Automatic shaping device for powder surface of PBX pouring charge

Abstract

The utility model discloses an automatic shaping device for a powder surface of PBX pouring charge. According to the automatic shaping device, a hydraulic lifting platform is arranged in a pit, a projectile body to be machined is placed on the hydraulic lifting platform and is positioned and fixed through a projectile body curing frame, a rotating support is arranged beside the pit, an anti-explosion robot is arranged on the upper portion of the support, and an end effector is arranged at the arm end of the anti-explosion robot. Through the process steps of conveying the charging shell into a workshop, clamping the charging shell, automatically shaping the powder surface of the end effector, detecting, post-processing the charging shell and the like, the problems that the personnel participation degree is high, the labor intensity is high, the working efficiency is low and the like in the PBX explosive pouring and charging powder surface cleaning process in the existing ammunition industry are solved. The problems that the quality of the cleaned powder depends on experience judgment, the consistency is poor, and the production efficiency is low are solved, man-machine isolation operation is achieved for cleaning of the PBX charging powder, the safety of finishing the powder is greatly improved, the production efficiency is effectively improved, and the quality consistency of the finished powder is good.

Description

Technical Field

[0001] This utility model relates to the field of weapon and ammunition warhead loading technology, specifically to an automatic propellant surface shaping device for PBX casting propellant. This device automatically shapes the propellant surface at the opening of the PBX casting propellant product after the propellant has solidified, ensuring that the quality of the propellant opening meets product requirements. Furthermore, the entire propellant surface shaping process is conducted with human-machine separation. Background Technology

[0002] The warhead casing casting process involves loading high-energy PBX explosives into the casing using a casting method. Common casing loading methods include PBX casting, melt casting, and thermoplastic loading. In the PBX casting method, after the warhead casing is filled, the cast high-energy PBX explosive undergoes a period of heating and solidification, changing from a soft to a solid state. The propellant surface at the warhead casing opening shrinks (density increases, and the gaps between molecules decrease). Due to uneven shrinkage, the propellant surface may exhibit a central depression, a circumferential bulge, or a funnel shape. Therefore, risers are typically added during the loading process to compensate for this shrinkage. To ensure that the depth and flatness of the propellant surface at the opening of the PBX casting product meet the design specifications, the propellant surface at the opening of the solidified warhead casing needs to be shaped.

[0003] Due to the inherent hazards of the weapons and ammunition industry, the entire process of propellant surface shaping is a dangerous operation, generally requiring automated equipment for human-machine separation to protect worker safety. Conventional automated equipment can only process batches of fixed objects, with limited flexibility; automated equipment with flexible processing capabilities requires supporting sensors, making it unsuitable for the explosion-proof requirements of ammunition processing sites. Currently, the weapons and ammunition industry lacks automated equipment and methods for shaping the propellant surface of PBX explosive castings. This means that the shaping of existing PBX explosive castings is still done manually in workshops using tools such as copper or stainless steel knives, resulting in high labor intensity and harm to worker health. Furthermore, the process is subject to various uncontrollable factors, placing extremely high demands on operators, requiring both experience and skill, severely limiting production efficiency. The quality of the shaped propellant surface relies entirely on experience, and consistency is difficult to guarantee. Therefore, how to achieve human-machine separation in the shaping of the propellant surface during PBX explosive casting, eliminate potential safety hazards, improve production efficiency, and ensure the consistency of the quality of the trimmed propellant surface has become a pressing technical challenge for the weapons and ammunition industry. Summary of the Invention

