CN103776316B - Projectile fuze revolves the equipment of unloading and revolves discharging method - Google Patents
Projectile fuze revolves the equipment of unloading and revolves discharging method Download PDFInfo
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- CN103776316B CN103776316B CN201410021860.3A CN201410021860A CN103776316B CN 103776316 B CN103776316 B CN 103776316B CN 201410021860 A CN201410021860 A CN 201410021860A CN 103776316 B CN103776316 B CN 103776316B
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Abstract
The invention provides a kind of projectile fuze and revolve the equipment of unloading, comprise the electric control system of revolving and unloading and revolving described in main frame and connection control and unload main frame, described in revolve the dismantling tools unloading main frame and comprise workbench, be positioned at riveting point recognition device above shell and broken riveting device and engage with shell; Described riveting point recognition device is provided with the picture signal collector of the position data for gathering riveting point on shell, and described electric control system controls described broken riveting device according to riveting point position data and carries out brokenly riveting to riveting point.Compared with prior art, the present invention is by isolating broken riveting scene, greatly ensure the safety of operating personnel, utilize riveting point recognition device to carry out location confirmation accurately to shell riveting point simultaneously, and by broken riveting with revolve and unload two operations and unite two into one, activity duration and operation are greatly saved, meanwhile, utilize sensor technology and video monitoring apparatus, Real-Time Monitoring breaks riveting and revolves the process of unloading, make whole operation process more efficient and accurate, safer and stable.
Description
Technical field
The present invention relates to shell manufacturing technology, particularly relate to a kind of projectile fuze and revolve the equipment of unloading and revolve discharging method.
Background technology
Shell due to the particularity of himself, the operations such as the relative manufacturing, high all especially to security requirement.Therefore, need production and the manufacture of production technology guarantee safety and stability very accurately, revolve for projectile fuze and unload, this revolves, and to unload operation be a more common also considerable operation, if there is careless manipulation easily to set off an explosion, cause the personal injury of operating personnel, also damage manufacturing equipment simultaneously, therefore, security production technology just seems particularly important.
Existing projectile fuze revolves the equipment of unloading, automaticity is lower, revolve in the process of unloading at fuse, need on different stations, to carry out brokenly riveter sequence respectively and revolve unloading operation, operation process is comparatively loaded down with trivial details, and, depend on manual operation at present still greatlyr in broken riveter sequence, such as: for the adjustment of the identification of shell head riveting point, shell position, the operation etc. of broken riveting, this not only greatly limit the efficiency of operation, and easily occurs error, cause brokenly riveting not accurate, even damage shell and set off an explosion, therefore, there is great potential safety hazard.
Therefore, necessary provide a kind of brand-new projectile fuze to revolve the equipment of unloading and revolve discharging method solve above-mentioned technical problem.
Summary of the invention
Technical problem solved by the invention is to provide a kind of projectile fuze revolve the equipment of unloading and revolve discharging method, can improve fuse and revolve the efficiency and precision of unloading operation, ensure the security of operation process simultaneously.
For solving the problems of the technologies described above, the present invention adopts following technical scheme: a kind of projectile fuze revolves the equipment of unloading, comprise the electric control system of revolving and unloading and revolving described in main frame and connection control and unload main frame, described in revolve unload that main frame comprises workbench, the guide rail be positioned on workbench, the defeated bullet car be installed on guide rail, the dismantling tools that is positioned at riveting point recognition device above shell and broken riveting device and engages with shell; Described riveting point recognition device is provided with the picture signal collector of the position data for gathering riveting point on shell, and described electric control system controls described broken riveting device according to riveting point position data and carries out brokenly riveting to riveting point; The taper holding tank that described dismantling tools is provided with an accommodation shell head and the bearing pin engaged with shell head, be provided with the motor driving described dismantling tools to rotate and reverse in described workbench; Described defeated bullet car is provided with the fixture of fixing described shell, and this fixture is clamping shell when described dismantling tools rotates forward, and unclamps shell during reversion.
As the further improvement of the technical program, the pressing plate that described fixture is provided with a back-up block and is positioned at above back-up block, described back-up block surface is provided with a V-type groove.
As the further improvement of the technical program, described broken riveting device is positioned at directly over described shell head, and comprising brokenly riveting motor, sensor and the drill bit by described broken riveting driven by motor, described drill bit realizes lateral displacement and axial feed motion under the driving of described broken riveting motor.
As the further improvement of the technical program, described projectile fuze revolves the equipment of unloading and also comprises the protective door that is positioned at described guide rail end, this protective door is connected with described electric control system, and described protective door is provided with the sensor whether passed through for sensing defeated bullet car, described sensor is connected with described electric control system.
