CN108226035B - Automatic friction sensitivity testing system - Google Patents
Automatic friction sensitivity testing system Download PDFInfo
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- CN108226035B CN108226035B CN201711438067.3A CN201711438067A CN108226035B CN 108226035 B CN108226035 B CN 108226035B CN 201711438067 A CN201711438067 A CN 201711438067A CN 108226035 B CN108226035 B CN 108226035B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N19/00—Investigating materials by mechanical methods
- G01N19/06—Investigating by removing material, e.g. spark-testing
Abstract
The invention belongs to the technical field of measurement and testing, and particularly relates to an automatic friction sensitivity testing system. The system comprises a friction testing device, a conveying device, a robot and a control unit; the friction testing device is used for testing the pendulum bob and acquiring testing data, the conveying device is used for storing samples of the to-be-tested and tested initiating explosive devices, the robot is used for automatically taking and placing the samples of the to-be-tested and tested initiating explosive devices between the conveying device and the impact testing device, and the control unit is electrically connected with the friction testing device, the robot and the conveying device respectively; the system has high automation degree, high testing precision, safety and reliability.
Description
Technical Field
The invention belongs to the technical field of measurement and testing, and particularly relates to an automatic friction sensitivity testing system.
Background
In the initiating explosive device industry, friction tests are required to be carried out on energetic materials such as initiating explosive devices and the like in the stages of research, development, production and detection for testing and calibrating the energetic materials. When the test device is used for testing, a fixed swing angle and fixed pressure friction test needs to be carried out on a batch of samples so as to test whether the batch of samples is qualified; when calibration is carried out, a characteristic swing angle test under fixed pressure needs to be carried out, and the pendulum bob angle at the next time is adjusted according to whether the sample explodes or not so as to test the excitation angle of the sample pendulum bob. Whether the pendulum bob is used for testing or calibration, the falling process of the pendulum bob is similar to free circular motion, the speed and the energy of the pendulum bob at the moment of explosion need to be accurately tested, and the explosion and the other explosion need to be comprehensively judged through light, sound, gas and the like.
At present, the friction sensitivity test of domestic initiating explosive devices is still carried out on traditional pendulum type friction sensitivity test equipment, the manual explosive discharge and the manual hammer lifting are adopted, the hammer lifting angle is determined manually, the full pressure is given through a hydraulic pressure meter, and the judgment method of the test result is that human ears judge the explosion sound and human eyes observe the explosion brightness. The method has the advantages that the measurement errors are different from time to time and are relatively large in randomness, the test results can only be judged qualitatively and cannot be quantized, even sound and light are not obvious in many times, misjudgment is caused, hidden dangers exist in the use process of initiating explosive devices, testers are always on the test site, the labor intensity of the testers is high, and the safety is low.
Whether the sample explodes needs manual judgement, adopts the ear to judge the explosion sound, people's eye observes the explosion brightness and people smell test gas and distinguishes, and the measuring error is because of the people, and the time difference, and the randomness is great, and test gas still has harmful components to the human body, and long-term contact can cause harmful effects to the human body.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides the automatic friction sensitivity testing system which is high in automation degree, high in testing precision, safe and reliable.
