CN105252250B - A kind of full-automatic press-loading device of perforating bullet - Google Patents
A kind of full-automatic press-loading device of perforating bullet Download PDFInfo
- Publication number
- CN105252250B CN105252250B CN201510727767.9A CN201510727767A CN105252250B CN 105252250 B CN105252250 B CN 105252250B CN 201510727767 A CN201510727767 A CN 201510727767A CN 105252250 B CN105252250 B CN 105252250B
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- China
- Prior art keywords
- cavity liner
- press
- perforating bullet
- full
- station
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Classifications
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- 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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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
Abstract
A kind of full-automatic press-loading device of perforating bullet is disclosed, the full-automatic press-loading device includes：Frame；At least two groups conveyer belts, in frame, convey respectively for perforating bullet cavity liner and body and press-fit the perforating bullet of shaping；Pick device, in frame, for picking up cavity liner and body at least two groups conveyer belts, the cavity liner and body of pickup are sent in press and press-fited, and the perforating bullet for press-fiting shaping is put on one group of conveyer belt at least two groups conveyer belts；Control system, for controlling the conveying of conveyer belt and the action of robot device.By above-mentioned full-automatic press-loading device, press-fiting for full-automatic perforating bullet is realized, production efficiency, the security for press-fiting operation and product quality stability is improved.
Description
Technical field
Field is manufactured the present invention relates to perforating bullet, more particularly to a kind of full-automatic press-loading device of perforating bullet.
Background technology
Perforating bullet is to be used in perforating oil gas well Completion Operations penetrate sleeve pipe, links up the civil explosive material of oil gas and pit shaft, 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, domestic perforating bullet manufacturing firm largely carries out perforating bullet using the Semi-automatic device of Introduced From Abroad
Manufacture, it is domestic compared with external perforating bullet production line is increasingly automated because technology develops the factor such as disperses force and involving explosives
Press-loading device generally falls behind in automatization level, and technological gap is very big.Semi-automatic production constrains production efficiency and production
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, the security and product quality stability for improve production efficiency, press-fiting operation.
Embodiments in accordance with the present invention are 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 and body and the perforating bullet for press-fiting 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 press-fited, and the perforations that 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 continuously to carry out conveying operation, wherein, full-automatic press-loading device also includes driving lifting
The cylinder and the axis of guide of conveyer belt 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, to be positioned to panel.
Preferably, the guardrail and driving guardrail that the clamping device is included 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 be moved 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 be moved 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 body feeding press on enough cavity liners and body station that will be placed on cavity liner station, and being capable of penetrating shaping
Hole bullet takes out from press.
Preferably, temporary storage mechanism includes：Rotary shaft, is rotated by motor driving；Four setter plates, it is circumferential in rotary shaft
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 of shaping is taken out from press.
Preferably, giving unit includes slide rail, the sliding sleeve slided on slide rail and the clamping head for being fixed on sliding sleeve one end,
The clamping head clamping 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 driven by servomotor 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 press-loading device, and are sent to cavity liner and body using conveyer belt
Take-off location；B, using the pick device of full-automatic press-loading device cavity liner and body are picked up respectively；C, the Types of Medicine by pickup
Cover and body are put into press, and compressing perforating bullet；D, the perforating bullet of shaping is placed on one of which conveyer belt,
While repeat step B-C, until the cavity liner and body on conveyer belt are all formed as perforating bullet；E, transmitted using conveyer belt
The perforating bullet of 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 be 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 in take-off location, step D, the perforating bullet of shaping is placed on for passing by body manipulator
Send on the lifting conveyer belt of body, step E is in particular that the lifting conveyer belt for the perforating bullet for placing shaping is risen to and uploaded
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
The relative position of standby clamping device positioning cavity liner and body on a moving belt.
Preferably, step B is in particular that the cavity liner manipulator of pick device grabs cavity liner the medicine of temporary storage mechanism
Type cover station, and the body manipulator of pick device grabs body the body station of temporary storage mechanism.
Preferably, cavity liner manipulator is captured the locating cover circle on cavity liner station and then 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 that cavity liner, locating cover circle and body are sent in press by temporary storage mechanism together
Row press-fits.
Preferably, in stepb, it is put into after cavity liner station and body station, makes respectively by cavity liner and body
The rotary shaft of temporary storage mechanism and four setter plates are rotated by 90 °, and are turned to the setter plate for being placed with cavity liner and body thereon and are given
Unit, which is sentenced, just to be given unit in step C cavity liner and body is sent in press, 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 press-fited, and the perforating bullet for press-fiting shaping is 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 and pressing method provided by the present invention, 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 process 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.
