Discharging system for perforating bullets

Abstract

A discharging system for perforating bullets comprises a grabbing mechanism, a scraping mechanism, a wiping mechanism, an image collecting mechanism, a measuring mechanism, a dispensing mechanism, a feeding box mechanism, a material box conveying mechanism, a belt line mechanism and a curing goods shelf. The grabbing mechanism comprises a horizontal grabbing mechanical arm and a vertical grabbing mechanical arm, the horizontal grabbing mechanical arm grabs the perforating bullets, then the hollow areas of the perforating bullets face downwards, and the perforating bullets are transferred to the vertical grabbing mechanical arm. The vertical grabbing mechanical arm grabs perforating bullets and sequentially places the perforating bullets in the explosive scraping mechanism, the wiping mechanism, the image collecting mechanism, the measuring mechanism, the dispensing mechanism and the feeding box mechanism. The feeding box mechanism comprises an inner box carton located on the belt line mechanism, and the belt line mechanism places the inner box carton filled with perforating bullets to the curing goods shelf. The whole automation degree is high, the labor cost is reduced, the quality of the perforating bullets is guaranteed, the production efficiency of the perforating bullets is improved, quality tracing can be achieved through detection records, and the quality control level is improved.

Description

Technical Field

[0001] This utility model belongs to the field of perforation projectile processing technology, specifically relating to a perforation projectile feeding system. Background Technology

[0002] In the existing technology, the perforation projectile feeding process involves manually cleaning each pressed perforation projectile product, and then randomly selecting a portion of the products from thousands for inspection. If a certain number of the sampled products are good, the batch is considered qualified. However, this method cannot inspect all products, and manual inspection may have the risk of missed or false inspections. It is time-consuming and labor-intensive, and manual cleaning is inefficient, which affects the production efficiency of perforation projectiles. Utility Model Content

[0003] To address the aforementioned problems, the purpose of this utility model is to provide a feeding system for perforating projectiles, solving the technical problem that manual feeding of perforating projectiles is time-consuming, labor-intensive, and has low cleaning efficiency, thus affecting the production efficiency of perforating projectiles.

[0004] To achieve the above objectives, the technical solution adopted by this utility model includes:

[0005] A perforating ammunition feeding system includes a gripping mechanism, a scraping mechanism, a wiping mechanism, an image acquisition mechanism, a measuring mechanism, a dispensing mechanism, a loading box mechanism, a box conveying mechanism, a belt conveyor mechanism, and a curing shelf. The gripping mechanism includes a horizontal gripping robot and a vertical gripping robot. The horizontal gripping robot picks up the perforating ammunition with its hollow area facing down and transfers it to the vertical gripping robot. The vertical gripping robot picks up the perforating ammunition and places it sequentially into the scraping mechanism, the wiping mechanism, the image acquisition mechanism, the measuring mechanism, the dispensing mechanism, and the loading box mechanism. The loading box mechanism includes an inner carton located on the belt conveyor mechanism. The belt conveyor mechanism places the inner carton filled with perforating ammunition onto the curing shelf.

[0006] Preferably, the horizontal gripping manipulator includes a connecting rod, with a groove laterally formed on the front end face of the connecting rod, in which a first pneumatic support frame and a second pneumatic support frame are slidably disposed; a cylinder is provided at the rear end of the connecting rod, which is pulsatorically connected to the first and second pneumatic support frames, and the first and second pneumatic support frames can slide towards or away from each other in the cylinder; a first clamping block is detachably disposed on the first pneumatic support frame, and a second clamping block is detachably disposed on the second pneumatic support frame, the first and second clamping blocks are in the same horizontal plane, and the first and second clamping blocks have the same structure and are arranged in a mirror image symmetrical arrangement.

[0007] Preferably, the first pneumatic support frame and the second pneumatic support frame have the same structure and are arranged in a mirror symmetrical manner. The first pneumatic support frame includes a fixed section and a first mounting section that are integrally connected. The fixed section is connected to the slide groove via a slider.

[0008] Preferably, the slider includes an integrally connected sliding section and a second mounting section, the sliding section being slidably disposed within the groove, and the second mounting section being connected to the fixed section.