[0004] To address the existing problems in PBX explosive casting surface shaping within the weapons and ammunition industry, this utility model provides an automatic PBX explosive casting surface shaping device. This device boasts advantages such as high safety during the automatic PBX explosive casting surface shaping process, real-time and precise online control of all shaping process parameters, online real-time monitoring of the entire shaping process, good consistency in shaping quality, and wide applicability. It achieves safe, efficient, and automatic shaping of the PBX explosive casting nozzle surface with human-machine separation, and the quality of the shaped surface meets the quality requirements of conventional large-caliber high-explosive fragmentation projectile warheads.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: an automatic shaping device for the surface of PBX casting propellant, which consists of a hydraulic lifting platform installed in a pit, on which the projectile to be processed is placed and positioned and fixed by a projectile curing frame installed on the hydraulic lifting platform; a rotatable support is installed next to the pit, and an explosion-proof robot is installed on the upper part of the support, with an end effector installed at the end of the robot's arm; the end effector consists of a mounting plate and a milling cutter, an explosion-proof motor, a reducer, a matching device, an explosion-proof temperature sensor, and a vacuum cleaner docking part installed on the mounting plate. The milling cutter is fixedly installed at the lower end of the mounting plate and is driven by the transmission structure driven by the explosion-proof motor and the reducer; the vacuum cleaner docking part is located above the milling cutter and is connected to the pipeline of the explosion-proof vacuum cleaner by a reducing joint and clamp; an explosion-proof camera is also installed on the support, and the control system in the remote control room controls the above-mentioned components.

[0006] The projectile curing rack is a product mounting plate on a hydraulic lifting platform. The product mounting plate is provided with a guide groove, and the projectile curing rack is positioned by the guide groove. A curing clamp is provided on the product mounting plate, and the projectile curing rack is vertically pressed and fixed by the curing clamp. The projectile curing rack is used to place and protect the projectile to be processed. The projectile to be processed is clamped by the projectile clamp installed on the upper end of the projectile curing rack.

[0007] The support system includes a support frame one and a support frame two. The support frame one is located next to the pit, and a rotating platform is located at the upper end of the support frame one. The support frame two is located on the rotating platform, and the support frame two can rotate through the rotating platform.

[0008] A camera bracket is fixedly installed on the wall inside the workroom for the projectiles to be processed. An explosion-proof camera connected to the control system is fixedly installed on the camera bracket to monitor the on-site environment and transmit on-site video information in real time. The staff in the remote control room can monitor the on-site equipment status in real time.

[0009] This utility model discloses a process method for an automatic shaping device for the surface of PBX casting propellant, which is based on the automatic shaping of the propellant surface after the PBX casting propellant has solidified, including the following steps:

[0010] Step 1, Transporting the charge casing into the workshop: After the charge casing has been cured, it is transported from the curing workshop to the charge surface shaping workshop using a special transport vehicle. An electric hoist is used to unload the charge casing from the transport vehicle and hoist it to the charge surface shaping station.

[0011] Step 2, Clamping of the charge casing: Use the PBX automatic shaping device for casting the charge surface to clamp and fix the charge casing firmly, and all personnel evacuate the workshop site to the remote control room;

[0012] Step 3, Automatic Milling of Medicated Surface: The operator uses a remote control console to operate the explosion-proof robot to perform tool setting, obtain the spatial position status of the medicated casing, and set the milling cutter speed and feed rate process parameters based on the data. After the process parameters are set, the robot is controlled in the remote control room to automatically mill the medicated surface, while collecting the waste medicated debris generated during processing. The control computer will display the tool temperature, speed, and torque data in real time, and the entire process of medicated surface shaping can be remotely observed through video monitoring.

[0013] Step 4, Inspection: After the powder coating is processed, the explosion-proof robot returns to its initial position, and then the powder coating cleaning quality is inspected.

[0014] Step 5, Post-processing of the propellant-loaded projectile: After the quality inspection of the propellant surface is completed, the operator installs the rear cover plate of the propellant-loaded shell, uses an explosion-proof electric hoist to lift the propellant-loaded shell from the processing position, then puts it into a packaging box, and finally uses a transport vehicle to transport it out of the workshop.

[0015] In step 3, the milling cutter speed is 60-120 r / min, the depth of cut is 2-4 mm, and the feed rate is 2-8 mm / s.

[0016] In step 4, the quality inspection of the medicine surface after automatic shaping shows that the error between the depth of the medicine surface and the set depth of the medicine surface to be processed is ≤ ±0.5mm, and the medicine surface is flat without cracks.

