Flexible man-machine isolated production line for energetic material pressing

Abstract

The utility model provides a kind of flexible man-machine isolation production line for energetic material pressing, the production line includes automatic weighing unit, group mould disassembly mould charging unit, punch placement unit, pressing unit and control system;Group mould disassembly mould charging unit, punch placement unit and pressing unit are connected by material transfer module;The material transfer module includes first transmission unit, second transmission unit and the mobile trolley for bearing mould;The first transmission includes the roller way conveying line of group mould disassembly mould charging unit and punch placement unit, and the mobile trolley moves on roller way conveying line;Second transmission unit is the traction device between punch placement unit and pressing unit setting. It can effectively solve the problem of high personnel safety risk and poor process connection in the prior art.

Description

Technical Field

[0001] This utility model belongs to the technical field of energetic material production equipment, specifically relating to a flexible human-machine isolation production line for pressing energetic materials. Background Technology

[0002] Energetic materials possess flammable and explosive properties, necessitating extremely high safety and operational isolation requirements during their pressing and production processes. To address the safety risks associated with traditional manual operations, some automation improvements have emerged in the industry. For instance, patent document CN114184095B discloses an automatic pressing device and method for energetic powder materials based on servo pressurization. By incorporating a press head assembly station, a robotic arm, a conveyor belt, a positioning carrier, and a servo press, it achieves human-machine isolation during the pressing process of energetic powder materials, thus mitigating the safety hazards of manual operation to a certain extent.

[0003] However, existing technologies still have shortcomings. On the one hand, the structural design of this type of automated pressing device is highly targeted, with limited flexibility and adaptability, making it difficult to quickly adjust to meet the pressing requirements of energetic materials of different specifications and unable to adapt to the "multi-variety, small-batch" production organization mode. On the other hand, its material transfer relies solely on a single conveyor belt, and the coordination and connection between various process modules are not smooth enough. It lacks a heavy-duty adaptable and precisely positioned transfer mechanism, affecting production efficiency and product quality stability. In addition, existing devices have not formed a fully modular layout, and there is insufficient adaptation to unmanned operation of core high-risk processes such as energetic material assembly and pressing. There is no targeted isolation protection and automated operation mechanism, and the overall physical isolation protection is not perfect. There is also no unified control system to achieve integrated management of material flow and production data, resulting in insufficient traceability of the production process. Furthermore, the physical isolation protection of each functional area is not perfect, and there are no isolation protection measures for the production line. At the same time, other related technologies either focus on the automation of a single process or, although involving isolation layout, have not solved the core problems of flexible production and full-process collaborative control, making it difficult to meet the comprehensive requirements of modern energetic material production for safety, efficiency, flexibility, and data controllability. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible human-machine isolation production line for pressing energetic materials, which can effectively solve the problems of imperfect isolation and protection and poor process connection in the existing technology.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows: A flexible human-machine isolation production line for pressing energetic materials is characterized in that the production line is located in a production workshop and is divided into multiple independent functional rooms by explosion-proof partition walls, and the material flow between the functional rooms is realized through transfer windows set on the explosion-proof partition walls. The production line includes an automatic weighing unit, a mold assembly / disassembly / filling unit, a punch placement unit, a pressing unit, and a control system. The assembly, disassembly, and loading unit, punch placement unit, and pressing unit are connected via a material transfer module. The material transfer module includes a first transfer unit, a second transfer unit, and a mobile trolley for carrying the mold. The first transmission unit is a roller conveyor line that runs through the mold assembly, disassembly, and loading unit and the punch placement unit. The moving trolley moves on the roller conveyor line via rollers at its bottom. The second transmission unit is a traction device located between the punch placement unit and the pressing unit; the traction device is provided with a traction hook for engaging with a hook or slot on the moving trolley; The control system is electrically connected to each module and is used to control material flow and data management.