[0009] Preferably, the scraping mechanism includes a base, on which a scraper mounting seat, a scraper assembly, and a protective cover are arranged sequentially from bottom to top; the scraper mounting seat has a first inner cavity with an open top and multiple second inner cavities with open tops, and the multiple second inner cavities are arranged circumferentially outside the first inner cavity; a support block is vertically arranged in the middle of the first inner cavity, and a spring assembly is vertically arranged in the second inner cavity; the scraper assembly includes multiple mounting blocks corresponding one-to-one with the spring assembly, and a scraper is mounted on the side wall of the mounting block; a pressure block is also provided in the scraper mounting seat, the bottom end of the pressure block is connected to the spring assembly, and the top end can be connected to the mounting block; the upper end of the mounting block is connected to the protective cover, and the lower end of the mounting block is provided with a first inclined surface facing the support block; a second inclined surface is provided on the top of the support block corresponding to the position of the first inclined surface, and the first inclined surface and the second inclined surface can fit together.

[0010] Preferably, the spring assembly includes a spring seat, a spring post vertically disposed on the spring seat, and a compression spring sleeved on the spring post.

[0011] Preferably, the pressure block has a third inner cavity, a fourth inner cavity, and a fifth inner cavity from top to bottom; the mounting block extends into the third inner cavity; the spring column passes through the fifth inner cavity and enters the fourth inner cavity, with the top of the compression spring abutting against the top of the fifth inner cavity and the bottom abutting against the spring seat.

[0012] Preferably, the wiping mechanism includes a turntable and a first turntable disposed on the turntable. A mounting post is vertically disposed on the first turntable, and a second turntable is disposed at the top of the mounting post. Multiple perforated bullet wiping assemblies are disposed at intervals along the circumference on the second turntable. Each perforated bullet wiping assembly includes a base, a wiping head body, and a clamping body. The wiping head body and the clamping body are disposed opposite to each other on the base, and a perforated bullet clamping groove is formed between the wiping head body and the clamping body.

[0013] Preferably, the wiping head body and the clamping body are provided with a curved wiping surface on their opposite sides.

[0014] Compared with the prior art, the advantages of this utility model are:

[0015] (1) The feeding system for perforating bullets of this utility model has a high degree of automation through reasonable setting of component structure, which reduces labor costs, ensures the quality of perforating bullets, improves the production efficiency of perforating bullets, and enables quality traceability through inspection records, thereby improving the level of quality control.

[0016] (2) The present invention provides a feeding system for a perforating bullet. The design of the horizontal gripping manipulator enables rapid exchange of parts between the relatively set manipulators, shortens the operation time, and improves the product production efficiency.

[0017] (3) The present invention provides a feeding system for a perforating bullet. The horizontal gripping robot is equipped with a detachable pneumatic support frame and a clamping block. By simply replacing the clamping block with one of different size or gripping surface, it can be used to grip different parts. The overall structure is simple and easy to assemble, with high flexibility and better practical effect. The inner wall of the clamping block is also fitted with a pad to reduce the rigid impact between the robot and the gripped part, which can effectively avoid damage to the gripped part during the gripping process.

[0018] (4) The feeding system of the perforating bullet of this utility model uses the gravity of the perforating bullet shell to control the vertical movement of the mounting block, so as to realize the rapid and accurate adjustment of the position of the scraper. After the scraper enters the shell of the perforating bullet, the residual medicine on the inner wall of the shell of the perforating bullet can be removed by means of the rotating mechanism connected to the scraping mechanism, so as to realize the automatic scraping operation. After the scraping is completed, the scraper is quickly reset by the spring assembly, which meets the requirements of explosion protection and the requirements of the pyrotechnics industry, improves production efficiency, and realizes the separation of personnel and medicine.

[0019] (5) The present invention provides a feeding system for a perforating bullet. The wiping mechanism drives multiple perforating bullet wiping components set on the second turntable to rotate through the first turntable, thereby achieving comprehensive and uniform wiping and cleaning of the perforating bullet by the antistatic wiping foam set on the wiping head body. The wiping efficiency and uniformity of the perforating bullet are improved by automated operation and multi-station setting, and safety hazards are reduced. The present invention has a simple structure, is easy to operate, and is highly practical. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the following detailed description to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0021] Figure 1 This is a schematic diagram of the feeding system for the perforating projectile of this application;

[0022] Figure 2 yes Figure 1 A schematic diagram of the overall structure of a mid-level grasping robot;

[0023] Figure 3 yes Figure 2 Schematic diagram of the first pneumatic support frame structure;