[0017] This utility model, employing the aforementioned technical solution, designs an automatic shaping device for the propellant surface of PBX casting charges. It combines robotic grinding technology from the machining industry with automatic control technology from the automation industry and successfully applies it to the ammunition industry. This solves the problems of high personnel involvement, high labor intensity, inconsistent quality of the cleaned propellant surface due to reliance on experience, and low production efficiency in the existing PBX explosive casting charge surface cleaning process in the ammunition industry. The new device enables human-machine isolation operation in the direct contact processing of hazardous materials during PBX charge surface cleaning, reducing human factors and process steps, significantly improving the safety of the trimmed propellant surface, effectively increasing production efficiency, and ensuring good consistency in the quality of the trimmed propellant surface, with the mouth surface quality meeting product design requirements. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the automatic shaping device for the PBX casting and filling of propellant according to this utility model;

[0019] Figure 2 This is a partial (bottom) schematic diagram of the projectile solidification frame of this utility model when the projectile is clamped;

[0020] Figure 3 This is a partial (upper) schematic diagram of the projectile solidification frame of this utility model when the projectile is clamped;

[0021] Figure 4 A schematic diagram illustrating the principle of mechanical detection of the end face of the projectile to be processed according to this utility model;

[0022] Figure 5 A schematic diagram illustrating the verification of the automatic milling trajectory of the medicine surface according to this utility model;

[0023] Figure 6 This diagram illustrates the combined structure of the end effector of this utility model. Detailed Implementation

[0024] The following description, in conjunction with the accompanying drawings, details an automatic shaping device for the surface of PBX-type injection filling.

[0025] This utility model relates to an automatic shaping device for the propellant surface during PBX casting and filling. See also: Figures 1 to 6 The tooling used consists of a pit 1 dug in the ground (10), with a hydraulic lifting platform 11 installed inside. The projectile 8 to be processed is placed on the hydraulic lifting platform 11 and positioned and fixed by a projectile fixing frame 9 mounted on the platform. A bracket 2 is fixed to the ground (10) via a leveling mounting plate, providing reliable support. A rotating platform 3 and a tool setter are fixed to the upper end of bracket 2. A second bracket 4 is fixed to the rotating platform 3, rotating with it. A robot mounting base plate and a camera mounting base plate are fixed to bracket 4. A Staubli TX2-90 six-axis explosion-proof robot 6 is fixed to the lower part of the robot mounting base plate, meeting the explosion-proof requirements of the ammunition industry processing site and possessing an automatic compensation processing function for the tilt of the object to be processed. An explosion-proof pan-tilt camera 5 is fixed to the camera mounting base plate in a cantilevered horizontal manner. An adapter flange is installed at the end of the six-axis explosion-proof robot 6, and an end effector 7 is installed at the lower part of the adapter flange. The end effector 7 is a component used to execute the explosion-proof robot to realize the command of cleaning the explosive surface.

[0026] The end effector consists of a mounting plate 17 and a milling cutter 16, an explosion-proof motor, a reducer, a workpiece alignment device, an explosion-proof temperature sensor, and a vacuum cleaner docking component mounted on the mounting plate 17. The workpiece alignment device is used to perform mechanical contact detection (workpiece alignment operation) on the base surface of the workpiece to be processed, thereby obtaining the tilt error of the workpiece. Based on the obtained tilt error data, coordinate system alignment compensation can be achieved in the automatic cleaning program of the propellant surface, thereby eliminating the influence of the tilt problem of the workpiece on the automatic shaping process of the propellant surface. The milling cutter is in direct contact with the propellant surface at the mouth of the workpiece and is made of alloy steel. It is fixed to the lower end of the mounting plate with set screws. During operation, it is driven by the explosion-proof motor and reducer mounted on the upper end of the end effector, which drive the transmission structure. A vacuum cleaner connector 15 is fixedly installed above the milling cutter. The vacuum cleaner connector 15 is connected to the pipeline of the powder cleaning module (explosion-proof vacuum cleaner, model EX-3) using a reducing connector and clamp. The powder cleaning module is used to collect the waste powder generated during the cleaning of the powder surface of the object to be processed. Since waste powder is continuously generated during the cleaning process, it will continuously rub against the rotating milling cutter. If the waste powder is not collected in time, it will cause the tool to generate heat due to friction between the tool and the waste powder, resulting in safety problems. To avoid safety problems, it is turned on before starting the powder surface cleaning work. During operation, the suction generated by the explosion-proof vacuum cleaner pipeline and the vacuum cleaner connector will collect the waste powder into the vacuum cleaner in time, and at the same time, it will provide auxiliary cooling for the milling cutter. There are two structural forms of the vacuum cleaner connector: coaxial and non-coaxial. The coaxial connector is more compact and better for tool cooling, but it needs to be replaced along with the tool. The non-coaxial connector is less compact, but it doesn't need to be replaced with the tool; however, its design needs to be determined based on the shape of the workpiece's opening. A temperature sensor is mounted on a bracket and is used to monitor the milling cutter temperature, displaying the collected temperature data in real-time on the control computer in the remote control room.