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, frame 1, at least two groups transmission are mainly included according to the full-automatic press-loading device of the present invention
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 be respectively transmitted the Types of Medicine for press-fiting perforating bullet including two groups of conveyer belts
Y and body D is covered, 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
Move up and down, and can be connected with upper conveyor belt 3 and lower conveyor belt 2 between plane residing for residing plane and lower conveyor belt 2,
Continuously to transmit article with upper conveyor belt 3 and lower conveyor belt 2.Passed therefore, full-automatic press-loading device also includes driving lifting
The cylinder and the axis of guide 16 for sending band 5 to lift.
Cavity liner Y and body D can be directly placed on respective conveyer belt, can also 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.In addition,
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.
After the panel for being placed with cavity liner and body is transported on lifting conveyer belt 5 by 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 that the guardrail 15 for being located at lifting conveyer belt 5 both sides, and driving guardrail 15 clamp or unclamp each
The cylinder (not shown) of panel.
In addition, every group of conveyer belt can also only include 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 of shaping is received
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 of the cavity liner Y on band 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, the cavity liner Y at each position and body D is captured so as to be slided on linear motion unit.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 that 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, so as 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, move forward and backward.In addition, it can also combine many
Individual slide rail and slide unit so that two manipulators are able to carry out the operation needed.
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 vertical
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 liners and body, 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 can make cavity liner machinery
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 use 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, installed in four circumferential peaces 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, so as 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, is described 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 by manipulator in setter plate 14 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 into together with cavity liner Y at former cavity liner station.Afterwards, send
Cavity liner Y, locating cover circle 19 and body are sent in press are press-fited together to unit.Specifically as shown in figure 4, press-fiting
When, locating cover circle 19 is seated on the step of valve jacket 26 of press, so as 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
Member 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 with before
After move.Sliding sleeve 7 has enough length, so as to which clamping head 13 is sent in press.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.In addition, 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 set the setter plate 14 of other quantity, only
Can be 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, to substitute the position of each setter plate.Certainly, in such case
Under, giving the relative position of unit and manipulator can correspondingly adjust, to adapt to the quantity of setter plate.
In order to detect cavity liner Y, locating cover circle 19 and body D whether be in temporary storage mechanism in precalculated position or station,
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 utilize 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 distinguish
It is placed in cavity liner panel 4 and body panel 17.Then both are sent on lifting conveyer belt 5 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, using the pick device of full-automatic press-loading device cavity liner and body are picked up respectively.
S3, the cavity liner and body of pickup be 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.In addition, in the case where being provided with locating cover circle 19, cavity liner manipulator 9 can also be first from medicine
Type cover station (for example, 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, locating cover circle 19 and body D of crawl are respectively put into the first station 14-1 by cavity liner Y, latter two right 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.
The cylinder action of control system control driving rotary shaft 25, to drive rotary shaft 25 to be rotated by 90 °, is then disposed
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
Position 14-4 empty setter plate 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, using clamping head 13 clamp cavity liner and body at the second station 14-2 by it
Be 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 being molded and locating cover are taken out in machine 11 and they are individually positioned in 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 on lifting 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
Perforating bullet for perforating bullet, and 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
Appearance is exploded and causes 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, controls each linear motion single
First acts to coordinate the grasping movement of manipulator.Meanwhile, each actuator is also controlled such as cylinder, 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 rotary shaft 25 is rotated 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, press-fiting for perforating bullet is carried out, treats that press 11 is complete
Into after press-fiting, unit is given by the setter plate in the hole that the perforating bullet of shaping takes out and is placed on the second station 14-2, is being turned
Dynamic rotary shaft, perforating bullet is turned on 3rd station 14-3, perforating bullet is put into body panel using body manipulator 10,
Rotary shaft is rotated afterwards, is reused during two manipulators are carried out and is captured operation, all perforating bullets are completed until press-fiting.
S5, the perforating bullet using conveyer belt transmission shaping.
Specifically, press-fit and perforating bullet is all placed on to (or the lifting transmission of body panel 17 completing all perforating bullets
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 and pressing method provided by the present invention, perforating bullet can be fully automatically completed
Press-fit, significantly improve and press-fit efficiency and product quality stability, and avoid in operation process and manually operate, 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
, can be to these embodiments in the case of from the principle of the invention and spirit that its scope is limited by claim and its equivalent
It is changed.
Claims (9)
1. a kind of full-automatic press-loading device of perforating bullet, it is characterised in that including：
Frame；
At least two groups conveyer belts, in frame, convey cavity liner and body respectively and press-fit the perforating bullet of shaping；
Pick device, in frame, for picking up cavity liner and body at least two groups conveyer belts, by pickup
Cavity liner and body, which are sent in press, to be press-fited, and the perforating bullet for press-fiting shaping is put at least two groups conveyer belts
One group of conveyer belt on；
Control system, for controlling the conveying of conveyer belt and the action of robot device,
Wherein, pick device includes the temporary storage mechanism for being provided with multipair cavity liner station and body station, and temporary storage mechanism can also
Body on the cavity liner and body station that have been placed on cavity liner station is sent into press, and can be by the perforation of shaping
Bullet takes out from press,
Wherein, temporary storage mechanism includes：Rotary shaft, is rotated by motor driving；Four setter plates, circumferentially uniformly set in rotary shaft
Put, and cavity liner station and body station are provided with each setter plate；Unit is given, by cavity liner station and body station
On cavity liner and body feeding press in, and the perforating bullet of shaping is taken out from press.