[0024] Figure 4 yes Figure 2Schematic diagram of the first clamping block structure;

[0025] Figure 5 yes Figure 1 A schematic diagram of the scraping mechanism in traditional Chinese medicine during the scraping process;

[0026] Figure 6 yes Figure 5 Exploded view;

[0027] Figure 7 For is Figure 5 Schematic diagram of the intermediate pressure block structure;

[0028] Figure 8 yes Figure 1 A schematic diagram of the overall structure of the wiping mechanism;

[0029] Figure 9 yes Figure 8 A schematic diagram of a partial structure;

[0030] Figure 10 yes Figure 8 Schematic diagram of the mid-shot hole wiping assembly;

[0031] Figure 11 yes Figure 8 Schematic diagram of the first turntable structure.

[0032] The meanings of the labels in the diagram are as follows:

[0033] A. Material gripping mechanism, B. Scraping mechanism, C. Wiping mechanism, D. Image acquisition mechanism, E. Measuring mechanism, F. Dispensing mechanism, G. Material box loading mechanism, H. Material box conveying mechanism, I. Belt conveyor mechanism, J. Solidification rack;

[0034] A1-Connecting rod, A2-First pneumatic support frame, A3-Second pneumatic support frame, A4-Cylinder, A5-First clamping block, A6-Second clamping block, A7-Slider; A11-Slide groove; A21-Fixed section, A22-First mounting section; A51-Gripping section, A52-Trapezoidal block, A53-Padded layer; A71-Sliding section, A72-Second mounting section; A221-Trapezoidal slot;

[0035] B1-First base, B2-Scraper mounting seat, B3-Scraper assembly, B4-Protective cover, B5-Perforation cartridge case, B6-Shaped liner; B21-First inner cavity, B22-Second inner cavity, B23-Spring assembly, B24-Pressure block, B25-Support block; B31-Mounting block, B32-Scraper, B33-Radial limiting spring, B34-Connecting block; B231-Spring seat, B232-Spring column, B233-Compression spring; B311-First connecting section, B312-Second connecting section, B313-Third connecting section;

[0036] C1-Turntable, C2-First turntable, C3-Mounting post, C4-Second turntable, C5-Perforating bullet wiping assembly, C6-Elastic rod, C7-Antistatic brush, C8-Antistatic wiping foam, C9-Motor, C10-Perforating bullet; C21-First mounting hole; C41-Second mounting hole, C42-Third mounting hole; C51-Second base, C52-Wiping head body, C53-Clamping body, C54-Perforating bullet clamping groove; C511-Mounting slot. Detailed Implementation

[0037] The application is not limited to the specific embodiments described below. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of this application.

[0038] It should be noted that the directional terms mentioned herein are consistent with the specific directions on the paper in the accompanying drawings or the corresponding directions of the space shown in the drawings; all components and devices in this application, unless otherwise specified, are components and devices known in the prior art.

[0039] Example 1

[0040] This embodiment discloses a feeding system for perforating bullets, including a gripping mechanism A, a scraping mechanism B, a wiping mechanism C, an image acquisition mechanism D, a measuring mechanism E, a dispensing mechanism F, a loading box mechanism G, a box conveying mechanism H, a belt conveyor mechanism I, and a curing shelf J. The gripping mechanism A includes a horizontal gripping robot and a vertical gripping robot. The horizontal gripping robot grips the perforating bullet with its hollow area facing down and transfers the perforating bullet to the vertical gripping robot. The vertical gripping robot grips the perforating bullet and places it sequentially into the scraping mechanism B, the wiping mechanism C, the image acquisition mechanism D, the measuring mechanism E, the dispensing mechanism F, and the loading box mechanism G. The loading box mechanism G includes an inner carton located on the belt conveyor mechanism I. The belt conveyor mechanism I places the inner carton filled with perforating bullets onto the curing shelf J.

[0041] Its function is as follows: A horizontal gripping robot picks up the perforating bullets and adjusts their angle, then transfers them to a vertical gripping robot to sequentially place the scraping mechanism B, wiping mechanism C, image acquisition mechanism D, measuring mechanism E, and dispensing mechanism F for scraping, wiping, defect detection, indentation and coaxiality measurement, dispensing, and coding. Finally, qualified perforating bullets are placed into inner cardboard boxes and conveyed to the curing shelf J by a belt conveyor mechanism I, where they await the curing of the adhesive. The overall automation level is high, reducing labor costs, ensuring the quality of perforating bullets, improving the production efficiency of perforating bullets, and enabling quality traceability through inspection records, thereby improving the level of quality control.

