CN105234673B - Method for realizing full-automatic press mounting of perforating charge - Google Patents
Method for realizing full-automatic press mounting of perforating charge Download PDFInfo
- Publication number
- CN105234673B CN105234673B CN201510731732.2A CN201510731732A CN105234673B CN 105234673 B CN105234673 B CN 105234673B CN 201510731732 A CN201510731732 A CN 201510731732A CN 105234673 B CN105234673 B CN 105234673B
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- Prior art keywords
- cavity liner
- press
- station
- perforating bullet
- manipulator
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000003860 storage Methods 0.000 claims description 21
- 238000007493 shaping process Methods 0.000 claims description 20
- 239000003814 drug Substances 0.000 claims description 12
- 238000003825 pressing Methods 0.000 claims description 10
- 229940079593 drug Drugs 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000002459 sustained effect Effects 0.000 claims description 4
- 150000001875 compounds Chemical class 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000033001 locomotion Effects 0.000 description 25
- 239000002360 explosive Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 210000000567 greater sac Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
- E21B43/11—Perforators; Permeators
- E21B43/116—Gun or shaped-charge perforators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
A method for press-mounting a perforating charge is disclosed, which comprises the following steps: A. placing the shaped charge liner and the projectile body on at least two groups of conveyor belts of full-automatic press-fitting equipment, and conveying the shaped charge liner and the projectile body to a picking position by utilizing the conveyor belts; B. picking up the shaped charge liner and the projectile body respectively by using a picking device of full-automatic press-fitting equipment; C. putting the picked shaped charge liner and the shot body into a press, and forming a perforating charge; D. placing the shaped charges on one group of conveyor belts, and repeating the steps B-C at the same time until all the liner and the charge bodies on the conveyor belts are shaped into the shaped charges; E. the shaped charges are conveyed by a conveyor belt. By the aid of the press-fitting method, full-automatic press-fitting of the perforating bullet is achieved, and production efficiency, safety of the press-fitting process and stability of product quality are improved.
Description
Technical field
The present invention relates to perforating bullet manufacture field, the method that perforating bullet automatically press-fits is realized more particularly to a kind of.
Background technology
Perforating bullet is the civil explosive material for penetrating sleeve pipe, communication oil gas and pit shaft in perforating oil gas well Completion Operations, it
Including cavity liner, explosive and housing three parts, perforating bullet press-loading device is that the compacting of this three part is combined into perforating bullet product
Equipment.
At present, the most of Semi-automatic device using Introduced From Abroad of domestic manufacturer of perforating bullet manufacturing firm is penetrated
The manufacture of hole bullet, because technology develops the factors such as disperses force and involving explosives, compared with external perforating bullet production line is increasingly automated,
Domestic press-loading device generally falls behind in automatization level, and technological gap is very big.Semi-automatic production constrains production effect
Rate and product quality stability, and there is larger potential safety hazard due to being related to high explosive.
The content of the invention
It is an object of the invention to provide a kind of full-automatic press-loading device of perforating bullet, to realize the perforation of full-automation
Bullet press-fits, improve production efficiency, the security for press-fiting process and product quality stability.
Embodiments in accordance with the present invention, there is provided a kind of full-automatic press-loading device, for automatically completing perforating bullet
Press-fit, the full-automatic press-loading device includes：Frame；At least two groups conveyer belts, in frame, convey Types of Medicine respectively
Cover with body and press-fit the perforating bullet of shaping；Pick device, in frame, for picking up at least two groups conveyer belts
On cavity liner and body, the cavity liner and body of pickup are sent in press and are press-fited, and the perforation of shaping will be press-fited
Bullet is put on one group of conveyer belt at least two groups conveyer belts；Control system, conveying and machine for controlling conveyer belt
The action of tool arm device.
Preferably, every group of conveyer belt includes：Upper conveyor belt and lower conveyor belt, are fixed in frame in up and down alignment；Rise
Drop conveyer belt, can in the plane residing for upper conveyor belt between the plane residing for lower conveyor belt lift, and can with it is upper
Conveyer belt and lower conveyor belt are connected to carry out conveying operation, wherein, full-automatic press-loading device also includes driving lifting conveyer belt
The cylinder and the axis of guide of lifting.