[0006] Furthermore, the automatic weighing unit includes a hopper, an explosion-proof vibration conveyor mechanism, a weighing electronic scale, a dispensing servo robot, and a material box; The bottom of the silo is equipped with a gate valve to control the outflow of materials; The explosion-proof vibration conveyor mechanism is a conveyor belt structure and is located below the material outlet of the silo. The discharge port of the explosion-proof vibration conveying mechanism is located directly above the weighing electronic scale; The dispensing servo robot is mounted above the weighing electronic scale via a slide rail, and both ends of the slide rail are fixed to the ground or wall via brackets; The end effector of the drug dispensing servo robot is a first pneumatic gripper, used to reliably grasp the flanges on both sides of the material box; The explosion-proof vibration conveying mechanism, weighing electronic scale, reweighing electronic scale, and drug dispensing servo robot are all connected to the control system.

[0007] Furthermore, the automatic weighing unit also includes a repeat weighing electronic scale, which is located below the slide rail of the dispensing servo robot and is arranged side by side with the weighing electronic scale on the same plane.

[0008] Furthermore, the assembly, disassembly, and loading unit includes a balance crane, a pneumatically assisted manipulator, a second pneumatic gripper, a pneumatic control mechanism, a control panel, and a mold; The suspension part of the balance crane is connected to the pneumatically powered manipulator; The pneumatically powered manipulator is equipped with a second pneumatic gripper at its end for gripping and positioning the mold; The second pneumatic gripper is arc-shaped and is used to fit the outer wall of the mold; The pneumatic control mechanism is connected to the pneumatic power-assisted manipulator via a high-pressure air pipe and provides power to the pneumatic power-assisted manipulator and the pneumatic gripper.

[0009] Furthermore, the module for assembling, disassembling, and loading the propellant also includes a control panel located in the operating room. The control panel is equipped with an enable button, an emergency stop switch, and a mode selection knob, and is connected to the gas circuit control mechanism and the control system via cables.

[0010] Furthermore, the punch placement unit includes a punch placement frame, a three-axis servo gantry manipulator, and a third pneumatic gripper; The punch holder is provided with a positioning groove that matches the shape of the punch; The truss frame of the three-axis servo truss manipulator is fixed to the floor of the operating room, and the crossbeam of the three-axis servo truss manipulator covers the punch placement rack and the docking station of the moving trolley in the material transfer module. The third pneumatic gripper is located at the end of the Z-axis lifting column of the three-axis servo gantry manipulator.

[0011] Furthermore, the pressing unit includes a press, and the worktable of the press is at the same height as the bearing surface of the mobile trolley.

[0012] Furthermore, the roller conveyor line in the first transmission unit is a heavy-duty friction roller conveyor composed of multiple rollers arranged in parallel; The mobile trolley is equipped with four rollers at its four corners, and the rollers sit on the rollers of the roller conveyor line. The platform of the mobile trolley is equipped with positioning posts, which cooperate with positioning holes under the mold base.

[0013] Furthermore, the traction device of the second transmission unit is located between the punch placement unit and the pressing unit. The traction device includes a motor and a traction rod. The traction rod is driven by the motor. The front end of the moving trolley is provided with a hook, and the end of the traction rod is provided with a traction hook that cooperates with the slot at the front end of the moving trolley.

[0014] Furthermore, the explosion-proof partition walls between each operating room are equipped with transfer windows for material isolation and transfer; The transfer window includes two door panels, a guide rail, a drive cylinder, and a mounting base; the guide rail is installed in a reserved opening in the explosion-proof partition wall, the door panels are connected to the guide rail, the piston rod end of the drive cylinder is connected to the door panel, and the drive cylinder is electrically connected to the control system; a mechanical limit block is provided on the guide rail.