The specific technical scheme of the invention is as follows:
the invention provides an automatic impact sensitivity testing system which comprises a friction testing device, a conveying device, a robot and a control unit, wherein the friction testing device comprises a friction testing device body and a friction testing device body;
the friction testing device is used for testing the pendulum bob and acquiring testing data, the conveying device is used for storing samples of the to-be-tested and tested initiating explosive devices, the robot is used for automatically taking and placing the samples of the to-be-tested and tested initiating explosive devices between the conveying device and the impact testing device, and the control unit is electrically connected with the friction testing device, the robot and the conveying device respectively;
the friction testing device comprises a base, a vertical frame, a pendulum mechanism, a striking rod device, an upper fixing component, a lower moving component, a press machine and a gas testing device;
the vertical frame is arranged on the upper surface of the machine base;
the pendulum mechanism comprises a pendulum, a brake, a main shaft, an installation plate, a vertical plate, a first servo motor, a speed reducer, a belt transmission mechanism, a clutch, an encoder and a photoelectric sensor;
the mounting plate is fixedly mounted at the top of the vertical frame, two vertical plates are vertically fixed on the mounting plate, and the two vertical plates are parallel to each other; the main shaft is arranged on the two vertical plates, the two vertical plates extend out of the two ends of the main shaft respectively, one end of the main shaft is provided with a clutch, the clutch is connected with the speed reducer through a belt transmission mechanism, and the other end of the main shaft is provided with a brake; the output end of the first servo motor is provided with a speed reducer; the pendulum bob comprises a swing rod and a hammer body; one end of the swing rod is arranged on the main shaft, and the other end of the swing rod is provided with a hammer body; the photoelectric sensor is arranged on the vertical plate and is positioned right above the main shaft;
the upper fixing component comprises a gantry support, a sleeve cup, an upper thimble, a light sensor and a sound sensor; the gantry support consists of a top plate and two side plates; the gantry support is fixedly arranged on the upper surface of the machine base through two side plates, one end of the sleeve cup is provided with an end cover, and the other end of the sleeve cup is an opening; the end cover is provided with a gas outflow hole; an upper thimble is arranged in the center of the end cover; one end of the sleeve cup, which is provided with the end cover, is fixed with the lower surface of the top plate of the gantry support, and one end of the opening is arranged downwards; the optical sensor and the sound sensor are both arranged on the inner surface of the side wall of the sleeve cup;
the striking rod device comprises a striking rod and a striking rod sleeve; the driving rod sleeve is arranged on the side wall of the sleeve cup, the arrangement direction of the driving rod sleeve is vertical to the axial direction of the sleeve cup, and the driving rod is inserted in the guide sleeve;
the lower movable assembly comprises a jacking cylinder, a base plate, a guide post and a sample placing cylinder; the jacking cylinder is positioned in the base, the cylinder body of the jacking cylinder is fixedly connected with the base, and the piston rod of the jacking cylinder penetrates through the top of the base and extends out of the base to be connected with the base plate; the guide posts are uniformly distributed, one end of each guide post is fixedly connected with the base plate, and the other end of each guide post is inserted into the top of the base and extends into the base; one end of the sample placing cylinder is fixedly arranged on the base plate, the other end of the sample placing cylinder is provided with a striking column seat, a stepped through hole is formed in the center axis of the striking column seat, a first striking column and a second striking column are arranged in a large-diameter hole of the stepped through hole from top to bottom, and an initiating explosive device sample is placed between the first striking column and the second striking column;
the press machine comprises a second servo motor, an electric cylinder, a pressure sensor and an ejector rod; one end of the ejector rod is connected with the pressure sensor, the other end of the ejector rod is inserted into the sample placing cylinder, the electric cylinder body is fixed with the base plate, one end of a movable rod of the electric cylinder is in contact with the pressure sensor, and the other end of the movable rod of the electric cylinder is connected with the output end of the second servo motor;
wherein, the distance between the axis of the striking rod and the axis of the main shaft is equal to the distance between the axis of the main shaft and the center of the hammer body;
the gas testing device is arranged on the upper surface of a top plate of the gantry support, is communicated with the gas outflow hole through a connecting gas pipe and is used for collecting the gas after explosion and detecting the gas.
Furthermore, in order to facilitate the taking out of the striking column after the striking rod strikes and the later repeated use, the friction testing device also comprises a striking column inclined guide seat, a striking column falling guide groove and a striking column collecting box; the hitting column inclined guide seat is sleeved outside the sample placing barrel and fixedly arranged on the base plate, and the upper surface of the hitting column inclined guide seat is an inclined surface; the hitting post falling guide groove is obliquely arranged on the base plate, a notch is formed in the side wall of the sleeve cup and is located below the hitting rod device, one end of the hitting post falling guide groove is opposite to the notch, and the other end of the hitting post falling guide groove is suspended; the hitting post collecting box is fixed on the base and is positioned right below the suspended end of the hitting post falling guide groove.
Furthermore, in order to ensure that the striking rod can automatically withdraw from the initial striking position when the device is repeatedly used, the device also comprises an automatic adsorption device; the automatic adsorption device comprises a first striking rod cylinder, a second striking rod cylinder, a connecting block and a magnet;
the cylinder body of the first impact rod cylinder is fixed on the gantry support, the piston rod of the first impact rod cylinder is provided with a connecting block, the cylinder body of the second impact rod cylinder is fixedly connected with the connecting block, and the piston rod of the second impact rod cylinder is fixedly provided with a magnet.