Preferably, full-automatic press-loading device also includes the panel being placed at least two groups conveyer belts, and Types of Medicine
Cover and body are placed in panel.
Preferably, full-automatic press-loading device also includes clamping device, and lattice are clamped after conveyer belt reaches precalculated position
Plate, positions with to panel.
Preferably, the clamping device includes that guardrail and driving guardrail positioned at conveyer belt both sides are clamped on conveyer belt
The cylinder of panel.
Preferably, pick device includes：Temporary storage mechanism, is provided with multipair cavity liner station and body station；Multiple straight lines
Moving cell, in frame；Cavity liner manipulator, can move with linear motion unit, to pick up the medicine on conveyer belt
Cavity liner is simultaneously put into cavity liner station by type cover；Body manipulator, can move, with linear motion unit to pick up on conveyer belt
Body and body is put into body station, and the perforating bullet of shaping can be put on conveyer belt, wherein, temporary storage mechanism can also
In enough body feeding press that will be placed on the cavity liner on cavity liner station and body station, and can be by penetrating for being molded
Hole bullet takes out from press.
Preferably, temporary storage mechanism includes：Rotary shaft, is driven by motor and is rotated；Four setter plates, in rotary shaft circumference
It is uniformly arranged, and cavity liner station and body station is provided with each setter plate；Unit is given, by cavity liner station and bullet
In cavity liner and body feeding press on body station, and the perforating bullet being molded is taken out from press.
Preferably, the unit sliding sleeve slided including slide rail, on slide rail and the clamping head for being fixed on sliding sleeve one end are given,
The clamping head clamps cavity liner and body and the perforating bullet of shaping.
Preferably, linear motion unit includes horizontal linear motion unit, linear longitudinal movement unit and vertical straight line fortune
Moving cell.
Preferably, linear motion unit includes servomotor, the ball-screw by servomotor driving and in ball-screw
The slide unit of upper slip, cavity liner manipulator and body manipulator are fixed on slide unit.
Preferably, the temporary storage mechanism also includes the locating cover circle being placed on each cavity liner station, cavity liner machinery
Hand captures cavity liner using locating cover circle, and both is put into cavity liner station together.
Preferably, whether full-automatic press-loading device also includes proximity transducer, for detecting cavity liner and body by just
Precalculated position is really placed on, and corresponding signal is transmitted to control system.
Embodiments in accordance with the present invention, additionally provide a kind of pressing method of perforating bullet, and the pressing method includes：A, general
Cavity liner and body are placed at least two groups conveyer belts of full-automatic press-loading device, and utilize conveyer belt by cavity liner and bullet
Body is sent to take-off location；B, cavity liner and body are picked up respectively using the pick device of full-automatic press-loading device；C, will pick up
The cavity liner and body for taking are put into press, and compressing perforating bullet；D, the perforating bullet of shaping is placed on one of which
On conveyer belt, while repeat step B-C, until the cavity liner and body on conveyer belt are all formed as perforating bullet；E, utilization
The perforating bullet of conveyer belt transmission shaping.
Preferably, step A is in particular and cavity liner and body is individually placed on two lower conveyor belts, and lower conveyor belt will
Cavity liner and body are sent to and are on two lifting conveyer belts of sustained height with described two lower conveyor belts, and then lifting is passed
Send band that cavity liner and body are sent into take-off location, in step D, be placed on the perforating bullet of shaping for passing by body manipulator
Send on the lifting conveyer belt of body, the lifting conveyer belt that step E is in particular the perforating bullet by shaping is placed rises to and upload
Band is sent to be in sustained height, then upper conveyor belt transmission perforating bullet.
Preferably, it is additionally included in step A after cavity liner and body arrival take-off location, is press-fited using full-automation and set
Standby clamping device positioning cavity liner and body relative position on a moving belt.
Preferably, step B is in particular the cavity liner manipulator of pick device and cavity liner is grabbed the medicine of temporary storage mechanism
Type cover station, and body is grabbed the body manipulator of pick device the body station of temporary storage mechanism.
Preferably, cavity liner manipulator is captured the locating cover circle on cavity liner station and then is grabbed using locating cover circle first
Cavity liner is taken, locating cover circle and cavity liner are then put into cavity liner station together.