[0042] The image acquisition mechanism D disclosed in this embodiment can be a CCD camera, and it identifies the acquired images to determine whether the perforated bullet corresponding to the image has defects (such as cracks, deformation, damage, and shell loss). This process can use existing known image recognition algorithms. If the perforated bullet corresponding to the image has defects, the control device marks the perforated bullet as a defective product; otherwise, if the perforated bullet corresponding to the image has no defects, it is picked up by a vertical gripping robot and transferred to the measuring mechanism E.

[0043] The measuring mechanism E disclosed in this embodiment is an existing depth and coaxiality detection device, which can be a probe. If the perforating bullet does not meet the preset measurement conditions, the perforating bullet is marked as a defective product; conversely, if the perforating bullet meets the preset measurement conditions (including preset depth and preset coaxiality), the measuring mechanism E transmits the measurement data to the control device. The control device determines whether the measurement data (including depth data and / or coaxiality data) is qualified, gives the judgment result, and transmits the data value to the dispensing mechanism F for numerical control compensation.

[0044] In this embodiment, defective products marked by the collection mechanism D and the measuring mechanism E are picked up by a vertical gripping robot and placed in a defective product collection box.

[0045] The horizontal gripping manipulator of this embodiment includes a connecting rod A1. A groove A11 is opened horizontally on the front end face of the connecting rod A1. A first pneumatic support frame A2 and a second pneumatic support frame A3 are slidably arranged in the groove A11. A cylinder A4 is provided at the rear end of the connecting rod A1, which is pulsatorically connected to the first pneumatic support frame A2 and the second pneumatic support frame A3. The first pneumatic support frame A2 and the second pneumatic support frame A3 can slide towards or away from each other under the drive of the cylinder A4, thereby gripping or releasing the part to be gripped. A first clamping block A5 is detachably provided on the first pneumatic support frame A2, and a second clamping block A6 is detachably provided on the second pneumatic support frame A3. The first clamping block A5 and the second clamping block A6 are in the same horizontal plane and are arranged opposite each other.

[0046] As a preferred embodiment, the first pneumatic support frame A2 and the second pneumatic support frame A3 have the same structure and are arranged in a mirror image symmetrically; the first pneumatic support frame A2 includes a fixed section A21 and a first mounting section A22 that are integrally connected, and the fixed section A21 is slidably connected to the slide groove A11 via the slider A7.

[0047] As a preferred embodiment, the slider A7 includes an integrally connected sliding section A71 and a second mounting section A72. The sliding section A71 is slidably disposed in the slide groove A11, and the second mounting section A72 is connected to the fixed section A21.

[0048] As a preferred embodiment of this invention, such as Figure 3As shown, a trapezoidal slot A221 is provided on the inner side of the first installation section A22.

[0049] As a preferred embodiment, the first clamping block A5 and the second clamping block A6 have the same structure and are arranged in a mirror-symmetrical manner; for example Figure 4 As shown, the first clamping block A5 includes a gripping section A51, and a trapezoidal block A52 is provided on the outer surface of the gripping section A51, which can be detachably connected to the trapezoidal slot A221. With the help of the trapezoidal block A52 detachably connected to the trapezoidal slot A221, the first clamping block A5 can be quickly replaced to accommodate parts of different sizes.

[0050] As a preferred embodiment, the inner side of the gripping section A51 is concave to form an arc-shaped gripping surface, and a pad layer A53 is attached to the arc-shaped gripping surface.

[0051] In other embodiments, the inner side of the gripping section A51 forms gripping surfaces of other shapes. By replacing the gripping blocks with gripping surfaces of different shapes, parts of different shapes or sizes can be gripped. The overall structure is simple and easy to assemble, with high flexibility of use and better practical effect.

[0052] In a preferred embodiment, a first threaded hole is formed through the fixed section A21, and a second threaded hole is formed through the second mounting section A72. The fixed section A21 and the second mounting section A72 are connected by a first bolt passing through the first and second threaded holes. This detachable connection allows for the disassembly and connection of the first pneumatic support frame A2 and the second pneumatic support frame A3 with the connecting rod A1.