Further, the gas testing device comprises a gas collecting chamber and a control chamber; a plurality of gas sensors are arranged in the gas collection chamber, the gas collection chamber is provided with two gas pipe joints, one gas pipe joint is communicated with the gas outflow hole, and the other gas pipe joint is communicated with external vacuum-pumping equipment;
a control circuit board is arranged in the control chamber and is electrically connected with the plurality of gas sensors respectively;
a gas guide plate is further arranged in the gas collection chamber and is positioned right below the gas pipe joint communicated with the gas outflow hole; the gas guide plate is provided with a plurality of small guide holes; aviation plugs are arranged on the gas collection chamber and the control chamber.
Further, for the convenience of replacing and maintaining the sensors in the gas collection chamber and the control chamber, the cover plates are connected and installed through threads on the gas collection chamber and the control chamber, and meanwhile, an O-shaped sealing ring is arranged at the position where the cover plate of the gas collection chamber is in contact with the gas collection chamber in order to guarantee the air tightness in the gas collection chamber.
Furthermore, the friction testing device also comprises two blocking mechanisms and two blocking mechanisms, wherein the two blocking mechanisms are respectively arranged on two side plates of the gantry support; the blocking mechanism comprises a blocking cylinder, a fixing plate and a blocking plate; the blocking cylinder body is installed on the side plate through the fixing plate, the blocking plate is installed at the front end of the blocking cylinder piston rod, the moving direction of the blocking cylinder piston rod is perpendicular to the moving direction of the press machine, and the blocking plate is located below the base plate. After the jacking cylinder drives the lower movable assembly to reach the position, the blocking mechanism acts to block the cylinder to push the blocking plate to reach the position below the base plate, so that the pressing machine is ensured to ensure stable pressure in the upward pressing process of the pressing machine.
Further, the conveying device comprises a frame, a rodless cylinder and a material tray; the to-be-measured and measured initiating explosive device sample tool is placed above the material tray, the material tray is installed on the rodless cylinder, and the rodless cylinder is fixedly installed above the rack.
Furthermore, the control unit comprises a field control unit or a remote monitoring station which is responsible for controlling the friction testing device, the conveying device and the robot to work and complete the data storage report.
The invention has the beneficial effects that:
1. according to the invention, before the test is started, a sample to be tested is manually placed on the conveying device, personnel quit the test site, the control unit is used for controlling the robot to complete the sample placing and placing work and then controlling the friction testing device to automatically test the friction sensitivity, and after the test flow is started, the friction sensitivity test data can be accurately, timely and comprehensively obtained in the whole process without the intervention of personnel, so that the labor intensity of the personnel is reduced, and the safety of the test and the integrity and reliability of the data are greatly improved.
2. The pendulum mechanism is driven by the first servo motor, and the brake can ensure that the pendulum reaches the bottom impact area in an approximately free state, ensure that the pendulum does not have eccentricity and falls in the center of the impact area, and effectively prevent secondary impact.
3. The invention is provided with the hitting post inclined guide seat, the hitting post falling guide groove and the hitting post collecting box, so that the hitting post can well fall out, and the hitting post is collected and convenient to recycle.
4. According to the invention, the linkage of the first striking rod cylinder and the second striking rod cylinder is adopted to drive the magnet to adsorb the striking rod, so that the automatic resetting of the striking rod is realized, the manual intervention is avoided, and the safety and the production efficiency are improved.
5. When the gas collection test is carried out, the gas test device and the explosion chamber are separated, so that the influence of the impact process on the gas test is avoided, and the explosion chamber and the gas test device are respectively provided with the optical sensor, the sound sensor and the plurality of gas sensors and are connected with the control circuit board, so that the sound, light and gas data information of the explosive after the explosive is exploded can be automatically, accurately, safely and reliably obtained.
6. The gas guide plate is arranged in the gas collection chamber, so that stable diffusion of explosive gas in the chamber is ensured, and detection is facilitated.
7. The invention adopts the blocking mechanism, and can ensure the stable pressure in the process of upward pressing by the press machine.
8. The control unit comprises a field control unit or a remote monitoring station, so that not only is a local online test realized, but also the purpose of a remote control test can be met.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a front view of the friction testing apparatus;
FIG. 3 is a side view of the friction testing device;
FIG. 4 is a cross-sectional view of a friction testing device;
FIG. 5 is a structural view of a pendulum mechanism;
FIG. 6 is a partial cross-sectional view of the upper stationary assembly and the lower movable assembly in combination;
FIG. 7 is a partial block diagram of the lower movable assembly and press combination;
FIG. 8 is a schematic view of a partial structure of the automatic absorbing device engaged with the striking rod device;
FIG. 9 is a block diagram of a gas testing apparatus;
fig. 10 is a view from direction B of fig. 9.