As the further improvement of the technical program, described electric control system, by the data feedback of sensor, controls the lifting of protective door, and after defeated bullet car passes through protective door along guide rail, described electric control system controls described protective door and declines.
A kind of projectile fuze revolves discharging method, and it comprises the steps:
First, shell is loaded on revolve and unloads on the defeated bullet car of main frame, along guide rail shell to be delivered to by defeated bullet car and to revolve the fuse unloading main frame and revolve and unload on working position, and shell head is engaged with dismantling tools;
Then, by riveting point recognition device determination shell head riveting point position, starter motor rotates, and makes it drive dismantling tools to rotate forward, then drives fixture to rotate forward together with shell by dismantling tools, makes brokenly the drill bit of riveting device align riveting point;
Then, start broken riveting device, make bit and realize broken riveting to the motion of riveting point position, riveting point abolishes rear drill bit reposition;
Then, keep shell position motionless, control motor and dismantling tools is reversely rotated, cause fixture and shell to unclamp, realize fuse and revolve and unload;
Finally, utilize defeated bullet car shell to be transported out of fuse to revolve and unload working position.
As the further improvement of the technical program, arrange a protective door, and arrange sensor at the end of guide rail on protective door, when defeated bullet car is transported to protective door, described protective door rises automatically.
As the further improvement of the technical program, when shell head engages with described dismantling tools, dismantling tools arranges a bearing pin, and one end of bearing pin is snapped in the pin-and-hole of shell head, realize the engaging location of shell and dismantling tools.
Compared with prior art, projectile fuze of the present invention revolves the equipment of unloading by being isolated at broken riveting scene, greatly ensure the safety of operating personnel, utilize riveting point recognition device to carry out location confirmation accurately to shell riveting point simultaneously, control brokenly riveting device via electric control system again and riveting operation is carried out brokenly to riveting point, and by broken riveting with revolve and unload two operations and unite two into one, same station can complete, activity duration and operation are greatly saved, simultaneously, utilize sensor technology and video monitoring apparatus, implement the broken riveting of monitoring and revolve the process of unloading, make whole operation process more efficient and accurate, safer and stable.
Accompanying drawing explanation
Fig. 1 be projectile fuze of the present invention revolve the equipment of unloading revolve the schematic perspective view unloading main frame.
Fig. 2 is the simplified schematic diagram that projectile fuze of the present invention revolves the depression angle of the equipment of unloading.
Fig. 3 be projectile fuze of the present invention revolve the equipment of unloading revolve the side view unloading main frame.
Fig. 4 is the engaging schematic diagram revolving dismantling tools and the shell head unloading main frame of the present invention.
Fig. 5 is that defeated bullet car of the present invention is revolving the movement locus figure unloaded on the guide rail of main frame.
Fig. 6 is the schematic diagram revolving the broken riveting device unloading main frame of the present invention.
Fig. 7 is the structural representation of fixture on defeated bullet car of the present invention.
Detailed description of the invention
Refer to shown in Fig. 1, the invention provides a kind of projectile fuze and revolve the equipment of unloading, comprise revolving and unload main frame 100, electric control system and video monitoring system.Operating personnel unload main frame 100 at operating room carry out isolated operation to revolving, and revolve to unload main frame 100 and be isolated in flame proof by flame proof wall and protective door 70, carry out brokenly riveting and revolve the work of unloading, as shown in Figure 2.
Described revolve unload that main frame 100 comprises workbench 10, the guide rail 20 be fixed on workbench 10, the defeated bullet car 30 be installed on guide rail 20, riveting point recognition device 40, broken riveting device 50 and dismantling tools 60.Describedly revolve that to unload main frame 100 are mechanical bodies that whole fuse revolves the equipment of unloading, it is for performing clamping shell 300, rotary bullet 300, abolishing riveting point, revolving mechanical movements such as unloading fuse.