[0053] As a preferred embodiment, the gripping segment A51 has a third threaded hole, and the trapezoidal block A52 has a fourth threaded hole. The gripping segment A51 and the trapezoidal block A52 are connected by a second bolt passing through the third threaded hole and the fourth threaded hole.

[0054] Before use, select a first gripper A5 and a second gripper A6 with suitable shape and size. Connect the first gripper A5 to the first pneumatic support frame A2 using a trapezoidal slot and bolts, and connect the second gripper A6 to the second pneumatic support frame A3 using a trapezoidal slot and bolts. Then, connect the first pneumatic support frame A2, the second pneumatic support frame A3 and the connecting rod A1 using a slider A7 and a sliding groove A11. In use, start the cylinder A5 to drive the first pneumatic support frame A2 and the second pneumatic support frame A3 to slide towards or away from each other to grip or release the parts to be gripped.

[0055] In this embodiment, the scraping mechanism B1 has a scraper mounting seat B2, a scraper assembly B3, and a protective cover B4 arranged sequentially from bottom to top on the first base B1. The first base B1 and the scraper mounting seat B2 are inserted into each other. Specifically, the first base B1 has an open insertion hole at the top, and the lower end of the scraper mounting seat B2 is provided with a plug that matches the insertion hole.

[0056] like Figure 6 As shown, the scraper mounting base B2 has a first open inner cavity B21 and two second open inner cavities B22, which are symmetrically arranged on the left and right sides of the first inner cavity B21. A support block B25 is vertically arranged in the middle of the first inner cavity B21, and a spring assembly B23 is vertically arranged in the second inner cavity B22. The scraper assembly B3 includes two mounting blocks B31 that correspond one-to-one with the spring assembly B23, and a scraper B32 is mounted on the side wall of each mounting block B31. A pressure block B24 is also provided in the scraper mounting base B2. The bottom end of the pressure block B24 is connected to the spring assembly B23, and the top end can be connected to the mounting block B31. The upper end of the mounting block B31 is connected to the protective cover B4, and the lower end of the mounting block B31 has a first inclined surface on the side facing the support block B25. The top of the support block B25 has a second inclined surface corresponding to the first inclined surface, and the first inclined surface and the second inclined surface can fit together.

[0057] When the lower end of the mounting block B31 moves under the gravity of the perforated shell case B5, the first inclined surface moves along the second inclined surface. As the mounting block B31 moves downward, the scraper B32 enters the perforated shell case B5 to remove the powder adhering to the inner wall of the bottom of the perforated shell case B5.

[0058] As a preferred embodiment, the spring assembly B23 includes a spring seat B231, a spring post B232 vertically disposed on the spring seat B231, and a compression spring B233 sleeved on the spring post B232. During the downward movement of the pressure block B24 with the mounting block B31, the compression spring B233 can axially limit the pressure block B24, thereby limiting the downward movement of the scraper B32.

[0059] In a preferred embodiment, the pressure block B24 has a third inner cavity, a fourth inner cavity, and a fifth inner cavity from top to bottom; the mounting block B31 extends into the third inner cavity; the spring post B232 passes through the fifth inner cavity and into the fourth inner cavity; the top of the compression spring B233 abuts against the top of the fifth inner cavity and the bottom abuts against the spring seat B231. During the downward movement of the pressure block B24 along with the mounting block B31, the compression spring B233 can achieve axial limiting. After the scraping operation is completed and the perforation cartridge case is removed, the pressure block B24 can reset under the elastic force of the compression spring B233, thereby driving the scraper assembly B3 to reset.

[0060] As a preferred embodiment, a radial limiting spring B33 is embedded in the mounting block B31. One end of the radial limiting spring B33 is fixedly connected to the mounting block B31, and the other end is slidably connected to the inner wall of the second inner cavity. The radial limiting spring B33 is used to radially limit the mounting block B31.

[0061] In a preferred embodiment, the mounting block B31 includes a first connecting segment B311, a second connecting segment B312, and a third connecting segment B313 integrally connected from top to bottom. A step for mounting the scraper B32 is formed at the connection between the first connecting segment B311 and the second connecting segment B312. A radial mounting hole is provided in the third connecting segment B313, and a radial limiting spring B33 passes through the radial mounting hole. When the mounting block B31 moves downward, the bottom surface of the second connecting segment B312 can abut against the top surface of the scraper mounting seat B2, achieving limiting.

