylinder 321 is a parallel opening and closing pneumatic finger with two drive ends that can open and close relative to each other, and the two drive ends are arranged opposite each other in the horizontal direction. The two opposing grippers 322 are fixedly connected to the two drive ends respectively. The opposing grippers 322 are long strip-shaped metal claws, and their extension direction is consistent with the slot direction of the collecting tube positioning plate 27. The length of each opposing gripper 322 is sufficient to clamp all the firework shells in a row at the same time. When the finger cylinder 321 is activated, it can drive the two opposite grippers 322 to move synchronously towards or away from each other, thereby achieving simultaneous clamping or releasing of the entire row of firework shells.

[0060] On the inner contact surface of each opposing jaw 322 (i.e., the side facing the firework shell), an elastic cushioning pad is fixedly attached. This elastic cushioning pad is made of silicone rubber or polyurethane material, and its surface is usually processed with anti-slip textures to increase friction. These textures can be diamond patterns or wavy grooves. The elastic cushioning pad can provide elastic deformation to adapt to the shape tolerance of the shell during clamping, and can also protect the fragile paper firework shell from being damaged. At the same time, the anti-slip texture ensures the reliability of clamping and prevents the shell from slipping off during rapid transfer.

[0061] The longitudinal displacement component 33 is mainly used to make small-range precise position adjustments to the entire displacement assembly 3 in the longitudinal direction of the equipment (i.e., the horizontal direction perpendicular to the transverse direction, corresponding to the radial direction of the collecting tube positioning plate 27), so as to ensure that the clamp can be perfectly aligned in the longitudinal direction with the lifting position of the feeding assembly 2, the positioning groove of the worktable 41 of the pressing assembly 4, and the collecting tube positioning plate 27 of the unloading assembly 5 when clamping and placing fireworks.

[0062] A slide rail support 331 is fixedly installed at the bottom of the operating platform 1. The slide rail support 331 is a long strip-shaped metal block, and its length extends longitudinally along the equipment. Two linear bearings 332 are fixedly embedded in the slide rail support 331. These two linear bearings 332 are arranged at intervals along the length of the slide rail support 331, and their axes are both set longitudinally. Two linear cylinders 333 are fixedly installed at the bottom of the operating platform 1 through their respective bases. The cylinder bodies of the linear cylinders 333 are fixedly connected to the lower surface of the operating platform 1 through supports. The piston rods of the linear cylinders 333 are set in the horizontal direction (longitudinal direction), and the two piston rods pass through the inner holes of the corresponding linear bearings 332. The linear bearings 332 provide support and guidance for the extension and retraction of the piston rods, ensuring that the piston rods can only move axially without radial wobble. The ends of these two piston rods are connected to the bottom of the first mounting plate 311 of the fixed lateral displacement component 31 through connectors. When the piston rod of the linear cylinder 333 extends or retracts, it can push the entire displacement assembly 3 (including the first mounting plate 311, the robotic arm 312, the lateral displacement component 31, the two clamping components 32 and all their auxiliary structures) to make precise reciprocating movements of a small distance in the longitudinal direction of the equipment along the guide direction of the linear bearing 332.

[0063] The core of control component 6 is controller 61, which is a programmable logic controller (PLC). Its main unit is installed in the electrical control cabinet below the operating console 1. The electrical control cabinet also houses auxiliary electrical components such as air switches, relays, solenoid valve groups, and power modules. Controller 61 is electrically connected to various actuators and sensors via signal cables. Specifically, the loading detector 62 is installed at an appropriate position above the pallet lifting frame 26 of loading component 2, usually fixed on the top extension bracket of support plate 21. This detector is a through-beam photoelectric sensor or a reflective photoelectric sensor, with its transmitting and receiving ends installed on both sides of the slot width direction, and its detection optical path horizontally passing directly above the lifting position to detect whether a firework shell has been lifted into place at that position. The signal output of loading detector 62 is electrically connected to the first signal input of controller 61 via a shielded cable. The station detector 64 is installed near the workbench 41 of the pressing assembly 4, usually fixed on the side or column of the workbench 41. Its detection direction is aligned with the top of the positioning slot. It is used to detect whether the displacement assembly 3 has accurately placed the firework shell into the positioning slot. The signal output terminal of the station detector 64 is electrically connected to the second signal input terminal of the controller 61.

