CN114018107A - Multipoint primer press-fitting mechanism with self-adaptive capacity - Google Patents
Multipoint primer press-fitting mechanism with self-adaptive capacity Download PDFInfo
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- CN114018107A CN114018107A CN202111391227.XA CN202111391227A CN114018107A CN 114018107 A CN114018107 A CN 114018107A CN 202111391227 A CN202111391227 A CN 202111391227A CN 114018107 A CN114018107 A CN 114018107A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 66
- 238000007667 floating Methods 0.000 claims abstract description 26
- 238000003825 pressing Methods 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims 8
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 230000007547 defect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 229910000851 Alloy steel Inorganic materials 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000010791 quenching Methods 0.000 description 1
- 230000000171 quenching effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B33/00—Manufacture of ammunition; Dismantling of ammunition; Apparatus therefor
- F42B33/02—Filling cartridges, missiles, or fuzes; Inserting propellant or explosive charges
- F42B33/025—Filling cartridges, missiles, or fuzes; Inserting propellant or explosive charges by compacting
Abstract
The invention provides a multipoint primer press-mounting mechanism with self-adaptive capacity, which comprises a press-mounting rack, wherein the press-mounting rack comprises a top plate, a positioning bottom plate and a connecting rod for connecting the top plate and the positioning bottom plate, the connecting rod is arranged at two ends of the press-mounting rack, and a resetting piece is arranged at one end, close to the positioning bottom plate, of the connecting rod; the lower surface of the top plate is provided with a plurality of press-fitting rods, and each press-fitting rod is sleeved with a floating spring; the free end of the press mounting rod is provided with a press mounting head, and the press mounting rod is provided with a pressure sensor; the positioning bottom plate is provided with guide holes, and the press-mounting rods, the press-mounting heads and the guide holes are same in number and are coaxially arranged; the two ends of the press-fitting rack are also provided with guide rails, the press-fitting rack is in sliding fit with the guide rails, and a pressure mechanism for driving the press-fitting rack to slide along the height direction of the guide rails is arranged on the press-fitting rack. The multipoint primer press-fitting mechanism has the advantages of simple and reliable structure, high efficiency and strong practicability, and can greatly improve the stability of a small-caliber ammunition assembly system and the press-fitting speed of the primer.
Description
Technical Field
The invention relates to the technical field of intelligent assembly of small-caliber ammunition, in particular to a multipoint primer press-fitting mechanism with self-adaptive capacity.
Background
The small-caliber ammunition is one of the most basic combat equipment special for national defense, and the existing small-caliber bullet automatic assembly technology has a great gap in speed compared with the similar equipment in developed military countries. The press mounting quality of the cartridge case is improved by the aid of the single-point press mounting equipment, and the press mounting quality is improved by the aid of the single-point press mounting equipment.
Through search, the following results are found:
the invention discloses Chinese patent with the publication number of CN109839040B, and discloses an automatic ammunition primer press-mounting device which comprises a cartridge case feeding module, a primer press-mounting module and a cartridge case radial clamping module which are coaxially arranged from bottom to top. The shell feeding module comprises a shell feeding device and a shell conveying disc, and the shell feeding device conveys the shells into the shell conveying disc one by one; the primer feeding module comprises a primer feeding device and a primer plate, a plurality of cylindrical through holes are formed in the periphery of the primer plate, supporting pieces are arranged at the bottom of the cylindrical through holes and connected with the primer plate through first elastic parts, and the primer falls onto the supporting pieces located at the bottoms of the cylindrical through holes through the primer feeding device; the primer press-mounting module comprises a primer press-mounting disc and a primer press rod, and the primer is pressed into the cartridge case; the cartridge case radial clamping module comprises a wedge-shaped cam and a radial clamping device, the wedge-shaped cam and the cartridge case conveying disc are coaxially arranged, and the radial clamping device is arranged on the cartridge case conveying disc. The equipment provided by the invention improves the efficiency of primer press-fitting. However, the invention still has the following problems:
the press-fitting quality of the primer and the cartridge case still needs to be improved, and the press-fitting force cannot be accurately detected and fed back in the primer press-fitting process, so that the fineness of intelligent assembly is influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a multipoint primer press-fitting mechanism with self-adaptive capacity, which has the advantages of simple and reliable structure, high efficiency and strong practicability, and can greatly improve the stability of a small-caliber ammunition assembly system and the press-fitting speed of primer.