[0027] This utility model's leveling mounting plate is attached to the ground and located under the mounting bracket 2 of the six-axis explosion-proof robot 6. It is used to adjust the parallelism of the robot mounting base plate (used for docking and installation with the mounting flange surface of the explosion-proof robot base) after the six-axis explosion-proof robot 6 platform components are assembled. This ensures the parallelism of the six-axis explosion-proof robot 6 mounting base plate relative to the ground, minimizing the impact of external factors on the robot system's precision error, which directly affects the processing precision error of the end effector in shaping the propellant surface. The depth error of the propellant surface after shaping is ≤ ±0.5mm.

[0028] The rotating platform 3 and hydraulic lifting platform 11 of this utility model provide a wide range of spatial degrees of freedom for the robot mounting base plate on the robot mounting bracket 2 4 in both the polar coordinate direction and the vertical direction of the horizontal plane. The six-axis explosion-proof robot 6 is mounted on the robot mounting base plate. The bracket 2 4 can drive the six-axis explosion-proof robot 6 to achieve rotational movement relative to the bracket 1 2 in the horizontal plane through the rotating platform 3. Combined with the arm span of the six-axis explosion-proof robot 6, the equipment can meet the processing work of objects with a height of 0.4m to 4m at the pharmaceutical surface shaping station (hydraulic lifting platform).

[0029] The control system of this invention, located in a remote control room, is used to issue execution commands and remotely control the aforementioned components. The control system mainly consists of a robot control subsystem, a drive subsystem, and an operation subsystem. The robot control subsystem uses a Staubli CS9 controller, primarily for motion control and machining trajectory planning. The drive subsystem mainly receives control commands from the robot controller and drives the servo motors to perform corresponding actions. The operation subsystem mainly consists of a main control cabinet, an industrial computer on an explosion-proof control panel, and a display screen. The explosion-proof control panel is equipped with the system's main emergency stop, reset, and various function buttons and switches, which, together with the display screen, enable the actual operation of the entire equipment.

[0030] See Figure 2 and Figure 3 The present invention relates to a projectile curing rack 9, which has a product mounting plate 12 on a hydraulic lifting platform 11. The product mounting plate 12 has a guide groove 13, and the projectile curing rack 9 is positioned by the guide groove 13. A curing clamp 14 is provided on the product mounting plate 12, and the projectile curing rack 9 is vertically pressed and fixed by the curing clamp 14. The projectile curing rack 9 is used to place and protect the projectile 8 to be processed. The projectile 8 to be processed is clamped by the projectile clamp installed on the upper end of the projectile curing rack 9. A positioning component is fixedly installed on the product mounting plate above the hydraulic upgrade platform. The positioning component is used to fix, press, and position the projectile curing frame. The projectile curing frame 9 of this utility model is used to place the object to be processed. The projectile curing frame is determined according to the object to be processed. Different objects to be processed are equipped with different projectile curing frames. According to different projectile curing frames, a suitable positioning component is selected for positioning and clamping. Furthermore, a push-pull clamping projectile clamp is fixedly installed above the projectile curing frame for clamping the object to be processed. The two clamps are arranged in a top-to-top manner to ensure stability. By adjusting the height of the hydraulic lifting platform, the loading and unloading operations of the object to be processed can be carried out. At the same time, the object to be processed at different heights can meet the requirements of the robot's working range.

[0031] A camera bracket is fixedly installed on the wall of the workroom for the projectile to be processed. An explosion-proof camera connected to the control system is fixedly installed on the camera bracket. The explosion-proof camera is used to monitor the on-site environment and transmit on-site video information in real time. The staff in the remote control room can monitor the on-site equipment status in real time.