[0064] The unloading detector 63 is installed on the uppermost collecting and positioning plate 27 of the unloading assembly 5. It is usually fixed on the support plate 21 and located above the side of the collecting and positioning plate 27. Its detection optical path passes horizontally through the slot above the uppermost collecting and positioning plate 27 to detect whether the stacking height of the current unloading station has reached the full position. The signal output terminal of the unloading detector 63 is electrically connected to the third signal input terminal of the controller 61. In addition, the control signal output terminal of the controller 61 is electrically connected to the drive unit 22 and the first oil cylinder 24 of the feeding assembly 2, the drive unit 22 and the first oil cylinder 24 of the unloading assembly 5, the second oil cylinder 42 and the four stripping plate hydraulic cylinders 46 of the pressing assembly 4, and the electric guide rail 316, electric slide 317, upper and lower cylinders 318, finger cylinders 321 and linear cylinders 333 of the displacement assembly 3 through electrical circuits. Specifically, these control signals are output to the coils of each solenoid valve through the transistor output module or relay output module of the controller 61, thereby controlling the flow direction, pressure and flow rate of the working medium in the pneumatic circuit and the hydraulic circuit.

[0065] When the equipment is in its initial state, the operator has already pre-stacking multiple layers of empty fireworks shells on the turntable 23 of the feeding assembly 2. The collecting and positioning plate 27 of the unloading assembly 5 is empty. The two clamping components 32 of the displacement assembly 3 are at their initial height positions (e.g., above the pressing station). The second hydraulic cylinder 42 and the ejector plate hydraulic cylinder 46 of the pressing assembly 4 are both at their retracted upper limit positions. When the controller 61 sends a start signal, the drive component 22 of the feeding assembly 2 drives the turntable 23 to rotate, aligning a set of collecting and positioning plates 27 fully loaded with empty fireworks shells with the lifting part of the pallet lifting frame 26. The first hydraulic cylinder 24 extends to lift the entire row of empty shells to the clamping height, at which point the empty shells are held above the slots of the collecting and positioning plates 27. The linear cylinder 333 of the displacement assembly 3 is activated first, pushing the first mounting plate 311 to make a slight longitudinal adjustment, so that the idle clamping component 32 is aligned longitudinally with the lifted empty shells. Subsequently, the electric slide 317 slides along the electric guide rail 316, driving the first mounting bracket 315 to move laterally, precisely delivering the clamping component 32 directly above the empty shell. The upper and lower cylinders 318 extend, pushing the upper and lower support brackets 319 downwards, lowering the clamping component 32 to the clamping height, with the two opposing jaws 322 positioned on either side of the empty shell row. The finger cylinder 321 actuates, causing the two drive ends to move towards each other, driving the opposing jaws 322 to close, pressing the elastic buffer pad against the outer wall of the empty shell, completing the clamping. The upper and lower cylinders 318 retract, lifting the empty shell, and the electric slide 317 moves laterally again, transferring the clamping component 32 along with the empty shell directly above the pressing station.

[0066] At the pressing station, the upper and lower cylinders 318 extend to place the empty shell into the positioning slot of the worktable 41. The finger cylinder 321 releases, the opposite gripper 322 opens, and the clamp moves upward to avoid obstruction. The second cylinder 42 of the pressing assembly 4 extends, driving the pressing plate 43 and the first mold plate 44 downward. The punch 47 passes through the guide hole of the second mold plate 45 and inserts into the gunpowder inside the empty shell to complete the compaction. After compaction, the second cylinder 42 returns, and at the same time, the four stripping plate hydraulic cylinders 46 extend, pushing the second mold plate 45 downward relative to the upward punch 47. The scraping action of the guide hole edge peels off the gunpowder adhering to the punch, achieving demolding. Subsequently, the other end clamp of the displacement assembly 3 (the previously idle clamp) moves to the pressing station under the control of the controller 61, picks up the finished product, and then transfers it laterally to the top of the unloading station, placing the finished product into the slot of the receiving positioning plate 27 of the unloading assembly 5. The drive unit 22 of the unloading assembly 5 rotates the turntable 23, aligning the new empty space with the receiving position. At the same time, the first hydraulic cylinder 24 drives its pallet lifting frame 26 to descend layer by layer, achieving layered stacking of finished products. This completes one cycle of mechanical action, after which the equipment automatically enters the next cycle.