Described workbench 10 is for providing a workbench for the whole riveter of revolving, it supports the parts such as described guide rail 20, defeated bullet car 30, dismantling tools 60, and be provided with motor 1(in workbench 10 as stepper motor) and transmission device (as driving belt etc.), for providing power support to defeated bullet car 30, dismantling tools 60 etc.Described guide rail 20 level frame is located on described workbench 10, is connected, for the transport process of defeated bullet car 30 provides displacement circuit bottom itself and described defeated bullet car 30.Described defeated bullet car 30 is provided with the fixture 31 clamping described shell 300 and the auxiliary support frame 32 supporting described shell 300 afterbody, described fixture 31 and bracing frame 32 are for supporting shell 300 and being fixed on described defeated bullet car 30, shell 300 is delivered to fuse and revolves and unload on working position by described defeated bullet car 30 under the drive of motor, wherein, the ball-screw 21(of connection motor is provided with as shown in Figure 5) below described guide rail 20, for realizing the power transmission to defeated bullet car 30, make defeated bullet car 30 can along guide rail 20 displacement; In best mode for carrying out the invention, the pressing plate 33 that described fixture 31 is provided with a back-up block 32 and is positioned at above back-up block 32, described back-up block 32 surface is provided with a V-type groove 34, for holding shell 300, shown in please refer to the drawing 7, described pressing plate 33 is positioned at directly over described V-type groove 34, for pushing down the top of shell 300, shell 300 can be positioned in described V-type groove 34.
Described dismantling tools 60 is provided with a taper holding tank 61, for holding the conical nose (i.e. fuse) of shell 300, shell 300 head being placed in the process in this holding tank 61, being called " to groove ".Described dismantling tools 60 is also provided with a bearing pin 62, this bearing pin 62 protrudes out to described shell 300 and exceeds described holding tank 61, and the end of bearing pin 62 snaps in the pin-and-hole 63 of shell 300 head (i.e. fuse), as shown in Figure 4, so fuse and dismantling tools 60 are located mutually.
Described riveting point recognition device 40 is core with high-performance computer, and employing video image identification technology identifies one by one to the riveting point on shell 300 automatically, localization and tracking, and it utilizes image acquisition device to hole for broken riveting and provides the position data of riveting point.Specifically, described riveting point recognition device 40 comprises picture signal collector (as camera), message handler, logic controller and communication and transport module.Described picture signal collector mainly completes collection to analog video signal and digitized processing; The various pretreatment of the riveting dot image data after digitlization and to identification, the location of riveting point and follow the tracks of computing, then complete in message handler; The Main Function of logic controller is that other three parts are correct, orderly, steady operation provides required logic control in order to coordinate; Described communication and transport module then for where necessary the result of computing and identification being transferred to computer (i.e. Master Control Unit described later), to strengthen controllability and the extensibility of system, set up the data channel of feature board and intercomputer.
As shown in Figure 6, described broken riveting device 50 is positioned at directly over described shell 300 fuse, it comprise brokenly riveting motor B-D, sensor 51, by the drill bit 52 of described broken riveting driven by motor and the measuring stick 53 that is positioned at above drill bit 52.Broken riveting device 50 is under the control of double-spindle numerical control system, can realize drill bit 52 align riveting point transverse shifting and boring time axial feed (described broken riveting motor comprises two kinds, it can realize lateral displacement and the axial feed of drill bit 52 respectively), like this, drill bit 52 can be made can to move in the horizontal direction adjustment position to riveting point place, then make drill bit 52 to the motion of riveting point, realize broken riveter sequence.The double-spindle numerical control motor pattern that broken riveting device 50 has, can automatically eliminate the riveting point site error caused due to shell axial length error, avoid artificial adjustment; The broken riveting degree of depth also can accomplish accurate control, thus it is high to reach brokenly riveting efficiency, the object of good reliability.
Described electric control system is used for the various piece that the whole fuse of connection control revolves the equipment of unloading, it motion control unit comprising Master Control Unit, be connected with Master Control Unit.The riveting point position data that described Master Control Unit is obtained by described riveting point recognition device 40, and these data are sent to described Master Control Unit, Master Control Unit is according to the riveting point position data of results, command signal is sent to motion control unit, thus the control realized motion control unit, described motion control unit drived control and each motor described and executing agency, thus realize position adjustment, clamping shell 300, rotary bullet 300, broken riveting, revolve a series of mechanical movements such as unloading fuse.In addition, described motion control unit comprises control centre, detection module, power driver module, the state of described each executing agency of detection module Real-Time Monitoring and moving component and location information data, and by these data feedbacks to control centre, the action of each executing agency and parts is controlled by control centre, as: the lifting of protective door 70, the reciprocating motion of defeated bullet car 30, the rotation of shell 300, the lifting etc. of drill bit.
Video monitoring system is the supervising device of equipment, can monitor in real time device interior each mechanical device work operational situation, is convenient to equipment operating operating personnel and has a clear understanding of shell 300 and revolve the progress of work of unloading, can dispose in time unusual condition.Described video monitoring system comprises monitoring probe, monitor and DVR.Described protective door 70 is positioned at the end of guide rail 20, and as shown in Figure 5, it can realize lifting under the control of electric control system, is the safety curtain between flame proof and between operating room, is also the passage that shell is transported between isolation simultaneously.