2. the full-automatic press-loading device of perforating bullet according to claim 1, it is characterised in that every group of conveyer belt includes：
Upper conveyor belt and lower conveyor belt, are fixed in frame in up and down alignment；
Conveyer belt is lifted, can be lifted in the plane residing for upper conveyor belt between the plane residing for lower conveyor belt, and energy
It is enough to be connected with upper conveyor belt and lower conveyor belt continuously to carry out conveying operation,
Wherein, full-automatic press-loading device also includes the cylinder and the axis of guide of driving lifting conveyer belt lifting.
3. the full-automatic press-loading device of perforating bullet according to claim 1, it is characterised in that full-automatic press-loading device is also wrapped
The panel being placed at least two groups conveyer belts is included, and cavity liner and body are placed in panel.
4. the full-automatic press-loading device of perforating bullet according to claim 3, it is characterised in that full-automatic press-loading device is also wrapped
Clamping device is included, panel is clamped after conveyer belt reaches precalculated position, to be positioned to panel, the clamping device includes
Guardrail and driving guardrail positioned at conveyer belt both sides clamp the cylinder of the panel on conveyer belt.
5. the full-automatic press-loading device of perforating bullet according to claim 1, it is characterised in that pick device also includes：
Multiple linear motion units, in frame；
Cavity liner manipulator, can be moved with linear motion unit, to pick up the cavity liner on conveyer belt and be put into cavity liner
Cavity liner station；
Body manipulator, can be moved with linear motion unit, to pick up the body on conveyer belt and body is put into body work
Position, and the perforating bullet of shaping can be put on conveyer belt.
6. the full-automatic press-loading device of perforating bullet according to claim 1, it is characterised in that give unit including slide rail,
The sliding sleeve that is slided on slide rail and the clamping head for being fixed on sliding sleeve one end, the clamping head clamping cavity liner and body and shaping
Perforating bullet.
7. the full-automatic press-loading device of perforating bullet according to claim 5, it is characterised in that linear motion unit is included laterally
Linear motion unit, linear longitudinal movement unit and vertical straight line moving cell, or linear motion unit include servomotor,
The ball-screw driven by servomotor and the slide unit slided on ball-screw, cavity liner manipulator and body manipulator are fixed
On slide unit.
8. the full-automatic press-loading device of perforating bullet according to claim 5, it is characterised in that the temporary storage mechanism also includes putting
The locating cover circle on each cavity liner station is put, cavity liner manipulator captures cavity liner using locating cover circle, and incite somebody to action both
Cavity liner station is put into together.
9. the full-automatic press-loading device of perforating bullet according to claim 1, it is characterised in that full-automatic press-loading device is also wrapped
Proximity transducer is included, for detecting whether cavity liner and body are properly placed on precalculated position, and phase is transmitted to control system
The signal answered.
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| CN105563081B (en) * | 2016-02-03 | 2017-07-28 | 吉林大学 | For steel ball in manual pump and the automatic assembly equipment of straight valve element |
| CN107161682B (en) * | 2017-05-25 | 2022-08-30 | 常州市范群干燥设备有限公司 | Pressing production equipment and working method thereof |
| CN108942171A (en) * | 2018-09-21 | 2018-12-07 | 合肥晟泰克汽车电子股份有限公司 | The automatic setup system of radar probe shell elastic slice |
| CN109454420A (en) * | 2018-09-26 | 2019-03-12 | 芜湖优能自动化设备有限公司 | A kind of oil discharging seat full-automatic assembly equipment |
| CN109366146A (en) * | 2018-12-04 | 2019-02-22 | 佳奕筱安(上海)机器人科技有限公司 | Compressor operation station and its application method with domain controller |
| 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 |
| CN111745156B (en) * | 2020-07-08 | 2022-07-08 | 合肥海得智能科技有限公司 | Multi-station composite pressing equipment for shaped charge covers of perforating charges |
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| US20110259185A1 (en) * | 2009-09-28 | 2011-10-27 | BAE Systems Survivability Systems, L.L.C. | Lethal threat protection system for vehicle |
| CN103801930B (en) * | 2014-03-04 | 2016-04-06 | 哈尔滨工业大学 | A kind of perforating bullet Automated assembly mechanism |
| CN204603794U (en) * | 2015-02-11 | 2015-09-02 | 宁波圣菲机械制造有限公司 | Perforating charge cartridge case production line |
| CN104772627B (en) * | 2015-02-11 | 2017-01-04 | 宁波圣菲机械制造有限公司 | Perforating charge cartridge case production line |
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