[0067] Obviously, the above-described embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A fireworks charging process, characterized in that, Includes the following steps: Step S1: After receiving the start signal, the controller controls the drive component of the feeding assembly to rotate the turntable so that the positioning plate of the fully loaded empty shell is aligned with the lifting position. The controller controls the first oil cylinder to lift the empty shell to the clamping height. After the feeding detector detects that it is in position, it sends a ready signal to the controller. Step S2: According to the ready signal, the controller controls the linear cylinder of the displacement component to make longitudinal fine adjustment to align the clamp, controls the electric slide to move the idle clamp laterally to above the loading station, controls the upper and lower cylinders to lower the clamp, controls the finger cylinder to drive the gripper to close and clamp the empty shell, and then moves it laterally to the pressing station. Step S3: The controller controls the upper and lower cylinders to descend and place the empty shell into the positioning slot of the worktable of the pressing component. After the station detector is in place, the controller controls the finger cylinder to release the gripper and move upward to avoid it. Step S4: The controller controls the second hydraulic cylinder to drive the punch downward to compact the gunpowder, and controls the stripper plate hydraulic cylinder to drive the second mold plate downward to scrape off the adhering gunpowder column to complete the demolding. Step S5: The controller controls another clamp to move to the pressing station, clamp the finished product, and then move it laterally to the unloading station; Step S6: The controller controls the clamp to descend and place the finished product into the receiving and positioning plate of the unloading component. After releasing, it controls the drive component to rotate the turntable to change position, and controls the first hydraulic cylinder to drive the pallet lifting frame to descend and stack in layers. Step S7: Repeat steps S1 to S6, continuously monitoring the feeding and unloading detectors during the cycle. If no empty shells are detected or the machine is full of finished products, the machine will stop and alarm.

2. The fireworks charging process as described in claim 1, characterized in that, In step S1, after the material feed detector detects that the material is in position, it sends a ready signal to the controller, specifically including: The material loading detector continuously collects signals indicating the presence of an empty shell above the lifting section of the pallet lifting frame; When the pallet lifting frame lifts the entire row of empty fireworks shells to the preset clamping height, the optical path of the feeding detector is blocked by the entire row of empty fireworks shells, and the feeding detector converts the optical path blocking state into an empty shell ready signal. The empty shell ready signal is an electrical signal, and the material feeding detector sends the electrical signal to the input terminal of the controller; After receiving the electrical signal, the controller confirms that there is an empty shell ready at the loading station.

3. The fireworks charging process as described in claim 1, characterized in that, In step S2, the controller, based on the received empty shell ready signal, controls the linear cylinder of the longitudinal displacement component of the displacement assembly to perform longitudinal fine-tuning, so that the clamping component is aligned with the empty shell. Specifically, this includes: After receiving the empty shell ready signal, the controller reads the preset longitudinal offset from the internal memory; the controller generates a first control command based on the longitudinal offset and sends the first control command to the solenoid valve of the linear cylinder; the solenoid valve controls the flow direction and flow rate of compressed air according to the first control command, driving the piston rod of the linear cylinder to extend or retract by a preset displacement; the piston rod of the linear cylinder drives the first mounting plate and the entire displacement assembly mounted on the first mounting plate to move longitudinally by a preset displacement along the guide direction of the linear bearing, so that the clamping component is precisely aligned with the empty shell in the longitudinal direction.