[0062] As a preferred embodiment, the outer contour of the protective cover B4 can match the inner contour of the propellant liner B6 disposed inside the cartridge case B5.

[0063] As a preferred embodiment, the top of the mounting block B31 is provided with a connecting block B34, which is connected to the protective cover B4.

[0064] As a preferred embodiment, there are two second inner cavities, and the two second inner cavities are symmetrically arranged on both sides of the support block B25.

[0065] As a preferred embodiment, there are two mounting blocks B31, and the two mounting blocks B31 are symmetrically arranged on both sides of the support block B25.

[0066] When the scraping mechanism B1 is in use, the propellant shroud B6 inside the perforated shell B5 to be wiped is placed on the protective cover B4. When the lower end of the mounting block B31 moves under the gravity of the perforated shell B5, the first inclined surface moves along the second inclined surface. As the mounting block B31 moves down, the scraper B32 enters the perforated shell B5 to remove the powder adhering to the bottom inner wall of the perforated shell B5.

[0067] The wiping mechanism C in this embodiment includes a turntable C1 and a first turntable C2 disposed on the turntable C1. A mounting post C3 is vertically disposed on the first turntable C2, and a second turntable C4 is disposed at the top of the mounting post C3. Four perforated spring wiping components C5 are disposed on the second turntable C4 at circumferential intervals. In other embodiments, the number of perforated spring wiping components C5 can be adjusted according to actual needs.

[0068] The perforation bullet wiping assembly C5 includes a second base C51, a wiping head body C52, and a clamping body C53. The wiping head body C52 and the clamping body C53 are disposed opposite each other on the second base C51, and a perforation bullet clamping groove C54 is formed between the wiping head body C52 and the clamping body C53. During wiping, the perforation bullet is clamped in the perforation bullet clamping groove C54. When rotating, the curved surface of the wiping head body C52 contacts the inner wall of the perforation bullet, applying pressure evenly to remove impurities.

[0069] The first turntable C2 is driven by a motor and can rotate 360°. Power is transmitted to the second turntable C4 via mounting post C3, allowing the second turntable C4 to also rotate 360°. The perforation bullet wiping assembly C5 is used to fix and wipe the perforation bullets. The shape, height, and width of the wiping head body C52 can be adjusted according to the type of perforation bullet.

[0070] As a preferred embodiment, the wiping head body C52 and the clamping body C53 are provided with curved wiping surfaces on their opposite sides.

[0071] In a preferred embodiment, the first turntable C2 has a first mounting hole C21 in the middle, and the second turntable C4 has a second mounting hole C41 extending through the middle. The bottom and top ends of the mounting post C3 extend into the first mounting hole C21 and the second mounting hole C41, respectively. In this embodiment, after the bottom end of the mounting post C3 passes through the first mounting hole C21, the mounting post C3 and the first turntable C2 can be fixed with bolts to ensure the stability of power transmission.

[0072] As a preferred embodiment, the upper surface of the second turntable C4 is provided with a plurality of third mounting holes C42, which are arranged at equal intervals around the second mounting hole C41 in the circumferential direction.

[0073] In a preferred embodiment, an elastic rod C6 for mounting the perforation bullet wiping assembly C5 is inserted into the third mounting hole C42. The elastic rod is detachably installed within the third mounting hole C42.

[0074] In a preferred embodiment, the lower surface of the second base C51 is provided with a mounting groove C511 that matches the elastic rod C6. The mounting groove C511 enables the insertion and engagement of the perforating spring wiping assembly C5 with the elastic post 6. The insertion design of the elastic rod C6 and the mounting groove C511 allows for quick replacement of perforating spring wiping assemblies C5 of different sizes, enhancing the adaptability of the device.

[0075] As a preferred embodiment, an anti-static brush C7 is also vertically disposed on the upper surface of the first turntable C2. The anti-static brush C7 solves the problem of impurities being attracted by static electricity during the wiping process.

[0076] As a preferred embodiment, the wiping head body C52 is fitted with an antistatic wiping foam C8.

[0077] As a preferred embodiment, the turntable C1 is equipped with a motor C9 for driving the first turntable C2 to rotate.