[0015] Compared with existing technologies, this utility model achieves modular isolation of the production area through the combined design of explosion-proof partition walls and pass-through windows, improving the production safety of energetic materials and protecting the safety of operators. The modular layout for assembly, disassembly, loading, punch placement, and pressing, combined with a flexible material transfer system consisting of roller conveyors, mobile trolleys, and traction devices, enhances the collaborative efficiency and adaptability of each process. Simultaneously, the centralized control of the entire production process through the control system achieves integrated management of material flow and production data, ensuring the stability and traceability of product quality. This utility model features a reasonable overall structural design, convenient and reliable operation, and provides a safe, efficient, and flexible modern solution for the pressing production of energetic materials. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the automatic weighing unit. Figure 3 This is a structural diagram of the assembly, disassembly, and loading unit for the drug; Figure 4 This is a structural diagram of the punch placement unit; Figure 5 This is a schematic diagram of the pass-through window structure; In the diagram: 1. Automatic weighing unit; 11. Hopper; 12. Explosion-proof vibrating conveyor mechanism; 13. Dispensing servo robot; 14. Weighing scale; 15. Repeat weighing scale; 16. Material box; 17. Slide rail; 2. Mold assembly, disassembly, and loading unit; 21. Balance crane; 22. Pneumatically assisted manipulator; 23. Second pneumatic gripper; 24. Pneumatic control mechanism; 25. Control panel; 26. Mold; 3. Punch placement unit; 31. Three-axis servo gantry robot; 32. Third pneumatic gripper; 33. Gantry frame; 41. Door panel; 42. Guide rail; 43. Drive cylinder; 44. Limit block; 5. Press; 6. Moving trolley; 7. Roller conveyor line. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The terms such as "upper," "lower," "left," and "right" used in this specification are only for clarity of description and are not intended to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered as within the scope of implementation of the present invention.

[0018] like Figure 1As shown, a flexible human-machine isolation production line for pressing energetic materials is located in the production workshop and is divided into multiple independent functional rooms by explosion-proof partition walls. The material flow between the functional rooms is realized through transfer windows set on the explosion-proof partition walls.

[0019] The production line includes an automatic weighing unit, a mold assembly / disassembly / filling unit, a punch placement unit, a pressing unit, and a control system.

[0020] The control system is electrically connected to each module and is used to control material flow and data management.

[0021] The automatic weighing unit includes a hopper 11, an explosion-proof vibration conveyor mechanism 12, a weighing electronic scale 14, a dispensing servo robot 13, and a material box 16.

[0022] The bottom of the silo 11 is equipped with a gate valve to control the outflow of materials.

[0023] The explosion-proof vibration conveyor mechanism 12 is a conveyor belt structure, located below the discharge port of the silo 11, and is used to receive and horizontally convey energetic materials falling from the gate valve.

[0024] The discharge port of the explosion-proof vibration conveying mechanism 12 is located directly above the weighing scale 14, ensuring that the material can accurately fall into the material box 16 placed on the weighing pan of the weighing scale 14.

[0025] The dispensing servo robot 13 is mounted above the weighing scale 14 via a slide rail 17, with both ends of the slide rail 17 fixed by brackets. The end effector of the dispensing servo robot 13 is a first pneumatic gripper, capable of gripping the flanges on both sides of the material box 16.

[0026] To further avoid weighing errors, the automatic weighing unit also includes a repeat weighing scale 15, which is located below the slide rail 17 of the dispensing servo robot 13 and is arranged side by side with the weighing scale 14 on the same plane, with the weighing pans of the two being at the same height.

[0027] The explosion-proof vibration conveyor 12, weighing scale 14, reweighing scale 15, and dispensing servo robot 13 are all communicatively connected to the control system. The module assembly, disassembly, and dispensing module includes a balance crane 21, a pneumatically assisted robot 22, a second pneumatic gripper 23, a pneumatic control mechanism 24, and a control panel 25.

[0028] The suspension part of the balance crane 21 is connected to the pneumatic power-assisted manipulator 22. The pneumatic power-assisted manipulator 22 is provided with a second pneumatic gripper 23 at its end for gripping and positioning the mold 26. The second pneumatic gripper 23 is arc-shaped and is used to fit the cylindrical outer wall of the mold 26; The pneumatic control mechanism 24 is equipped with an air tank and is connected to the pneumatic power-assisted manipulator 22 via a high-pressure air pipe to provide pneumatic power.

[0029] The control panel 25 is equipped with an enable button, an emergency stop switch, and a mode selection knob, and is connected to the pneumatic control mechanism 24 and the control system via cables.