4. The fireworks charging process as described in claim 1, characterized in that, In step S2, controlling the finger cylinder to move drives the two opposing grippers to close, clamping the entire row of firework shells, specifically includes: After confirming that the clamping component has descended to the clamping position, the controller generates a clamping control command and sends the clamping control command to the solenoid valve of the finger cylinder. The solenoid valve controls the flow of compressed air according to the clamping control command, driving the two drive ends of the finger cylinder to move towards each other. The two opposite grippers move towards each other synchronously with the two drive ends, so that the elastic buffer pads on the inner contact surfaces of the two opposite grippers contact and press against the outer wall of the entire row of firework shells. Once the pressure sensor inside the finger cylinder detects that the clamping force has reached a preset threshold, it sends a clamping completion signal to the controller. After receiving the clamping completion signal, the controller confirms that the entire row of empty fireworks shells has been firmly clamped.

5. The fireworks charging process as described in claim 1, characterized in that, In step S4, after the controller confirms that it has received the empty shell arrival signal from the workstation detector and that the charging assembly is ready, it controls the second cylinder of the charging assembly to move, driving the punch downwards to fill and compact the firework empty shells on the worktable with gunpowder. Specifically, this includes: After receiving the empty shell arrival signal sent by the workstation detector, the controller reads the preset pressing stroke parameters and pressing pressure parameters from the internal memory. The controller generates a pressing control command based on the pressing stroke parameters and pressing pressure parameters, and sends the pressing control command to the hydraulic control valve of the second oil cylinder; The hydraulic control valve controls the flow direction and flow rate of hydraulic oil according to the drug pressing control command, and drives the piston rod of the second oil cylinder to extend downward at a preset speed for a preset drug pressing stroke; The piston rod of the second cylinder drives the pressure plate, the first mold plate, and the punch fixedly installed on the first mold plate to move downward as a whole; During the downward movement of the punch, the second mold plate first contacts the upper end of the firework shell and stops moving downward, thus positioning and guiding the punch to continue moving downward. The punch continues to descend and insert into the empty shell of the firework, compacting the gunpowder to form a powder column; After the pressure sensor inside the second cylinder detects that the pressing pressure has reached the pressing pressure parameter, it sends a pressing completion signal to the controller.

6. The fireworks charging process as described in claim 5, characterized in that, In step S4, after compaction is completed, the controller controls the second hydraulic cylinder to return, and simultaneously controls the action of the stripper plate hydraulic cylinder, driving the second mold plate to move downward relative to the upward-moving punch, scraping off the medicated powder adhering to the punch, thus completing the demolding. Specifically, this includes: After receiving the signal indicating that the pressing is complete, the controller generates return control and demolding control commands. The controller sends the return control command to the hydraulic control valve of the second cylinder, and at the same time sends the demolding control command to the hydraulic control valve of the stripper plate hydraulic cylinder. The hydraulic control valve of the second cylinder controls the hydraulic oil to switch directions according to the return control command, driving the piston rod of the second cylinder to return upward, thus moving the pressure plate, the first mold plate and the punch upward as a whole. The hydraulic control valve of the stripper plate hydraulic cylinder controls the hydraulic oil to enter the stripper plate hydraulic cylinder simultaneously according to the demolding control command, driving the piston rod of the stripper plate hydraulic cylinder to extend synchronously, pushing the second mold plate to move downward relative to the upward punch by a preset demolding displacement. The guide hole edge of the second mold plate scrapes away the propellant sticking to the surface of the punch during relative movement, leaving the propellant intact inside the firework shell; After the hydraulic cylinder of the stripper plate completes the preset demolding displacement, it sends a demolding completion signal to the controller.