The reference numbers are as follows:
1-friction testing device, 11-machine base, 12-vertical frame, 13-pendulum mechanism, 131-pendulum, 1311-swing rod, 1312-hammer body, 132-brake, 133-main shaft, 134-mounting plate, 135-vertical plate, 136-first servo motor, 137-speed reducer, 138-belt transmission mechanism, 139-clutch, 14-striking rod device, 141-striking rod, 142-striking rod sleeve, 15-upper fixing component, 151-gantry support, 152-sleeve cup, 1521-gas outflow hole, 153-upper thimble, 154-automatic adsorption device, 1541-first striking rod cylinder, 1542-second striking rod cylinder, 1543-connecting block, 1544-magnet, 16-lower movable component, 161-jacking cylinder, 162-a base plate, 163-a guide column, 164-a sample placing cylinder, 165-a hitting column inclined guide seat, 166-a hitting column falling guide groove, 167-a hitting column collecting box, 168-a hitting column seat, 17-a press, 171-a second servo motor, 172-an electric cylinder, 173-a pressure sensor, 174-a push rod, 18-a gas testing device, 181-a gas collecting chamber, 182-a control chamber, 183-a gas sensor, 184-a gas pipe joint, 185-a control circuit board, 186-a gas guide plate, 187-an aviation plug, 188-a cover plate and 189-O type sealing rings;
2-conveying device, 21-frame, 22-rodless cylinder, 23-material tray;
3-a robot; 4-control unit, 5-encoder, 6-photoelectric sensor, 7-first impact column, 8-second impact column, and 9-sample of initiating explosive device to be tested.
Detailed Description
The structure and operation of the present invention will be described in detail with reference to the accompanying drawings:
structure of the product
As shown in fig. 1, an automatic impact sensitivity testing system includes a friction testing device 1, a conveying device 2, a robot 3 and a control unit 4;
the friction testing device 1 is used for testing the pendulum bob and collecting testing data, the conveying device 2 is used for storing samples of the to-be-tested and tested initiating explosive devices, the robot 3 is used for automatically taking and placing the samples of the to-be-tested and tested initiating explosive devices between the conveying device and the impact testing device, the control unit 4 is electrically connected with the friction testing device 1, the robot 3 and the conveying device 2 respectively, the control unit comprises a field control unit or a remote monitoring station and is mainly responsible for controlling the friction testing device, the conveying device and the robot to work and completing data storage reports.
The conveying device 2 comprises a frame 21, a rodless cylinder 22 and a material tray 23; the to-be-measured and measured initiating explosive device sample tooling is placed above the material tray 23, the material tray 23 is installed on the rodless cylinder 22, and the rodless cylinder 22 is fixedly installed above the rack 21.
As shown in fig. 2 to 8, the friction test apparatus 1 includes a base 11, a stand 12, a pendulum mechanism 13, a striking rod apparatus 14, an upper fixed assembly 15, a lower movable assembly 16, a press 17, and a gas test apparatus 18;
the vertical frame 12 is arranged on the upper surface of the machine base 11;
the specific structure of pendulum mechanism 13 is: the device comprises a pendulum 131, a brake 132, a main shaft 133, a mounting plate 134, a vertical plate 135, a first servo motor 136, a speed reducer 137, a belt transmission mechanism 138, a clutch 139, an encoder 5 and a photoelectric sensor 6;
the mounting plate 134 is fixedly mounted at the top of the vertical frame 12, two vertical plates 135 are vertically fixed on the mounting plate 134, and the two vertical plates 135 are parallel to each other; the main shaft 133 is mounted on the two vertical plates 135, and two vertical plates 135 extend from two ends of the main shaft 133 respectively, one end of the main shaft 133 is provided with a clutch 139, the clutch 139 is connected with the speed reducer 137 through a belt transmission mechanism 138, and the other end of the main shaft 133 is provided with a brake 132; the output end of the first servo motor 136 is provided with a speed reducer 137; the pendulum 131 includes a swing bar 1311 and a hammer body 1312; one end of the swing rod 1311 is mounted on the main shaft 133, and the other end is mounted with a hammer 1312; the photoelectric sensor is arranged on the vertical plate and is positioned right above the main shaft 133; the encoder is connected with the main shaft;
the upper fixing assembly 15 comprises a gantry support 151, a sleeve cup 152, an upper thimble 153, a light sensor, a sound sensor and an automatic adsorption device 154; the gantry support 151 is composed of a top plate and two side plates; the gantry support 151 is fixedly arranged on the upper surface of the machine base 11 through two side plates, one end of the sleeve cup 152 is provided with an end cover, and the other end of the sleeve cup is an opening; the end cover is provided with a gas outlet hole 1521; an upper thimble 153 is arranged at the center of the end cover; one end of the sleeve cup 152 provided with the end cover is fixed with the lower surface of the top plate of the gantry support 151, and one end of the opening is arranged downwards; the optical sensor and the sound sensor are both arranged on the inner surface of the side wall of the sleeve cup 152; the automatic adsorption device 154 includes a first striker cylinder 1541, a second striker cylinder 1542, a connecting block 1543, and a magnet 1544;
the cylinder body of the first striking rod cylinder 1541 is fixed on the gantry support 151, the piston rod of the first striking rod cylinder 1541 is provided with a connecting block 1543, the cylinder body of the second striking rod cylinder 1542 is fixedly connected with the connecting block 1543, and the piston rod of the second striking rod cylinder 1542 is fixedly provided with a magnet 1544.