Preferably, step C is in particular temporary storage mechanism and is sent in press to enter together by cavity liner, locating cover circle and body
Row press-fits.
Preferably, in stepb, after cavity liner and body are put into cavity liner station and body station respectively, make
The rotary shaft of temporary storage mechanism and four setter plates are rotated by 90 °, and turn to the setter plate for being placed with cavity liner and body thereon and give
Cavity liner and body are sent in press to give unit in step C at unit, while rotating to the setter plate of sky
Cavity liner and the position of body for receiving cavity liner manipulator and the crawl of body manipulator.
Preferably, in step D, the unit of giving of temporary storage mechanism takes the perforating bullet of shaping and locating cover circle from press
Go out, and perforating bullet is placed into former body station and locating cover circle is put back into former cavity liner station.
Preferably, the pressing method also detects whether cavity liner and body are in press using proximity transducer
Precalculated position.Frame；At least two groups conveyer belts, in frame, convey the cavity liner and body for perforating bullet respectively
And press-fit the perforating bullet of shaping；Pick device, in frame, for picking up the Types of Medicine at least two groups conveyer belts
Cover and body, the cavity liner and body of pickup are sent in press and are press-fited, and will press-fit the perforating bullet of shaping and be put into institute
State on one group of conveyer belt at least two groups conveyer belts；Control system, conveying and robot device for controlling conveyer belt
Action.
By full-automatic press-loading device provided by the present invention and pressing method, can realize that perforating bullet press-fits it is complete from
Dynamicization, efficiency and product quality stability are press-fited so as to improve, and are avoided in involving explosives high-risk operations operation artificial
Input, reduces the probability of happening of human casualty accident, realizes safety in production.
Brief description of the drawings
Fig. 1 is the structural representation of press-loading device full-automatic according to an embodiment of the invention；
Fig. 2 is the structural representation at another visual angle of the full-automatic press-loading device in Fig. 1；
Fig. 3 is the structural representation of the temporary storage mechanism shown in Fig. 1；
Fig. 4 is that full-automatic press-loading device shown in Fig. 1 press-fits view；
Fig. 5 is the flow chart of pressing method according to an embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described in detail now, its example is illustrated in the accompanying drawings, wherein, identical label
All the time same parts are represented.
Referring to figs. 1 to Fig. 4, full-automatic press-loading device of the invention mainly includes frame 1, at least two groups transmission
Band, pick device and control system.
Frame 1 can be made up of various steelframes etc., for supporting conveyer belt and pick device.
Full-automatic press-loading device can specifically include that two groups of conveyer belts are respectively transmitted the Types of Medicine for press-fiting perforating bullet
Cover Y and body D, wherein body D is the combination of explosive and housing.The structure of every group of conveyer belt is identical, may each comprise upper conveyor belt
3rd, lower conveyor belt 2 and lifting conveyer belt 5, the alignment of this three's in the vertical direction, and lifting conveyer belt 5 can be in upper conveyor belt 3
Moved up and down between plane residing for residing plane and lower conveyor belt 2, and can be connected with upper conveyor belt 3 and lower conveyor belt 2,
Article is continuously transmitted with upper conveyor belt 3 and lower conveyor belt 2.Therefore, full-automatic press-loading device also includes driving lifting to pass
Send cylinder and the axis of guide 16 with 5 liftings.
Cavity liner Y and body D can be directly placed on respective conveyer belt, it is also possible to place Types of Medicine on a moving belt
In cover panel 4 and body panel 17.Each panel can be in multiple cavity liners or body be placed, as shown in Figure 1 in array.Additionally,
Upper conveyor belt 3 and lower conveyor belt 2 can have appropriate length, and multiple cavity liner panels 4 can be sequentially placed on lower conveyor belt 2
With body panel 17.
To be placed with after the panel of cavity liner and body is transported on lifting conveyer belt 5 in lower conveyor belt 2, in order to place
Panel play during subsequent job, also can be set clamping device to position the position of cavity liner panel 4 and body panel 17.
Specifically, clamping device may include to be located at the guardrail 15 of lifting conveyer belt 5 both sides, and drive guardrail 15 to clamp or unclamp each
The cylinder (not shown) of panel.