7. The fireworks charging process as described in claim 1, characterized in that, In step S7, during the loop, the controller continuously monitors the signals of the loading detector and the unloading detector, specifically including: The controller periodically acquires the first electrical signal output by the loading detector and the second electrical signal output by the unloading detector at a preset sampling frequency; The controller compares the first electrical signal with the first threshold stored internally: if the first electrical signal is lower than the first threshold, it is determined that the feeding detector has detected no empty shells, and the controller generates a first shutdown alarm signal and sends it to the alarm device. The controller compares the second electrical signal with the second threshold stored internally. If the second electrical signal is higher than the second threshold, it is determined that the material feeding detector has detected that the finished product is full. The controller generates a second shutdown alarm signal and sends it to the alarm device. After receiving the first shutdown alarm signal or the second shutdown alarm signal, the alarm device executes an audible and visual alarm and cuts off the power supply to the equipment.

8. A fireworks charging and pressing machine, used to perform the fireworks charging and pressing process as described in any one of claims 1 to 7, characterized in that, include: Control panel; The feeding assembly is located on the outer side of one end of the operating table along its length and is used to store and supply empty fireworks shells without explosives. The feeding component is located on the outer side of the other end of the operating table along the length direction, and is symmetrically arranged with the feeding component. The structure of the feeding component is the same as that of the feeding component, and it is used to receive and store finished fireworks that have been loaded and pressed with explosives. The gunpowder loading assembly is fixedly installed in the middle of the upper surface of the operating table and is used to perform the gunpowder loading and compaction process. The displacement component is mounted across the upper surface of the operating table and is located in the area between the feeding component, the pressing component, and the unloading component. It is used to clamp and transfer the firework shell between the feeding station of the feeding component, the pressing station of the pressing component, and the unloading station of the unloading component. The control component is used to coordinate and control the sequence of actions of the various execution components.

9. The fireworks charging and pressing machinery as described in claim 8, characterized in that, The feeding assembly includes: a support plate, a drive unit, a turntable, a first hydraulic cylinder, a nylon guide plate, a pallet lifting frame, and multiple sets of collecting and positioning plates; the turntable surface has through holes along the circumference, and the lifting part of the pallet lifting frame can pass through the through holes to lift the hollow shell under the drive of the hydraulic cylinder; The pressing assembly includes: a worktable, a second hydraulic cylinder, a pressure plate, a first mold plate, four stripping plate hydraulic cylinders, a second mold plate, and multiple punches; the second mold plate is suspended below the pressure plate and can float up and down, and the punches pass through the guide holes of the second mold plate; The displacement assembly includes a lateral displacement component, two clamping components and a longitudinal displacement component. The lateral displacement component includes a robot arm frame, a first guide rail, a first slider, a first mounting frame, an electric guide rail, an electric slide table, upper and lower cylinders and upper and lower support frames. The electric slide table is rigidly connected to the first mounting frame. Two clamping components are symmetrically installed at both ends of the upper and lower support frames. Each clamping component includes a finger cylinder and two opposing grippers. The inner side of each gripper is provided with an elastic buffer pad. The longitudinal displacement component includes a slide rail support, two linear bearings, and two linear cylinders. The piston rod of each linear cylinder passes through the linear bearing and is connected to the first mounting plate.

10. The fireworks charging and pressing machinery as described in claim 8, characterized in that, The control component includes: The controller is a programmable logic controller; A feeding detector is installed above the pallet lifting frame of the feeding assembly to detect whether there are empty fireworks shells ready at the lifting station. The signal output terminal of the feeding detector is electrically connected to the first signal input terminal of the controller. A station detector is installed near the workbench of the pressing assembly to detect whether the displacement assembly has accurately placed the firework shell in place. The signal output terminal of the station detector is electrically connected to the second signal input terminal of the controller. The material feeding detector is installed at the topmost collecting and positioning plate of the material feeding assembly to detect whether the current material feeding station is full of finished products. The signal output terminal of the material feeding detector is electrically connected to the third signal input terminal of the controller. The control signal output terminal of the controller is electrically connected to the control terminals of the drive unit and the first oil cylinder of the feeding component, the drive unit and the first oil cylinder of the unloading component, the second oil cylinder and the ejector plate hydraulic cylinder of the pressing component, and the electric guide rail, electric slide, upper and lower cylinders, finger cylinders and linear cylinders of the displacement component.

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