According to one aspect of the invention, the multipoint primer press-mounting mechanism with the self-adaptive capacity comprises a press-mounting rack, wherein the press-mounting rack comprises a top plate, a positioning bottom plate and a connecting rod for connecting the top plate and the positioning bottom plate, the connecting rod is arranged at two ends of the press-mounting rack, and a reset piece is arranged at one end, close to the positioning bottom plate, of the connecting rod; the lower surface of the top plate is provided with a plurality of press-fitting rods, and each press-fitting rod is sleeved with a floating spring; the free end part of the press mounting rod is provided with a press mounting head for pushing and pressing the cartridge case, and the press mounting rod is provided with a pressure sensor for detecting press mounting force in real time; the positioning bottom plate is provided with guide holes for the press-mounting heads to pass through, and the press-mounting rods, the press-mounting heads and the guide holes are same in number and are coaxially arranged; the two ends of the press-fitting rack are also provided with guide rails, the press-fitting rack is in sliding fit with the guide rails, and a pressure mechanism used for driving the press-fitting rack to slide along the height direction of the guide rails is arranged on the press-fitting rack.
Preferably, the lower surface of the positioning bottom plate is provided with a positioning pin used for being matched with the shell feeding mechanism.
Preferably, the pressure mechanism is arranged on the upper surface of the top plate, the pressure mechanism comprises a pressurizing piece and a driving piece for driving the pressurizing piece, and the driving piece is a servo motor or an air cylinder.
Preferably, the reset piece is a reset spring, and the reset spring is sleeved on the connecting rod.
Preferably, the floating spring is made of metal having elasticity.
Preferably, the floating spring is a die spring, and the floating spring is made of 65 Mn.
Preferably, the surface of the press-fitting head is treated with an enhanced hardness.
Preferably, the press-fitting head is in clearance fit with the guide hole, and an upper chamfer for guiding the press-fitting head is arranged on the upper end face of the guide hole.
Preferably, the lower end face of the guide hole is provided with a lower chamfer for guiding the cartridge case.
Preferably, an upper stop block and a lower stop block are arranged on the guide rail, the press-fitting rack slides between the upper stop block and the lower stop block, and the positions of the upper stop block and the lower stop block are both adjustable.
Compared with the prior art, the invention has at least one of the following beneficial effects:
1. the multipoint primer press-mounting mechanism with the self-adaptive capacity can effectively ensure the coaxiality of the relative positions of the primer and the cartridge case in the press-mounting process;
2. according to the multipoint primer press-mounting mechanism with the self-adaptive capacity, the floating spring on the press-mounting rod enables the press-mounting mechanism to be provided with the floating head, so that the pressure balance of each press-mounting rod can be ensured;
3. according to the multipoint primer press-mounting mechanism with the self-adaptive capacity, the pressure sensor arranged on the press-mounting rod is used for ensuring accurate detection and feedback of press-mounting force in the press-mounting process, so that more precise intelligent assembly can be met while the press-mounting speed is ensured;
4. the multipoint primer press-fitting mechanism with the self-adaptive capacity has the advantages of simple and reliable structure, high efficiency and strong practicability, and can greatly improve the stability of a small-caliber ammunition assembly system and the press-fitting speed of the primer.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is an isometric view of a multi-point primer press-fit mechanism in an embodiment of the invention;
FIG. 2 is a schematic top view of a multi-point primer press-fitting mechanism in an embodiment of the invention;
FIG. 3 is a schematic view, partly in section, of a multi-point primer press-fit mechanism in an embodiment of the invention;
FIG. 4 is an isometric view of a pilot hole in an embodiment of the invention;
FIG. 5 is a schematic cross-sectional view of a pilot hole in an embodiment of the invention;
in the figure: the pressure mounting device comprises a pressure mounting head 1, a guide hole 2, a pressure sensor 3, a reset piece 4, a lower stop block 5, an upper stop block 6, a guide rail 7, a pressure mechanism 8, a positioning pin 9, a positioning bottom plate 10, a floating spring 11, a top plate 12, a connecting rod 13 and a pressure mounting rod 14.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
The embodiment of the invention provides a multipoint primer press-fitting mechanism with self-adaptive capacity, which comprises a press-fitting rack, as shown in figures 1-3, wherein the press-fitting rack comprises a top plate 12, a positioning bottom plate 10 and a connecting rod 13 for connecting the top plate 12 and the positioning bottom plate 10, the connecting rod 13 is arranged at two ends of the press-fitting rack, a resetting piece 4 is arranged at one end, close to the positioning bottom plate 10, of the connecting rod 13, and the resetting piece 4 is used for resetting the press-fitting mechanism; the lower surface of the top plate 12 is provided with a plurality of press-fitting rods 14, the press-fitting rods 14 are used for pressing primer into the cartridge case, and each press-fitting rod 14 is sleeved with a floating spring 11; a free end part of the press mounting rod 14 is provided with a press mounting head 1 for pushing and pressing the cartridge case, the press mounting head 1 is used for press mounting primer, and the press mounting rod 14 is provided with a pressure sensor 3 for detecting press mounting force in real time; the positioning bottom plate 10 is provided with guide holes 2 for the press-mounting heads 1 to pass through, and the press-mounting rods 14, the press-mounting heads 1 and the guide holes 2 are the same in number and are coaxially arranged; guide rails 7 are further arranged at two ends of the press-fitting rack, the press-fitting rack is in sliding fit with the guide rails 7, and a pressure mechanism 8 used for driving the press-fitting rack to slide along the height direction of the guide rails 7 is arranged on the press-fitting rack.