The motion direction of the piston rod of the first striking rod cylinder is perpendicular to the motion direction of the striking rod, and the motion direction of the piston rod of the second striking rod cylinder is the same as the striking rod, so that the first striking rod cylinder and the second striking rod cylinder are linked, and the striking rod can automatically return to the initial position from the striking position to wait after the pendulum bob strikes the swinging rod.
The blade assembly 14 includes a blade 141 and a blade cover 142; the striking rod sleeve 142 is installed on the side wall of the sleeve cup 152, the setting direction of the striking rod sleeve 142 is vertical to the axial direction of the sleeve cup 152, the striking rod 141 is inserted in the striking rod sleeve 142, and the striking rod can slide back and forth in the striking rod sleeve 142.
Wherein the distance between the axis of the striking rod 141 and the axis of the spindle 133 is equal to the distance between the axis of the spindle 133 and the center of the hammer 1312;
the lower movable assembly 16 comprises a jacking cylinder 161, a base plate 162, a guide post 163, a sample placing cylinder 164, a hitting post inclined guide seat 165, a hitting post falling guide groove 166 and a hitting post collecting box 167;
the jacking cylinder 161 is positioned in the base 11, the cylinder body of the jacking cylinder 161 is fixedly connected with the base 11, and the piston rod of the jacking cylinder 161 penetrates through the top of the base 11 to extend out and then is connected with the base plate 162; the guide posts 163 are distributed uniformly, one end of each guide post 163 is fixedly connected with the base plate 162, and the other end of each guide post 163 is inserted into the top of the machine base 11 and extends into the machine base 11; one end of the sample placing cylinder 164 is fixedly arranged on the base plate 162, the other end of the sample placing cylinder is provided with a striking column seat 168, a stepped through hole is formed in the central axis of the striking column seat 168, a first striking column 7 and a second striking column 8 are arranged in a large-diameter hole of the stepped through hole from top to bottom, and an initiating explosive device sample 9 to be tested is placed between the first striking column 7 and the second striking column 8; the column hitting inclined guide seat 165 is sleeved outside the sample placing cylinder 164 and is fixedly installed on the base plate 162, and the upper surface of the column hitting inclined guide seat 165 is an inclined surface; the striking pin falling guide groove 166 is obliquely arranged on the base plate 162, a notch is formed in the side wall of the sleeve cup 142 and is located below the striking rod device 14, one end of the striking pin falling guide groove 166 is opposite to the notch, and the other end of the striking pin falling guide groove 166 is suspended; the striking pin collecting box 167 is fixed to the base 11 and located right below the free end of the striking pin falling guide groove 166 (note that the angle of inclination 165 of the striking pin inclined guide groove is the same as the angle of inclination of the striking pin falling guide groove 166, and both of them form a falling slope).
The jacking cylinder drives the lower movable assembly to ascend, after the upper surface of the base plate is attached to the open end of the sleeve cup of the upper fixed assembly, the sleeve cup and the base plate form a relatively closed cavity, and the initiating explosive device sample to be tested is located in the cavity.