[0030] The pneumatic control mechanism 24 integrates a gas shortage protection function, which automatically locks mechanically when the gas source pressure is lower than the set value, and an overspeed protection function, which triggers an alarm and decelerates the robot arm when its movement speed exceeds the limit. The intelligent lock-up protection of the pneumatic control mechanism is a relatively mature existing technology in this field, and its principle will not be elaborated here.

[0031] The mold 26 includes a mold sleeve and a punch, and is engaged with the moving trolley 6 through a positioning structure.

[0032] The punch placement unit includes a punch placement frame, a three-axis servo gantry robot 31, and a third pneumatic gripper 32.

[0033] The punch holder is provided with a positioning groove that matches the shape of the punch.

[0034] The truss frame 33 of the three-axis servo truss manipulator 31 is fixed to the floor of the operating room, and the crossbeam of the three-axis servo truss manipulator 31 covers the parking position of the punch placement rack and the moving trolley 6 in the material transfer module.

[0035] The third pneumatic gripper 32 is located at the end of the Z-axis lifting column of the three-axis servo gantry manipulator 31.

[0036] The maximum handling load of the three-axis servo gantry robot 31 is not less than 200kg, and the repeatability is ±0.1mm. The control system is networked and executes the gripping and placement program after receiving the arrival signal of the mobile trolley 6.

[0037] The pressing unit includes a press 5, which is fixed to the floor of the pressing room, and its worktable is at the same height as the bearing surface of the mobile trolley 6.

[0038] The mold assembly / disassembly / filling unit, punch placement unit, and pressing unit are connected through a material transfer module to form a circulation loop for the mold 26.

[0039] The material transfer module includes a first transfer unit and a second transfer unit.

[0040] The first transmission unit includes a roller conveyor line 7 that runs through the mold assembly and disassembly unit and the punch placement unit, and a moving trolley 6 on the roller conveyor line 7 for carrying the mold 26.

[0041] The roller conveyor line 7 in the first transmission unit is a heavy-duty friction roller conveyor composed of multiple rollers arranged in parallel.

[0042] The mobile trolley 6 has four rollers installed at its four corners at the bottom, and a hook is provided at the front end of the mobile trolley 6. The rollers sit on the rollers of the roller conveyor line 7.

[0043] The platform of the mobile trolley 6 is provided with a positioning post, which cooperates with the positioning hole under the base of the mold 26.

[0044] When the moving trolley 6 reaches the designated station (such as the mold assembly station or the punch assembly station), the control system controls the drive motor to increase the torque, so that the frictional torque between the roller and the trolley roller is greater than the rolling resistance torque of the roller, forcing the roller to stop rotating, thus achieving precise positioning and locking of the trolley.

[0045] The second transmission unit is a traction device located between the punch placement unit and the pressing unit; the traction device is provided with a traction hook that cooperates with the hook or slot on the moving trolley 6; The traction device includes a motor and a traction rod. The traction rod is driven by the motor. The end of the traction rod is provided with a traction hook that forms a concave-convex fit with the slot at the front end of the moving trolley 6. When the traction rod is running, the traction hook hooks the slot and drives the moving trolley 6 into the pressing chamber until it reaches the working area of ​​the press 5.

[0046] The explosion-proof partition walls between each operating room are equipped with transfer windows for material isolation and transfer; The transfer window includes two door panels 41, a guide rail 42, a drive cylinder 43, and a mounting base. The guide rail 42 is welded into the reserved opening in the explosion-proof partition wall. The door panels 41 are connected to the guide rail 42. The piston rod end of the drive cylinder 43 is connected to the door panel 41. The drive cylinder 43 is controlled to open and close by setting a control button or a control system program. Mechanical limit blocks are provided on both sides of the guide rail 42 to prevent the door panels 41 from being opened excessively.