Additionally, every group of conveyer belt can also only include a conveyer belt, the two conveyer belts are by cavity liner placed thereon
Take-off location can be disposably sent to body, and can disposably be sent out after the perforating bullet for receiving shaping
Come.
In a preferred embodiment of the invention, pick device may include multiple linear motion units, be passed for capturing lifting
Send the cavity liner manipulator 9 with the cavity liner Y on 5, the and of body manipulator 10 for capturing the body D on lifting conveyer belt 5
Temporary storage mechanism.Linear motion unit is arranged in frame 1, and cavity liner manipulator 9 and body manipulator 10 are arranged at straight line fortune
On moving cell such that it is able to slided on linear motion unit and capture the cavity liner Y at each position and body D.Temporary storage machine
Structure is settable multipair cavity liner station and body station, and can be by by 10 points of cavity liner manipulator 9 and body manipulator
The cavity liner Y and body D that cavity liner station and body station Zhua Qu be put into are put into press 11, so as to complete in press 11
Into press-fiting for perforating bullet, after perforating bullet completes to press-fit, temporary storage mechanism can also take out perforating bullet from press 11, so as to
Carry out follow-up conveying operation.
The concrete form of linear motion unit is more, for example, in the present embodiment, linear motion unit can be electric sliding
Platform, can be the structures such as ball-screw or slide rail and slide unit.Specifically, linear motion unit may include servomotor, have servo
Motor-driven ball-screw and the slide unit slided on ball-screw, and cavity liner manipulator 9 and body manipulator 10 are fixed
On slide unit such that it is able to automatically linear slide.Multiple linear motion units, and these linear motion units can be combined
Horizontal linear motion unit, linear longitudinal movement unit and vertical straight line moving cell can also be included so that the two machineries
Hand can carry out multifreedom motion, such as side-to-side movement, move up and down, and move forward and backward.In addition, can also combine many
Individual slide rail and slide unit so that two manipulators are able to carry out the operation for needing.
Specifically, as shown in figure 1, pick device may include horizontal slide rail (or horizontal linear motion unit) 6,12, longitudinal direction
Slide rail (or linear longitudinal movement unit) 8, and upright slide rail (vertical straight line moving cell) 23,24.Horizontal slide rail 6,12 can
It is arranged relative to each other in frame 1, longitudinal slide rail 8 can be slidably arranged in two horizontal slide rails 6,12, two vertically
Slide rail 23,24 is arranged relative to each other in longitudinal slide rail 8, and two slide units are arranged on longitudinal slide rail 8 and close two upright slide rails
23rd, between 24, cavity liner manipulator 9 and body manipulator 10 are fixed on the both sides of slide unit, so that the two manipulators being capable of phase
Slided for horizontal slide rail, longitudinal slide rail and upright slide rail, and then the cavity liner Y at each position and body D can be captured.
In two manipulator crawl cavity liner and bodies, two lattice are captured by the action of control system control machinery hand
Cavity liner and body on plate at each position.
It should be noted that embodiments of the invention are not limited to above form, pick device can also be other structures,
And the concrete structure and mounting means of linear motion unit can also be using other forms, as long as cavity liner machinery can be made
Hand 9 and body manipulator 10 grab cavity liner Y and body D on conveyer belt, and are put on cavity liner station and body station
.For example, pick device can be using the rotary machine hand that can be rotated around mount point, by the rotation for controlling rotary shaft
Come the position that control machinery hand is captured.Manipulator can be also used except the specific constructive form shown in accompanying drawing, can also be adopted
With various types of structures in the prior art.Linear motion unit can also be in the form of common mechanical guide and sliding block
Deng.
The concrete form of the temporary storage mechanism of pick device may include rotary shaft 25, four peaces installed in the circumference of rotary shaft 25
Put plate 14 and give unit, as shown in Figure 3.Rotary shaft 25 can rotate under the driving of motor such that it is able to drive four
Setter plate 14 is rotated.Four setter plates 14 are equably installed, and are arranged with cavity liner station and 14- in each setter plate 14
5 and body station 14-6, describes for convenience, the location of four setter plates can be referred to as into the first station 14-1, the successively
Two station 14-2,3rd station 14-3 and the 4th station 14-4, station thereon are also sequentially named.Giving unit can be by
The cavity liner and body being placed into setter plate 14 by manipulator are put into press.