The press 17 includes a second servo motor 171, an electric cylinder 172, a pressure sensor 173, and a ram 174; one end of the ejector rod 174 is connected with the pressure sensor 173, the other end is inserted into the sample placing cylinder 164, the cylinder body of the electric cylinder 172 is fixed with the substrate 162, one end of the movable rod of the electric cylinder 172 is contacted with the pressure sensor 173, and the other end is connected with the output end of the second servo motor 171;
as shown in fig. 9 and 10, the gas testing device 18 is installed on the upper surface of the ceiling of the gantry support 151 for collecting and detecting the gas after explosion.
The gas testing device 18 comprises a gas collection chamber 181 and a control chamber 182; a plurality of gas sensors 183 are arranged in the gas collection chamber 181, and the gas collection chamber 181 is provided with two gas pipe connectors 184, wherein one gas pipe connector is communicated with the gas outflow hole 1521, and the other gas pipe connector is communicated with external vacuum-pumping equipment (a vacuum valve); a control circuit board 185 is arranged in the control chamber 182, and the control circuit board 185 is electrically connected with the plurality of gas sensors 183 respectively; a gas guide plate 186 is further installed in the gas collection chamber 181, and the gas guide plate 186 is located right below the gas pipe joint communicated with the gas outflow hole 1521; a plurality of small flow guide holes are formed in the gas flow guide plate 186; to facilitate electrical connections, aviation plugs 187 are provided on both the gas collection chamber 181 and the control chamber 182.
Furthermore, in order to facilitate replacement and maintenance of the sensors in the gas collecting chamber 181 and the control chamber 182, the cover plates 188 are screwed to the gas collecting chamber and the control chamber, and an O-ring 189 is provided at a position where the cover plate of the gas collecting chamber contacts the gas collecting chamber to ensure airtightness in the gas collecting chamber.
Working process
Before the test is started, manually putting the initiating explosive device sample into a conveying device, and enabling the personnel to quit the test site and control the site in a remote monitoring station;
1. the placing process of the initiating explosive device sample to be detected comprises the following steps:
firstly, a striking column is placed in a step through hole of a striking column seat by a robot, then an initiating explosive device sample to be tested is taken from a material plate of a conveying device and placed to the upper surface of the striking column, and finally another striking column is placed on the initiating explosive device sample to be tested.
2. Explosion chamber forming process:
the jacking cylinder drives the press, the base plate, the barrel is placed to the sample that is located on the base plate, hit oblique guide holder of post, hit post whereabouts guide way and rise, form the explosion cavity behind the contact of the cover cup in the fixed subassembly in upper portion and base plate, hit the breach of post whereabouts guide way and cover cup to it this moment, thereby hit oblique guide holder of post, the breach of cover cup and hit post whereabouts guide way and form and hit post whereabouts ramp, it is stable to exert pressure for the initiating explosive device sample that awaits measuring for the follow-up press that makes, stop mechanism also begins the action, it drives the barrier plate and stretches into the base plate below to stop the cylinder, and the barrier plate upper surface closely laminates with the.
3. The pressing process of the press machine comprises the following steps:
the second servo motor drives the electric cylinder, the electric cylinder drives the pressure sensor and the ejector rod to ascend, and the ejector rod jacks up a second hitting column, an initiating explosive device sample to be detected and a first hitting column in the hitting column base, so that the first hitting column is in precise contact with the upper ejector pin;
4. oscillating friction, namely performing an explosion process on the initiating explosive device sample to be detected;
the clutch actuation at first, first servo motor passes through the speed reducer, belt drive mechanism gives the main shaft with power transmission, the main shaft is rotatory and drives the pendulum and swings to horizontal position from the natural state position, then, the clutch is thrown off, the pendulum falls according to being similar to free circular motion, the pendulum strikes the impact rod, the impact rod strikes first hitting the post, it strikes the explosive sample explosion of the explosive device that awaits measuring between post and the second hitting the post to be located, when the pendulum falls to the striking position, the light sensor that is located on the riser sends a signal for the stopper, the stopper locks the main shaft, the pendulum stops the swing, the effectual secondary striking that has avoided.
Two points to be explained are: A. can be after the explosion is accomplished through automatic adsorption equipment, adsorb initial position from the striking position with the striker, make things convenient for going on of next test.
B. The first hitting column falls off after being impacted by the hitting rod and falls into the hitting column collecting box along a hitting column falling ramp formed by the hitting column inclined guide seat, the notch of the sleeve cup and the hitting column falling guide groove.