[0032] This invention uses fixed fixtures (fixed frame, curing clamp) at the drug surface shaping station to firmly clamp and fix the drug casing. By changing and using different models of fixed fixtures, other products can be clamped and fixed. The hydraulic lifting platform 11 installed below the drug surface shaping station can be adjusted to suit the processing height of various products.

[0033] This utility model discloses a process method for an automatic shaping device for the propellant surface of a PBX casting and filling machine, comprising the following steps:

[0034] Step 1: Start-up Inspection: Start the PBX automatic powder casting and shaping equipment, open the software to access the control screen, and connect the controller; turn on the power switch of the air compressor body and the filter power switch to power on the key components of the system. After power-on, all equipment should be turned on. Perform a no-load run inspection on the equipment, ensuring it is in good working order; operation of the equipment with malfunctions is strictly prohibited.

[0035] Step 2: Transporting the charge casing to the workshop: During the start-up inspection of the PBX casting charge automatic surface shaping equipment, the cured charge casing is simultaneously transported from the curing workshop to the surface shaping workshop using a special transport vehicle. An electric hoist is used to unload the charge casing, along with its fixing frame, from the transport vehicle and hoist it to the surface shaping station.

[0036] Step 3: Loading the Explosive Casing: The operator uses the fixing clamps on the explosive surface shaping station to securely clamp the explosive casing, along with the fixing frame. After secure clamping, remove the explosive loading disc from the opening end face of the explosive casing and perform a final inspection of all screws on the explosion-proof robot equipment. Special attention must be paid to ensuring that the milling cutter is free of burrs, rust, cracks, or other defects.

[0037] Step 4: Pre-shaping drug surface measurement and inspection: The operator uses a depth gauge to measure the depth of the drug surface before shaping to facilitate the calculation of the depth distance of the drug surface to be processed, and to avoid excessive cutting depth in the first cut, which may cause safety hazards; the operator checks and confirms the solution added to the collection container of the explosion-proof vacuum cleaner, ensuring that the solution level is above the safety green line. If not, the solution must be added to the level above the safety line. After checking and confirming that everything is correct, the on-site mode is switched to the remote automatic control mode, and all personnel are evacuated from the workshop to the remote control room.

[0038] Step 5: Orienting the propellant casing: See Figure 4No. 18 is the probe. In the control room, the operator opens the control computer to make a remote connection and remotely controls the robot's end effector to perform a tool setting operation on the mouth end face (base surface) of the charge housing to obtain the spatial position status of the charge housing, such as the tilt error of the charge housing. Based on the data results of the spatial position status of the charge housing, coordinate system alignment compensation can be performed to eliminate the influence of the tilt error of the charge housing on the charge surface shaping work.

[0039] Step 6: Milling trajectory programming planning: See Figure 5 On the control room's operating computer, the PQART industrial robot offline programming and simulation software is opened. Based on the propellant surface morphology of the warhead shell to be processed, the milling trajectory planning for the propellant surface is programmed, i.e., the programming and verification of the automatic propellant surface milling trajectory. The set process parameters for automatic propellant surface trimming are: milling cutter speed 60–120 r / min, depth of cut 2–4 mm, and feed rate 2–8 mm / s. This is then generated as a code program that the robot controller can call for the robot to execute.

[0040] Step 7 Milling trajectory verification: After the milling trajectory planning is completed, the robot is controlled to perform a no-load run verification according to the pre-set milling trajectory program. The entire no-load run process is observed remotely through video monitoring screen. Only after ensuring that the video monitoring screen is clear, without blind spots, and that there is no risk of the milling cutter colliding during operation can the powder surface shaping process be carried out.