[0078] When in use, the wiping mechanism C installs the perforating bullet to be wiped on the perforating bullet wiping assembly. The perforating bullet C10 is clamped by the wiping head body C52, the clamping body C53 and the perforating bullet clamping groove C54. Then, the motor C9 is started, which drives the first turntable C2 to rotate, thereby driving the second turntable C4 and the perforating bullet wiping assembly C5 set on the second turntable C4 to rotate, so as to wipe and clean the perforating bullet C10.

[0079] Example 2

[0080] This embodiment discloses a method for feeding a perforating projectile, based on the perforating projectile feeding system disclosed in Embodiment 1, and specifically includes the following steps:

[0081] S1, the horizontal gripping robot grabs the perforated bullet and rotates it so that the hollow area of ​​the perforated bullet faces downward, and then transfers it to the vertical gripping robot for gripping.

[0082] S2, The vertical gripping robot places the perforating bullet into the scraping mechanism B for scraping treatment;

[0083] After the vertical gripping robot grasps the perforating bullet, this step involves first wiping the bullet on a first wiping cloth. The first wiping cloth is laid flat, meaning that the end of the perforating bullet (the side furthest from the bottom of the cartridge case) contacts and slides against the first wiping cloth. After this first wiping, the perforating bullet is placed into the scraping mechanism B for scraping.

[0084] S3, After the scraping treatment is completed, the vertical gripping robot grabs the perforating bullet again and places it into the wiping mechanism C for wiping treatment;

[0085] S4, After the wiping process is completed, the vertical gripping robot grabs the perforating bullet again and places it on the image acquisition mechanism D to obtain the image of the perforating bullet for defect detection.

[0086] If the perforating bullet corresponding to the image is defective, the control device marks the perforating bullet as defective and it is picked up by the vertical gripping robot and placed in the defective product collection box; otherwise, if the perforating bullet corresponding to the image is not defective, it is picked up by the vertical gripping robot and transferred to the measuring mechanism E.

[0087] S5. After the defect inspection is completed, the vertical gripping robot grabs the perforation bullet again and places it into the measuring mechanism E to measure the indentation and coaxiality.

[0088] If the perforating bullet does not meet the preset measurement conditions, it is marked as a defective product and picked up by the vertical gripping robot and placed in the defective product collection box; conversely, if the perforating bullet meets the preset measurement conditions (including preset depth and preset coaxiality), the measuring mechanism E transmits the measurement data to the control device, the control device determines whether the measurement data (including depth data and / or coaxiality data) is qualified, gives the judgment result, and transmits the data value to the dispensing mechanism F for numerical control compensation;

[0089] S6. After the indentation and coaxiality measurements are completed, the vertical gripping robot grabs the perforation bullet again and places it into the dispensing mechanism F for dispensing and coding.

[0090] S7. After the dispensing and coding operations are completed, the vertical gripping robot grabs the perforating bullets again and puts them into the inner carton. After the inner carton is full of perforating bullets, the belt conveyor I puts the inner carton full of perforating bullets into the curing shelf J.

[0091] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0092] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0093] Furthermore, the various implementation methods disclosed in this solution can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content of this disclosure.

Claims

1. A blanking system for a perforating charge, characterized by, It comprises a grabbing mechanism (A), a scraping mechanism (B), a wiping mechanism (C), an image acquisition mechanism (D), a measuring mechanism (E), a dispensing mechanism (F), a feeding box mechanism (G), a box conveying mechanism (H), a belt line mechanism (I) and a curing shelf (J). The grabbing mechanism (A) comprises a horizontal grabbing manipulator and a vertical grabbing manipulator, the horizontal grabbing manipulator grabs the perforating bullet and makes the hollow area of the perforating bullet face downward, and then transfers the perforating bullet to the vertical grabbing manipulator, and the vertical grabbing manipulator grabs the perforating bullet and sequentially places it in the scraping mechanism (B), the wiping mechanism (C), the image acquisition mechanism (D), the measuring mechanism (E), the dispensing mechanism (F) and the feeding box mechanism (G). The feeding box mechanism (G) comprises an inner box carton located on the belt line mechanism (I), and the belt line mechanism (I) places the inner box carton filled with perforating bullets on the curing shelf (J).