5. Gas, light and sound collection and storage
At the moment of explosion, the optical sensor and the sound sensor which are positioned on the inner wall of the sleeve cup send received signals to a control circuit board in a control room; the encoder also sends the measured falling angle of the pendulum bob to the control circuit board;
the gas in the explosion cavity enters the gas collection chamber through a gas outflow hole on the end cover of the sleeve cup and passes through a CO sensor and CO which are arranged in the gas collection chamber2Sensor, H2Sensor and N2The sensor collects the gas concentration and sends the gas concentration to the control circuit board;
and the control circuit board sends the received falling angle of the pendulum bob, optical signals, sound signals and various gas information generated when the initiating explosive device sample explodes to the control unit.
By the aid of the working process, when the system is adopted, after the test process is started, human intervention is not needed in the whole process, the robot places the test samples in different areas according to whether the test samples explode or not after the test is completed, and meanwhile, the control unit can automatically store and print the test report. The system has the advantages that the labor intensity of personnel is reduced, the accuracy and the reliability of the test are guaranteed, automation and informatization are introduced into the field of sensitivity test for the first time, and the application prospect is wide.
Claims (8)
1. An automatic friction sensitivity testing system comprises a friction testing device, wherein the friction testing device is used for pendulum testing and collecting testing data, and comprises a pendulum mechanism and a striking rod device;
the method is characterized in that: the robot also comprises a conveying device, a robot and a control unit;
the robot is used for automatically taking and placing the samples of the to-be-tested and tested initiating explosive devices between the conveying device and the impact testing device, and the control unit is electrically connected with the friction testing device, the robot and the conveying device respectively;
the friction testing device also comprises a machine base, a vertical frame, an upper fixing assembly, a lower movable assembly, a press machine and a gas testing device;
the vertical frame is arranged on the upper surface of the machine base;
the pendulum mechanism comprises a pendulum, a brake, a main shaft, an installation plate, a vertical plate, a first servo motor, a speed reducer, a belt transmission mechanism, a clutch, an encoder and a photoelectric sensor;
the mounting plate is fixedly mounted at the top of the vertical frame, two vertical plates are vertically fixed on the mounting plate, and the two vertical plates are parallel to each other; the main shaft is arranged on the two vertical plates, the two vertical plates extend out of the two ends of the main shaft respectively, one end of the main shaft is provided with a clutch, the clutch is connected with the speed reducer through a belt transmission mechanism, and the other end of the main shaft is provided with a brake; the output end of the first servo motor is provided with a speed reducer; the pendulum bob comprises a swing rod and a hammer body; one end of the swing rod is arranged on the main shaft, and the other end of the swing rod is provided with a hammer body; the photoelectric sensor is arranged on the vertical plate and is positioned right above the main shaft;
the upper fixing component comprises a gantry support, a sleeve cup, an upper thimble, a light sensor and a sound sensor; the gantry support consists of a top plate and two side plates; the gantry support is fixedly arranged on the upper surface of the machine base through two side plates, one end of the sleeve cup is provided with an end cover, and the other end of the sleeve cup is an opening; the end cover is provided with a gas outflow hole; an upper thimble is arranged in the center of the end cover; one end of the sleeve cup, which is provided with the end cover, is fixed with the lower surface of the top plate of the gantry support, and one end of the opening is arranged downwards; the optical sensor and the sound sensor are both arranged on the inner surface of the side wall of the sleeve cup;
the striking rod device comprises a striking rod and a striking rod sleeve; the driving rod sleeve is arranged on the side wall of the sleeve cup, the arrangement direction of the driving rod sleeve is vertical to the axial direction of the sleeve cup, and the driving rod is inserted in the guide sleeve;
the lower movable assembly comprises a jacking cylinder, a base plate, a guide post and a sample placing cylinder; the jacking cylinder is positioned in the base, the cylinder body of the jacking cylinder is fixedly connected with the base, and the piston rod of the jacking cylinder penetrates through the top of the base and extends out of the base to be connected with the base plate; the guide posts are uniformly distributed, one end of each guide post is fixedly connected with the base plate, and the other end of each guide post is inserted into the top of the base and extends into the base; one end of the sample placing cylinder is fixedly arranged on the base plate, the other end of the sample placing cylinder is provided with a striking column seat, a stepped through hole is formed in the center axis of the striking column seat, a first striking column and a second striking column are arranged in a large-diameter hole of the stepped through hole from top to bottom, and an initiating explosive device sample is placed between the first striking column and the second striking column;
the press machine comprises a second servo motor, an electric cylinder, a pressure sensor and an ejector rod; one end of the ejector rod is connected with the pressure sensor, the other end of the ejector rod is inserted into the sample placing cylinder, the electric cylinder body is fixed with the base plate, one end of a movable rod of the electric cylinder is in contact with the pressure sensor, and the other end of the movable rod of the electric cylinder is connected with the output end of the second servo motor;
wherein, the distance between the axis of the striking rod and the axis of the main shaft is equal to the distance between the axis of the main shaft and the center of the hammer body;
the gas testing device is arranged on the upper surface of a top plate of the gantry support, is communicated with the gas outflow hole through a connecting gas pipe and is used for collecting the gas after explosion and detecting the gas.