In the multi-point primer press-fitting mechanism with self-adaptive capacity in this embodiment, all the cover is equipped with floating spring 11 on the press-fitting rod 14, press-fitting mechanism has floating press-fitting head, through floating spring 11 cooperation pressure sensor 3, can realize mechanical self-adaptive function when the pressure equipment, in addition through pressure sensor 3 real-time detection pressure equipment power, when guaranteeing pressure equipment power, the displacement of press-fitting spare also can obtain reasonable control, simple structure is reliable, high efficiency, the practicality is strong.
In a specific embodiment, the lower surface of the positioning bottom plate 10 is provided with a positioning pin 9, the positioning pin 9 is used for matching with a corresponding positioning hole on the cartridge case feeding mechanism, the positioning bottom plate 10 and the positioning pin 9 are used for controlling the relative position of the press-loading mechanism, specifically, the shape and the position of the positioning bottom plate 10 are determined according to the cartridge case feeding mechanism, the positioning pin 9 is matched with a pin hole on the cartridge case feeding mechanism, and the position of the positioning pin 9 is determined according to the position of the pin hole on the cartridge case feeding mechanism.
In this embodiment, the press-fitting mechanism realizes the spacing between the press-fitting parts through the positioning bottom plate 10 and the positioning pin 9, the floating spring 11 and the pressure sensor 3 are used to control the displacement and the pressure of the press-fitting head 1, and the press-fitting is completed by using the reset part 4 to realize the state recovery of the press-fitting mechanism.
In a specific embodiment, the pressure mechanism 8 is disposed on the upper surface of the top plate 12, and the pressure mechanism 8 includes a pressing member and a driving member for driving the pressing member, wherein the driving member may be a servo motor or an air cylinder. In particular, the pressure piece may be provided with a mounting hole, and the mounting hole may be used for mounting a servo motor or an air cylinder as a drive. Of course, in other embodiments, other types of actuators may be used as the case may be.
In a specific embodiment, the reset member 4 is a reset spring, the reset spring is sleeved on the connecting rod 13, specifically, the reset spring is sleeved on one end of the connecting rod 13, namely, the contact end in contact with the positioning bottom plate 10, and the automatic reset after the press-fitting is completed is realized while the contact end linked with the reset spring is in contact with the positioning bottom plate 10.
The floating spring 11 is responsible for the force transmission and for the rational distribution of the force of the pressure means 8 to the individual press-fitting heads 1. In a specific embodiment, the floating spring 11 may be made of metal having elasticity. Specifically, the floating spring 11 is a die spring, and the floating spring 11 is made of 65 Mn. The die spring is suitable for moving precision mechanical equipment, alloy steel can be selected for use as the material of the die spring, the alloy steel die spring has the characteristics of high temperature resistance, large rigidity and long service life, and the die spring has small individual difference and is convenient for equipment installation and debugging. The floating spring of the embodiment is made of 65Mn, and the comprehensive mechanical property of the 65Mn after heat treatment is superior to that of carbon steel, and the floating spring is convenient to manufacture and produce. Of course, in other embodiments, the floating spring 11 may be made of other materials as long as the same function as that of the embodiment of the invention is achieved.
The press-fitting head 1 is a plurality of primary elements of the same size responsible for pushing against the cartridge case. In a specific embodiment, the surface of the press-fitting head 1 is subjected to a hardness-enhancing treatment to enhance the hardness of the press-fitting head, and specifically, the hardness-enhancing treatment may be a quenching treatment.
In a specific embodiment, as shown in fig. 4-5, the guide hole 2 is a through hole structure, the press-fitting head 1 is in clearance fit with the guide hole 2, and the upper end surface of the guide hole 2 is provided with an upper chamfer; lower terminal surface of guiding hole 2 is equipped with down the chamfer, and the last chamfer of guiding hole 2 and guiding hole 2 itself play the guide effect to pressure mechanism 1, specifically, go up the chamfer and can play the guide effect when pressure equipment head 1 puts into, and the lower chamfer can play the guide effect when the shell case gets into. It can be understood by those skilled in the art that the number of the guide holes 2 in this embodiment is the same as the number of the shells of the shell feeding mechanism, and the positions of the guide holes 2 correspond to the hole positions of the shells of the shell feeding mechanism one by one, so that the press-fitting rod, the press-fitting head, the guide holes and the hole positions of the shells of the shell feeding mechanism are coaxial when the primer is press-fitted.