[0047] Furthermore, in this embodiment, the transfer window includes an automatic transfer window and a manual transfer window; wherein, the automatic transfer window is controlled by the control system program to open and close, and is mainly used to connect the core production areas such as the mold assembly / disassembly / filling unit 2, the punch placement unit 3, and the pressing unit, so as to realize the automatic flow of the mold 26; the manual transfer window is set on the explosion-proof partition wall of the work room where the automatic weighing unit 1 is located, and is controlled by a control button set next to the manual transfer window, mainly used for the transfer of tools or weighed materials, reducing personnel movement between rooms at the source and improving intrinsic safety.

[0048] The working principle of the production line described in this embodiment: First, the control system issues a start command, opening the gate valve of the hopper 11 in the automatic weighing unit 1. Energetic materials are then conveyed via the explosion-proof vibration conveyor 12 to the weighing scale 14 for precise weighing. After weighing, the dispensing servo robot 13 picks up the material box 16 and transfers it to the re-weighing scale 15 for secondary verification, ensuring accurate material weight. After successful verification, since this embodiment includes a manual transfer window in the work area of ​​the automatic weighing unit 1, the material box 16 can be manually transferred to the work area of ​​the mold assembly / disassembly / filling unit 2. The transfer window is immediately closed after transfer to ensure safe isolation of the production areas of each module.

[0049] The mold assembly, disassembly, and loading unit 2 uses a pneumatically assisted manipulator 22 and an arc-shaped second pneumatic gripper 23 to grasp the mold 26 and place it on the moving trolley 6. The operator loads the energetic material from the material box 16 into the mold 26. After loading, the moving trolley 6 moves to the stopping position of the punch placement unit 3 via the bottom rollers on the heavy-duty friction roller conveyor 7 of the first transmission unit.

[0050] The three-axis servo gantry robot 31 of the punch placement unit 3 drives the third pneumatic gripper 32 to pick up the matching punch from the positioning groove of the punch placement rack and precisely place it in the preset position within the mold 26. Afterwards, The traction device of the second transmission unit is activated, the motor drives the traction rod to extend, and the traction hook cooperates with the hook / slot of the moving trolley 6 to smoothly pull the moving trolley 6 to the pressing unit. The bearing surface of the moving trolley 6 is at the same height as the worktable of the press 5 to ensure accurate positioning of the mold 26.

[0051] Finally, the press 5 of the pressing unit starts to complete the pressing operation of the energetic material. Throughout the process, the control system collects and manages information such as weighing data, transfer status, and pressing parameters in real time. After pressing, the mold 26 is transferred to the mold assembly, demolding, and loading unit 2 for demolding via a reverse process. Material transfer between the mold assembly, demolding, and loading unit 2, the punch placement unit 3, and the pressing unit is achieved through automated transfer windows on the explosion-proof partition wall, eliminating the need for personnel to enter the high-risk operation area. The above description is only a preferred embodiment of this utility model. Therefore, all equivalent changes or modifications made to the structure, features, and principles described in the claims of this utility model patent application are included within the protection scope of this utility model patent application.

Claims

1. A flexible human-machine isolation production line for pressing energetic materials, characterized in that, The production line is located in the production workshop and is divided into multiple independent functional rooms by explosion-proof partition walls. The material flow between the functional rooms is realized through the transfer windows set on the explosion-proof partition walls. The production line includes an automatic weighing unit, a mold assembly / disassembly / filling unit, a punch placement unit, a pressing unit, and a control system. The assembly, disassembly, and loading unit, punch placement unit, and pressing unit are connected via a material transfer module. The material transfer module includes a first transfer unit, a second transfer unit, and a mobile trolley for carrying the mold. The first transmission unit is a roller conveyor line that runs through the mold assembly, disassembly, and loading unit and the punch placement unit. The moving trolley moves on the roller conveyor line via rollers at its bottom. The second transmission unit is a traction device located between the punch placement unit and the pressing unit; the traction device is provided with a traction hook for engaging with a hook or slot on the moving trolley; The control system is electrically connected to each module and is used to control material flow and data management.