2. The downrange system of the perforating charge of claim 1, wherein, The horizontal grabbing manipulator comprises a connecting rod (A1), a sliding groove (A11) is formed on the front end face of the connecting rod (A1) in the transverse direction, and a first pneumatic support frame (A2) and a second pneumatic support frame (A3) are slidably arranged in the sliding groove (A11); a cylinder (A4) is arranged at the rear end of the connecting rod (A1) and is in transmission connection with the first pneumatic support frame (A2) and the second pneumatic support frame (A3); and the first pneumatic support frame (A2) and the second pneumatic support frame (A3) can slide towards or away from each other under the action of the cylinder (A4). A first clamping block (A5) is detachably arranged on the first pneumatic support frame (A2), and a second clamping block (A6) is detachably arranged on the second pneumatic support frame (A3); the first clamping block (A5) and the second clamping block (A6) are located in the same horizontal plane, and the first clamping block (A5) and the second clamping block (A6) are identical in structure and are mirror-symmetrically arranged.

3. The downrange system of the perforating charge of claim 2, wherein, The first pneumatic support frame (A2) and the second pneumatic support frame (A3) are identical in structure and are mirror-symmetrically arranged, the first pneumatic support frame (A2) comprises a fixed section (A21) and a first mounting section (A22) which are integrally connected, and the fixed section (A21) is connected with the sliding groove (A11) through a sliding block (A7).

4. The downrange system of the perforating charge of claim 3, wherein, The sliding block (A7) comprises a sliding section (A71) and a second mounting section (A72) which are integrally connected, the sliding section (A71) is slidably arranged in the sliding groove (A11), and the second mounting section (A72) is connected with the fixed section (A21).

5. The downrange system of any of claims 1-4, wherein, The scraping mechanism (B) comprises a first base (B1), and a scraper mounting seat (B2), a scraper assembly (B3) and a protective cover (B4) are sequentially arranged on the first base (B1) from bottom to top. A first inner cavity (B21) with an open top and a plurality of second inner cavities (B22) with open tops are formed in the scraper mounting seat (B2), and the plurality of second inner cavities (B22) are arranged on the outer side of the first inner cavity (B21) in the circumferential direction; a support block (B25) is vertically arranged in the middle of the first inner cavity (B21), and a spring assembly (B23) is vertically arranged in the second inner cavity (B22). The scraper assembly (B3) comprises a plurality of mounting blocks (B31) corresponding to the spring assemblies (B23), and a scraper (B32) is mounted on the side wall of the mounting block (B31); The scraper mounting seat (B2) is further provided with a pressing block (B24), the bottom end of the pressing block (B24) is connected with the spring assembly (B23), and the top end can be connected with the mounting block (B31); The upper end of the mounting block (B31) is connected with the protective cover (B4), and the lower end of the mounting block (B31) is provided with a first inclined surface on one side of the supporting block (B25); the top of the supporting block (B25) is provided with a second inclined surface corresponding to the position of the first inclined surface, and the first inclined surface and the second inclined surface can be attached.

6. The downrange system of the perforating charge of claim 5, wherein, The spring assembly (B23) comprises a spring seat (B231), a spring column (B232) vertically arranged on the spring seat (B231), and a compression spring (B233) sleeved on the spring column (B232).

7. The downrange system of the perforating charge of claim 6, wherein, The pressing block (B24) is provided with a third inner cavity, a fourth inner cavity and a fifth inner cavity from top to bottom; the mounting block (B31) is inserted into the third inner cavity; the spring column (B232) penetrates into the fourth inner cavity through the fifth inner cavity, and the top of the compression spring (B233) abuts against the top of the fifth inner cavity and the bottom abuts against the spring seat (B231).

8. The down-the-hole system of the perforating charge of claim 5, wherein, The wiping mechanism (C) comprises a rotating table (C1) and a first rotating disc (C2) arranged on the rotating table (C1), a mounting column (C3) is vertically arranged on the first rotating disc (C2), a second rotating disc (C4) is arranged at the top end of the mounting column (C3), and a plurality of perforating spring wiping assemblies (C5) are arranged on the second rotating disc (C4) in a circumferential direction. The perforating spring wiping assembly (C5) comprises a second base (C51), a wiping head body (C52) and a clamping body (C53), the wiping head body (C52) and the clamping body (C53) are arranged on the second base (C51) in opposition, and a perforating spring clamping groove (C54) is formed between the wiping head body (C52) and the clamping body (C53).

9. The down-the-hole system of the perforating charge of claim 8, wherein, Curved wiping surfaces are arranged on the opposite sides of the wiping head body (C52) and the clamping body (C53).

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