Press-fit position to ensure that cavity liner can be precisely placed during subsequently press-fiting, temporary storage mechanism is also wrapped
Locating cover circle 19 is included, the locating cover circle 19 is cylindrical, and be placed on each cavity liner station.Grabbed in cavity liner manipulator 9
When taking cavity liner Y, cavity liner manipulator 9 captures locating cover circle 19 first, and cavity liner is then captured using locating cover circle 19, will
Cavity liner Y is clipped in locating cover circle 19, and locating cover circle 19 is put at former cavity liner station together with cavity liner Y.Afterwards, send
Cavity liner Y, locating cover circle 19 and body are sent in press together to unit are press-fited.Specifically as shown in figure 4, press-fiting
When, locating cover circle 19 is seated on the step of valve jacket 26 of press such that it is able to ensure that cavity liner Y aligns exactly with body D
And press-fited, significantly improved by locating cover circle 19 and press-fit efficiency and precision, and can substantially reduced due to both not
That aligns and be likely to result in press-fits accident.After cavity liner Y and body D alignment, the drift 25 of press just by cavity liner Y and
Body D is press fit together, and forms perforating bullet.
Above-mentioned unit of giving may include slide rail 27, the sliding sleeve 7 that can be slided along slide rail 27 and one end for being fixed on slide unit 7
Clamping head 13.Specifically, slide rail 27 is longitudinally disposed, and slide rail 27 can be slided along upright guide rail 18, so that giving list
Unit can move up and down, to facilitate feeding cavity liner Y and body D, that is to say, that clamping head 13 can carry out moving up and down and preceding
After move.Sliding sleeve 7 has enough length such that it is able to which clamping head 13 is sent in press.Be can be set on clamping head 13 has
Cavity liner clamps position and body clamping position, with clamping position cover circle 19 and cavity liner Y and body D respectively.Additionally, in perforating bullet
After shaping, perforating bullet can also be clamped out by clamping head using body clamping position, carry out follow-up conveying.
In the present embodiment, there is provided four setter plates 14, therefore in follow-up crawl operation, rotary shaft 25 is revolved every time
Turn 90, carry out accessing operation from the transposition of setter plate 14 can be made.Further, it is also possible to the setter plate 14 of other quantity is set, only
Will continuously while realize accessing for the perforating bullet of feeding operation and the shaping of cavity liner and body.For example, can
To set three setter plates, each rotary shaft rotates 120 degree of positions to substitute each setter plate.Certainly, in such case
Under, giving unit can correspondingly adjust with the relative position of manipulator, to adapt to the quantity of setter plate.
In order to detect precalculated position or station that whether cavity liner Y, locating cover circle 19 and body D are in temporary storage mechanism,
Full-automatic press-loading device also includes proximity transducer.For example, as shown in figure 4, proximity transducer 20 is used for detecting first
Whether cavity liner is had at cavity liner station in setter plate at station 14-1, and proximity transducer 21 is used for detecting the second station
Whether the body station in the setter plate at 14-2 has body, and proximity transducer 22 is used for detecting the Types of Medicine at the second station 14-2
Whether cover station has locating cover circle.If this three is in respective position, then clamping head 13 is just by the second station 14-2
Locating cover circle and cavity liner and body be sent in press, and cavity liner manipulator 9 is captured at the first station 14-1
Locating cover circle captures cavity liner, otherwise stops operation.
Embodiments in accordance with the present invention, additionally provide a kind of pressing method of perforating bullet, and the pressing method can use above-mentioned
Full-automatic press-loading device carry out.
Reference picture 5, pressing method generally may include following steps：
S1, cavity liner Y and body D are placed at least two groups conveyer belts of full-automatic press-loading device, and using biography
Send band that cavity liner Y and body D are sent into take-off location.
Specifically, manually cavity liner Y and body D can be individually placed on two lower conveyor belts 2 first, for example, can be respectively
It is placed in cavity liner panel 4 and body panel 17.Then be sent on lifting conveyer belt 5 for both by lower conveyor belt 2, and arrival is picked up
After fetch bit is put, clamping device can be manipulated, guardrail is clamped two panels positions it.