2. The flexible human-machine isolation production line for pressing energetic materials according to claim 1, characterized in that, The automatic weighing unit includes a hopper, an explosion-proof vibration conveyor mechanism, a weighing electronic scale, a dispensing servo robot, and a material box; The bottom of the silo is equipped with a gate valve to control the outflow of materials; The explosion-proof vibration conveyor mechanism is a conveyor belt structure and is located below the material outlet of the silo. The discharge port of the explosion-proof vibration conveying mechanism is located directly above the weighing electronic scale; The dispensing servo robot is mounted above the weighing electronic scale via a slide rail, and both ends of the slide rail are fixed to the ground or wall via brackets; The end effector of the drug dispensing servo robot is a first pneumatic gripper, used to reliably grasp the flanges on both sides of the material box; The explosion-proof vibration conveying mechanism, weighing electronic scale, reweighing electronic scale, and drug dispensing servo robot are all connected to the control system.

3. A flexible human-machine isolation production line for pressing energetic materials according to claim 2, characterized in that, The automatic weighing unit also includes a repeat weighing scale, which is located below the slide rail of the dispensing servo robot and is arranged side by side with the weighing scale on the same plane.

4. A flexible human-machine isolation production line for pressing energetic materials according to claim 1, characterized in that, The assembly, disassembly, and loading unit includes a balance crane, a pneumatically assisted manipulator, a second pneumatic gripper, a pneumatic control mechanism, a control panel, and a mold. The suspension part of the balance crane is connected to the pneumatically powered manipulator; The pneumatically powered manipulator is equipped with a second pneumatic gripper at its end for gripping and positioning the mold; The second pneumatic gripper is arc-shaped and is used to fit the outer wall of the mold; The pneumatic control mechanism is connected to the pneumatic power-assisted manipulator via a high-pressure air pipe and provides power to the pneumatic power-assisted manipulator and the pneumatic gripper.

5. A flexible human-machine isolation production line for pressing energetic materials according to claim 4, characterized in that, The module for assembling, disassembling, and loading the propellant also includes a control panel located in the operating room. The control panel is equipped with an enable button, an emergency stop switch, and a mode selection knob, and is connected to the gas circuit control mechanism and the control system via cables.

6. A flexible human-machine isolation production line for pressing energetic materials according to claim 1, characterized in that, The punch placement unit includes a punch placement frame, a three-axis servo gantry manipulator, and a third pneumatic gripper. The punch holder is provided with a positioning groove that matches the shape of the punch; The truss frame of the three-axis servo truss manipulator is fixed to the floor of the operating room, and the crossbeam of the three-axis servo truss manipulator covers the punch placement rack and the docking station of the moving trolley in the material transfer module. The third pneumatic gripper is located at the end of the Z-axis lifting column of the three-axis servo gantry manipulator.

7. A flexible human-machine separation production line for pressing energetic materials according to claim 1, characterized in that, The pressing unit includes a press, and the worktable of the press is at the same height as the bearing surface of the moving trolley.

8. A flexible human-machine separation production line for pressing energetic materials according to claim 1, characterized in that, The roller conveyor line in the first transmission unit is a heavy-duty friction roller conveyor composed of multiple rollers arranged in parallel. The mobile trolley is equipped with four rollers at its four corners, and the rollers sit on the rollers of the roller conveyor line. The platform of the mobile trolley is equipped with positioning posts, which cooperate with positioning holes under the mold base.

9. A flexible human-machine isolation production line for pressing energetic materials according to claim 8, characterized in that, The traction device of the second transmission unit is located between the punch placement unit and the pressing unit. The traction device includes a motor and a traction rod. The traction rod is driven by the motor. The front end of the moving trolley is provided with a hook, and the end of the traction rod is provided with a traction hook that cooperates with the slot at the front end of the moving trolley.

10. A flexible human-machine separation production line for pressing energetic materials according to claim 1, characterized in that, The explosion-proof partition walls between each operating room are equipped with transfer windows for material isolation and transfer; The transfer window includes two door panels, a guide rail, a drive cylinder, and a mounting base; the guide rail is installed in a reserved opening in the explosion-proof partition wall, the door panels are connected to the guide rail, the piston rod end of the drive cylinder is connected to the door panel, and the drive cylinder is electrically connected to the control system; a mechanical limit block is provided on the guide rail.

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