During operation, whole workflow is divided into following steps, is respectively: the first, shoot and transport bullet on working position; The second, riveting point is identified; Three, broken riveting; Four, revolve and unload fuse; Five, shell 300 to operating room is transported back.Specifically:
First, shell 300 is loaded on defeated bullet car 30, by the drive of motor, shell 300 is delivered to fuse by defeated bullet car 30 to revolve and unload on working position, and 300, shell is coordinated with described dismantling tools 60, the bearing pin 62 on dismantling tools 60 is snapped in the pin-and-hole on 300, shell, realizes fuse location.
Then, the axial and circumferential position of the riveting point on fuse is determined by described riveting point recognition device 40, under the control of electric control system, motor B starts to rotate, shown in please refer to the drawing 6, drive the broken axial microdisplacement of riveting device 50, see Fig. 3 by the motor A(in workbench 10) drive the main shaft 64 of dismantling tools 60, thus drive fixture 31 low speed rotation together with shell 300 by dismantling tools 60, make brokenly the drill bit of riveting device 50 align riveting point.Wherein, in the rotation process of shell 300, continue to follow the tracks of to the position of riveting point, when to forward to relative to the angle of camera axis be 0 to riveting point, the success of riveting point location, now, riveting point is positioned at immediately below drill bit.
Then, riveting is carried out brokenly.The drill bit of described broken riveting device 50 starts to rotate, and see Fig. 6 by motor 4() drive broken riveting device 50 to decline by ball-screw (not shown), described electric control system control drill bit starts drilling according to predetermined depth and breaks riveting, drill bit reposition after drilling, then shell 300 continues to rotate, and repeats said process, forward the place that second will be broken riveting to, identify and locate second riveting point, again broken riveting, until all rivetings point is abolished complete.Wherein, in the process of broken riveting, described broken riveting device 50 motion process comprises quick decline, work is entered, work is moved back, the course of work such as rising fast, meanwhile, controlled the degree of depth of broken riveting by displacement transducer, ensure the security of broken riveting.
Then, revolve and unload fuse.Described broken riveting device completes after riveting point abolishes, and promote drill bit, drill bit and fuse are departed from, and fixture 31 keeps clamped condition, now control motor 1 makes described dismantling tools main shaft 64 reverse, and realizes fuse and revolves and unload.It is worth mentioning that, this revolves the operation of unloading fuse and still carries out on the position of aforementioned broken riveter sequence, fixture of the present invention, clamp when shell rotates forward, and loosen when reversing, therefore, make brokenly riveting and revolve to unload two procedures and can unite two into one, same position can carry out.
Finally, defeated bullet car is utilized to be transported out of to revolve by shell and unload working position.In this process, described fixture 31 is automatically opened under the control of electric control system, protective door 70 rises automatically, described defeated bullet car 30 is back to and shoots position (namely in operating room), by operating personnel, the shell 300 after unloading is revolved in broken riveting to take off from defeated bullet car 30, whole fuse revolves the process of unloading to be terminated, and reinstalls next shell 300, starts next circulation.
Fuse of the present invention revolves the working method that the equipment that unloads adopts isolated operation, revolve and unload main frame 100 in flame proof, and manipulation and video monitoring can be realized in operating room, one protective door 70 is set between flame proof and between operating room, as the passage transporting shell 300, the original state of described protective door 70 is closed condition, the initial position of described defeated bullet car 30 is positioned at operation room outer between flame proof, shell 300 is placed on defeated bullet car 30 by operator, then after starting electric control system, described protective door 70 rises automatically, then control defeated bullet car 30 by electric control system to move in flame proof along guide rail 20, after it is by the position of protective door 70, system sends protective door 70 and to decline (namely close) instruction, until door is closed completely, described protective door 70 arranges sensor, for whether sensing defeated bullet car 30 by this protective door 70, and the data feedback extremely described electric control system that will sense, controlled the lifting of protective door 70 according to feedback data by electric control system.
In sum, projectile fuze of the present invention revolves the equipment of unloading by being isolated at broken riveting scene, greatly ensure the safety of operating personnel, utilize riveting point recognition device to carry out location confirmation accurately to shell riveting point simultaneously, control brokenly riveting device via electric control system again and riveting operation is carried out brokenly to riveting point, and by broken riveting with revolve and unload two operations and unite two into one, same station can complete, activity duration and operation are greatly saved, simultaneously, utilize sensor technology and video monitoring apparatus, implement the broken riveting of monitoring and revolve the process of unloading, make whole operation process more efficient and accurate, safer and stable.