[0041] Step 8: Milling of the Medicinal Surface: After verifying the milling trajectory, set the machining parameters for the medicinal surface on the control room's computer: robot end effector milling cutter speed 100 rpm, feed rate 6.25 mm / s, and depth of cut adjustable from 2 to 4 mm. Control the robot to automatically mill the starting medicinal surface, simultaneously opening the explosion-proof dust collector to collect the generated waste medicinal debris. See [link to relevant documentation]. Figure 6The entire process of propellant surface shaping is remotely observed via video monitoring. The depth of the propellant surface at the mouth of the projectile to be processed varies (each projectile has a different depth), potentially being too deep or too shallow. Multiple (cutting) passes are required (each cut depth must not exceed 4mm) to complete the propellant surface shaping. Therefore, during propellant surface shaping, the cutting depth must be calculated based on the pre-shaping measurement of the propellant surface depth. Taking an 8mm pre-shaping depth as an example, and a process requirement of 17mm, the calculated required depth is 9mm. Therefore, three or four passes are needed to complete the shaping. The first cut depth is set at 11mm (3mm depth), the second at 15mm (4mm depth), and the third at 17mm (2mm depth). This completes the propellant surface shaping of the projectile. During the shaping process, the control computer observed that the milling cutter temperature was consistent with the room temperature, showing no significant change; the milling cutter torque was 0.2 N.mm, and no equipment alarms were triggered due to excessive torque. The computer in the control room also displays real-time data collected by the equipment, including the milling cutter temperature (alarm temperature 35℃), rotation speed (alarm speed 200 r / min), and torque (alarm torque 0.39 N.mm). If any abnormality occurs, an alarm will sound and the shaping process will be stopped.

[0042] Step 9: Measurement of the drug surface after shaping: After the drug surface is processed, the operator observes the robot returning to its initial position through the video monitoring screen. The operator then switches the remote automatic control mode to the on-site mode and goes from the monitoring room to the drug surface shaping site. The inspector uses a depth gauge to measure the depth of the processed drug surface. The depth error of the drug surface is ≤ ±0.5mm. The operator visually observes that the drug surface is flat and free of defects such as cracks and pores.

[0043] Step 10 Post-processing of the charge casing: After the quality inspection of the shaped charge surface is completed, the operator will install the rear cover plate of the casing, use an explosion-proof electric hoist to lift the charge casing from the processing position, then put it into a packaging box, and finally use a transport vehicle to transport it out of the workshop.

[0044] Step 11 Waste Drug Collection and Storage: After the drug surface is shaped, the operator turns off the power to the equipment and shuts it down. The waste drug residue in the explosion-proof vacuum cleaner collection container is then collected and stored as hazardous chemical waste.

Claims

1. An automatic shaping device for the propellant surface of a PBX casting charge, characterized in that... A hydraulic lifting platform is installed inside the pit. The projectiles to be processed are placed on the hydraulic lifting platform and positioned and fixed by a projectile fixing frame installed on the platform. A rotating support is installed next to the pit, and an explosion-proof robot is installed on the upper part of the support. The end effector of the explosion-proof robot is equipped with an end effector. The end effector consists of a mounting plate and a milling cutter, an explosion-proof motor, a reducer, a workpiece aligner, an explosion-proof temperature sensor, and a vacuum cleaner docking piece mounted on the mounting plate. The milling cutter is fixedly installed at the lower end of the mounting plate and is driven by the transmission structure driven by the explosion-proof motor and reducer. The vacuum cleaner docking piece is located above the milling cutter and is connected to the pipeline of the explosion-proof vacuum cleaner by a reducing joint and clamp. An explosion-proof camera is also installed on the support. The control system in the remote control room controls all the above components.

2. The automatic shaping device for the propellant surface of a PBX casting container according to claim 1, characterized in that: The projectile curing rack is a product mounting plate on a hydraulic lifting platform. The product mounting plate is provided with a guide groove, and the projectile curing rack is positioned by the guide groove. A curing clamp is provided on the product mounting plate, and the projectile curing rack is vertically pressed and fixed by the curing clamp. The projectile curing rack is used to place and protect the projectile to be processed. The projectile to be processed is clamped by the projectile clamp installed on the upper end of the projectile curing rack.

3. The automatic shaping device for the propellant surface of a PBX casting container according to claim 1, characterized in that: The support system includes a support frame one and a support frame two. The support frame one is located next to the pit, and a rotating platform is located at the upper end of the support frame one. The support frame two is located on the rotating platform, and the support frame two can rotate through the rotating platform.

4. The automatic shaping device for the propellant surface of a PBX casting charge according to claim 1, characterized in that... A camera bracket is fixedly installed on the wall inside the work area for the projectiles to be processed. An explosion-proof camera connected to the control system is fixedly installed on the camera bracket to monitor the on-site environment and transmit on-site video information in real time. The staff in the remote control room can monitor the status of the equipment on-site in real time.

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