S2, cavity liner and body are picked up respectively using the pick device of full-automatic press-loading device.
S3, the cavity liner and body of pickup are put into press, and be molded perforating bullet.
S4, the perforating bullet of shaping is placed on one of which conveyer belt, while repeat step S2-S3, until conveyer belt
On cavity liner and body be all formed as perforating bullet.
Control system control cavity liner manipulator 9 and body manipulator 10 are each since cavity liner panel 4 and body panel 17
Upper crawl cavity liner Y and body D.Additionally, in the case where locating cover circle 19 is provided with, cavity liner manipulator 9 can also first from medicine
Type cover station (for example, the cavity liner station in setter plate at the first station 14-1) crawl locating cover circle 19 and then crawl is gone again
The cavity liner Y of crawl, locating cover circle 19 and body D are respectively put into the first station 14-1 by cavity liner Y, right latter two manipulator
Cavity liner station and body station.Wherein, during crawl, because two manipulators are mounted on same slide unit
, can first capture one of them place go again crawl another place.
Control system control drives the cylinder action of rotary shaft 25, is rotated by 90 ° to order about rotary shaft 25, then disposes
Plate 14 is rotated so that the setter plate for being placed with cavity liner Y and body D turns to the second station 14-2, and is in the 4th work originally
The empty setter plate of position 14-4 turns to the first station 14-1 to receive next ripple cavity liner and body.Now pick device is temporary
That deposits mechanism gives unit action, clamped using clamping head 13 cavity liner that has been at the second station 14-2 and body by it
Put into press 11 and press-fited.Simultaneously, two manipulators continue to capture cavity liner and body is put into the first station
In the setter plate vacated at 14-1.At this moment, press has completed to press-fit operation, and the clamping head for giving unit is again introduced into pressure
The perforating bullet and locating cover that will be molded in machine 11 take out and they are individually positioned in into peace empty at the second station 14-2
Put the body station and cavity liner station on plate.At this moment manipulator has also completed crawl operation, and rotary shaft 25 is rotated further 90
Degree so that the setter plate that placed cavity liner, locating cover and body turns to the second station 14-2, and is placed with the peace of perforating bullet
Put plate and turn to 3rd station 14-3 from the second station 14-2.Afterwards, using body manipulator by perforating bullet from 3rd station 14-
3 grab the position for putting body being available in the body panel 17 lifted on conveyer belt 5.
Above-mentioned flow is repeated afterwards, until the cavity liner and body in cavity liner panel 4 and body panel 17 are all molded
It is perforating bullet, and the perforating bullet of shaping has all been crawled in body panel 17.
In addition, when press 11 is press-fited, the explosion proof door around press can be closed, to prevent during press-fiting
There is blast and cause the generation of security incident.After press 11 completes to press-fit, then explosion proof door is opened, will using sending mechanism
The perforating bullet of shaping takes out.
It is above-mentioned press-fit during, the action of each manipulator is controlled by control system, that is, control each linear motion single
Unit acts to coordinate the grasping movement of manipulator.Meanwhile, each actuator such as cylinder etc. is also controlled, to control to give unit
With the motion of rotary shaft etc., these elements are made consistently to complete to press-fit operation, it is to avoid interference.
It should be noted that in above-mentioned flow, some steps can be carried out sequentially can also be while carry out, as long as really
The first station 14-1 after manipulator grabs cavity liner and body is protected to be available to place cavity liner and body, and
Perforating bullet before the rotation of rotary shaft 25 on 3rd station 14-3 has also grabbed body panel 17 by body manipulator 10
On.For example, cavity liner and body can be captured first, rotary shaft 25 is then rotated further by, carries out press-fiting for perforating bullet, treat that press 11 is complete
Into after press-fiting, give in the setter plate in the hole that the perforating bullet of shaping is taken out and be placed on the second station 14-2 by unit, turning
Dynamic rotary shaft, perforating bullet is turned on 3rd station 14-3, and perforating bullet is put into body panel using body manipulator 10,
Rotary shaft is rotated afterwards, reusing two manipulators carries out middle crawl operation, all of perforating bullet is completed until press-fiting.
S5, the perforating bullet using conveyer belt transmission shaping.