The above; it is only most preferred embodiment of the present invention; not any pro forma restriction is done to the present invention; any those of ordinary skill in the art; do not departing under technical solution of the present invention ambit; utilize the method content of above-mentioned announcement to make many possible variations and modification to technical solution of the present invention, all belong to the scope of claims protection.
Claims (8)
1. a projectile fuze revolves the equipment of unloading, comprise the electric control system of revolving and unloading and revolving described in main frame and connection control and unload main frame, it is characterized in that: described in revolve unload that main frame comprises workbench, the guide rail be positioned on workbench, the defeated bullet car be installed on guide rail, the dismantling tools that is positioned at riveting point recognition device above shell and broken riveting device and engages with shell; Described riveting point recognition device is provided with the picture signal collector of the position data for gathering riveting point on shell, and described electric control system controls described broken riveting device according to riveting point position data and carries out brokenly riveting to riveting point; The taper holding tank that described dismantling tools is provided with an accommodation shell head and the bearing pin engaged with shell head, be provided with the motor driving described dismantling tools to rotate and reverse in described workbench; Described defeated bullet car is provided with the fixture of fixing described shell, and this fixture is clamping shell when described dismantling tools rotates forward, and unclamps shell during reversion.
2. projectile fuze according to claim 1 revolves the equipment of unloading, and it is characterized in that: the pressing plate that described fixture is provided with a back-up block and is positioned at above back-up block, and described back-up block surface is provided with a V-type groove.
3. projectile fuze according to claim 2 revolves the equipment of unloading, it is characterized in that: described broken riveting device is positioned at directly over described shell head, and comprising brokenly riveting motor, sensor and the drill bit by described broken riveting driven by motor, described drill bit realizes lateral displacement and axial feed motion under the driving of described broken riveting motor.
4. projectile fuze according to claim 3 revolves the equipment of unloading, it is characterized in that: described projectile fuze revolves the equipment of unloading and also comprises the protective door that is positioned at described guide rail end, this protective door is connected with described electric control system, and described protective door is provided with the sensor whether passed through for sensing defeated bullet car, described sensor is connected with described electric control system.
5. projectile fuze according to claim 4 revolves the equipment of unloading, it is characterized in that: described electric control system is by the data feedback of sensor, control the lifting of protective door, after defeated bullet car passes through protective door along guide rail, described electric control system controls described protective door and declines.
6. projectile fuze revolves a discharging method, it is characterized in that: comprise the steps:
First, shell is loaded on revolve and unloads on the defeated bullet car of main frame, along guide rail shell to be delivered to by defeated bullet car and to revolve the fuse unloading main frame and revolve and unload on working position, and shell head is engaged with dismantling tools;
Then, by riveting point recognition device determination shell head riveting point position, starter motor rotates, and makes it drive dismantling tools to rotate forward, then drives fixture to rotate forward together with shell by dismantling tools, makes brokenly the drill bit of riveting device align riveting point;
Then, start broken riveting device, make bit and realize broken riveting to the motion of riveting point position, riveting point abolishes rear drill bit reposition;
Then, keep shell position motionless, control motor and dismantling tools is reversely rotated, cause fixture and shell to unclamp, realize fuse and revolve and unload;
Finally, utilize defeated bullet car shell to be transported out of fuse and revolve and unload working position, terminate fuse and revolve and unload.
7. a kind of projectile fuze according to claim 6 revolves discharging method, it is characterized in that: arrange a protective door at the end of guide rail, and arrange sensor on protective door, and when defeated bullet car is transported to protective door, described protective door rises automatically.
8. a kind of projectile fuze according to claim 7 revolves discharging method, it is characterized in that: when shell head engages with described dismantling tools, dismantling tools arranges a bearing pin, and one end of bearing pin is snapped in the pin-and-hole of shell head, realize the engaging location of shell and dismantling tools.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410021860.3A CN103776316B (en) | 2014-01-18 | 2014-01-18 | Projectile fuze revolves the equipment of unloading and revolves discharging method |
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| CN201410021860.3A CN103776316B (en) | 2014-01-18 | 2014-01-18 | Projectile fuze revolves the equipment of unloading and revolves discharging method |
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| CN103776316A CN103776316A (en) | 2014-05-07 |
| CN103776316B true CN103776316B (en) | 2015-08-19 |
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