2. The automated friction sensitivity testing system of claim 1, wherein: the device also comprises a hitting post inclined guide seat, a hitting post falling guide groove and a hitting post collecting box; the hitting column inclined guide seat is sleeved outside the sample placing barrel and fixedly arranged on the base plate, and the upper surface of the hitting column inclined guide seat is an inclined surface; the hitting post falling guide groove is obliquely arranged on the base plate, a notch is formed in the side wall of the sleeve cup and is located below the hitting rod device, one end of the hitting post falling guide groove is opposite to the notch, and the other end of the hitting post falling guide groove is suspended; the hitting post collecting box is fixed on the base and is positioned right below the suspended end of the hitting post falling guide groove.
3. The automated friction sensitivity testing system according to claim 1 or 2, wherein: the automatic adsorption device is also included; the automatic adsorption device comprises a first striking rod cylinder, a second striking rod cylinder, a connecting block and a magnet;
the cylinder body of the first impact rod cylinder is fixed on the gantry support, the piston rod of the first impact rod cylinder is provided with a connecting block, the cylinder body of the second impact rod cylinder is fixedly connected with the connecting block, and the piston rod of the second impact rod cylinder is fixedly provided with a magnet.
4. The automated friction sensitivity testing system of claim 1, wherein: the gas testing device comprises a gas collecting chamber and a control chamber; a plurality of gas sensors are arranged in the gas collection chamber, the gas collection chamber is provided with two gas pipe joints, one gas pipe joint is communicated with the gas outflow hole, and the other gas pipe joint is communicated with external vacuum-pumping equipment;
a control circuit board is arranged in the control chamber and is electrically connected with the plurality of gas sensors respectively;
a gas guide plate is further arranged in the gas collection chamber and is positioned right below the gas pipe joint communicated with the gas outflow hole; the gas guide plate is provided with a plurality of small guide holes; aviation plugs are arranged on the gas collection chamber and the control chamber.
5. The automated friction sensitivity testing system according to claim 4, wherein: the cover plates are connected with the control chamber through threads, and an O-shaped sealing ring is arranged at the position where the cover plate of the gas collection chamber is in contact with the gas collection chamber in order to ensure the air tightness of the gas collection chamber.
6. The automated friction sensitivity testing system of claim 1, wherein: the gantry support is characterized by further comprising two blocking mechanisms, wherein the two blocking mechanisms are respectively arranged on two side plates of the gantry support; the blocking mechanism comprises a blocking cylinder, a fixing plate and a blocking plate; the blocking cylinder body is installed on the side plate through the fixing plate, the blocking plate is installed at the front end of the blocking cylinder piston rod, the moving direction of the blocking cylinder piston rod is perpendicular to the moving direction of the press machine, and the blocking plate is located below the base plate.
7. The automated friction sensitivity testing system of claim 6, wherein: the conveying device comprises a rack, a rodless cylinder and a material tray; the to-be-measured and measured initiating explosive device sample tool is placed above the material tray, the material tray is installed on the rodless cylinder, and the rodless cylinder is fixedly installed above the rack.
8. The automated friction sensitivity testing system of claim 7, wherein: the control unit comprises a field control unit or a remote monitoring station which is responsible for controlling the friction testing device, the conveying device and the robot to work and finish a data storage report.
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| CN201711438067.3A CN108226035B (en) | 2017-12-26 | 2017-12-26 | Automatic friction sensitivity testing system |
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| CN201711438067.3A CN108226035B (en) | 2017-12-26 | 2017-12-26 | Automatic friction sensitivity testing system |
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| CN108226035B true CN108226035B (en) | 2020-05-05 |
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