Specifically, press-fit and perforating bullet is all placed on (or the lifting transmission of body panel 17 completing all of perforating bullet
Take) after, control system order liftable conveyer belt 5 is risen to the identical of upper conveyor belt 3 highly, and panel 17 will be played afterwards
It is sent on upper conveyor belt 3, is then sent out by upper conveyor belt 3.
According to full-automatic press-loading device provided by the present invention and pressing method, perforating bullet can be fully automatically completed
Press-fit, significantly improve and press-fit efficiency and product quality stability, and avoid and manually operate in operation process, also it is avoided that
Security incident during press-fiting.
Although having shown that and describing some embodiments of the present invention, it will be understood by those skilled in the art that not taking off
In the case of the principle of the invention and spirit that its scope is limited by claim and its equivalent, can be to these embodiments
It is changed.
Claims (8)
- It is 1. a kind of to realize the method that perforating bullet automatically press-fits, it is characterised in thatA, cavity liner and body are placed on two lower conveyor belts of full-automatic press-loading device, and using lower conveyor belt by medicine Type cover and body be sent to lower conveyor belt be in sustained height two lifting conveyer belts on, then using lift conveyer belt will Cavity liner and body are sent to take-off location；B, cavity liner and body are picked up respectively using the pick device of full-automatic press-loading device；C, the cavity liner and body of pickup are put into press, and be molded perforating bullet；The perforating bullet of shaping is placed on the lifting conveyer belt for transmitting body for D, body manipulator, while repeat step B- C, until the cavity liner and body on lifting conveyer belt are all formed as perforating bullet；E, the lifting conveyer belt of the perforating bullet for being molded placement rise to and are in sustained height with upper conveyor belt, then using upload Send band transmission perforating bullet.
- 2. method according to claim 1, it is characterised in that cavity liner is additionally included in step A and body reaches pickup After position, using the relative position of the clamping device positioning cavity liner and body of full-automatic press-loading device on lifting conveyer belt Put.
- 3. method according to claim 1, it is characterised in that step B is in particular the cavity liner manipulator of pick device Cavity liner is grabbed the cavity liner station of temporary storage mechanism, and body is grabbed temporary storage machine by the body manipulator of pick device The body station of structure.
- 4. method according to claim 3, it is characterised in that cavity liner manipulator captures determining on cavity liner station first Then position cover circle captures cavity liner using locating cover circle, and locating cover circle and cavity liner are then put into cavity liner station together.
- 5. method according to claim 4, it is characterised in that step C is in particular temporary storage mechanism by cavity liner, locating cover Circle and body are press-fited in being sent to press together.
- 6. method according to claim 5, it is characterised in that in stepb, cavity liner and body are being put into medicine respectively After type cover station and body station, the rotary shaft of temporary storage mechanism and four setter plates are rotated by 90 °, make to be placed with Types of Medicine thereon The setter plate of cover and body turns to give, and cavity liner and body are sent into press to give unit in step C at unit In, while making the setter plate of sky rotate to cavity liner and body for receiving cavity liner manipulator and the crawl of body manipulator Position.
- 7. method according to claim 5, it is characterised in that in step D, the unit of giving of temporary storage mechanism will be molded Perforating bullet and locating cover circle take out from press, and perforating bullet are placed into former body station and locating cover circle is put back into active compound Type cover station.
- 8. method according to claim 5, it is characterised in that the pressing method is also detected using proximity transducer Whether cavity liner and body are in the precalculated position in press.
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107486693B (en) * | 2017-06-30 | 2019-06-21 | 东莞华贝电子科技有限公司 | Press system and its control method |
| CN110145976B (en) * | 2019-05-27 | 2020-02-14 | 合肥海得智能科技有限公司 | Explosion-proof automatic pressing assembly process for perforating bullet |
| CN110170819B (en) * | 2019-06-20 | 2020-06-19 | 四川石油射孔器材有限责任公司 | Automatic loading and unloading device for perforating bullet assembly |
| CN110823109B (en) * | 2019-11-08 | 2022-05-06 | 中国石油天然气集团有限公司 | Detection method based on liner wall thickness and wall thickness difference detection device |
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| CN101628335A (en) * | 2009-05-11 | 2010-01-20 | 大连理工大学 | Automatic spinning device of perforating bullet cumulative cover and forming method |
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