In a specific embodiment, the press-fitting rack is slidably fitted with the guide rail 7, and the guide rail 7 may be provided with a sliding groove in the height direction, in which the press-fitting rack slides. Be equipped with dog 5 and lower dog 6 on with guide rail 7, the pressure equipment rack slides between dog 5 and lower dog 6 at last dog, and the position of going up dog 5 and lower dog 6 is all adjustable, and the initial position of dog 6 can be set for at the equipment debugging initial stage down, can realize pushing down accurate regulation through pressure sensor 3's feedback. In addition, according to the actual situation and the specific requirements of the press-fitting process, the positions of the upper stop block 5 and the lower stop block 6 can be properly adjusted to meet the press-fitting requirements.
In the embodiment, after the cartridge case reaches the press mounting station, the pressure mechanism 8 moves downwards along the guide rail 7, the press mounting rack, each press mounting head 1 and the positioning bottom plate 10 press the components of the press mounting mechanism to move downwards simultaneously, and the relative positions of the components of the press mounting mechanism are not changed in the downward movement process; then the positioning bottom plate 10 contacts the cartridge case carrier at the bottom to complete positioning in the Z direction, namely the vertical direction or the press mounting direction, and the X, Y axial direction, namely the horizontal direction, so that relative displacement in the vertical direction and overturning in the horizontal direction cannot be generated in the press mounting process; then the positioning pin 9 enters a corresponding positioning hole on the shell feeding mechanism to complete X, Y direction and Z axial positioning; after the positioning is finished, the pressure mechanism 8 continues to press down, the reset piece 4 is compressed, and the press-mounting head 1 presses the cartridge case and the primer; the floating spring 11 starts to adjust the force on each press-fitting head 1 with the aid of the pressure sensor 3, so that accurate adjustment of the press-down is achieved. After the primer press-mounting is completed, the pressure mechanism 8 moves upwards along the guide rail 7, and the reset piece 4 works to reset all parts of the press-mounting mechanism to the initial state. The pressure mechanism 8 continues to move upwards, the positioning pin 9 and the positioning bottom plate 10 are separated from the cartridge case carrier of the cartridge case feeding mechanism at the bottom, and the press-mounting mechanism moves to the upper stop block 6 to complete one press-mounting action.
The multipoint primer press-mounting mechanism with the self-adaptive capacity in the embodiment of the invention overcomes the defect that the press-mounting speed and quality of the primer and the cartridge case in the prior art can not be unified, and overcomes the defects of accurate detection and feedback of press-mounting force in the press-mounting process of the traditional primer. The invention can effectively ensure the coaxiality of the relative positions of the primer and the cartridge case in the press mounting process; the floating spring on the press-mounting rod enables the press-mounting mechanism to be provided with a floating head, so that the balance of the pressure of each press-mounting rod can be ensured; through installing the pressure sensor on the pressure equipment pole, guaranteed the accurate detection and the feedback of pressure equipment power in the pressure equipment process, can satisfy more meticulous intelligent assembly when guaranteeing pressure equipment speed. The multipoint primer press-fitting mechanism with the self-adaptive capacity has the advantages of simple and reliable structure, high efficiency and strong practicability, and can greatly improve the stability of a small-caliber ammunition assembly system and the press-fitting speed of the primer.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The above-described preferred features may be used in any combination without conflict with each other.
Claims (10)
1. The multipoint primer press-fitting mechanism with the self-adaptive capacity is characterized by comprising a press-fitting rack, wherein the press-fitting rack comprises a top plate, a positioning bottom plate and a connecting rod for connecting the top plate and the positioning bottom plate, the connecting rod is arranged at two ends of the press-fitting rack, and a reset piece is arranged at one end, close to the positioning bottom plate, of the connecting rod;
the lower surface of the top plate is provided with a plurality of press-fitting rods, and each press-fitting rod is sleeved with a floating spring; the free end part of the press mounting rod is provided with a press mounting head for pushing and pressing the cartridge case, and the press mounting rod is provided with a pressure sensor for detecting press mounting force in real time;
the positioning bottom plate is provided with guide holes for the press-mounting heads to pass through, and the press-mounting rods, the press-mounting heads and the guide holes are same in number and are coaxially arranged;
the two ends of the press-fitting rack are also provided with guide rails, the press-fitting rack is in sliding fit with the guide rails, and a pressure mechanism used for driving the press-fitting rack to slide along the height direction of the guide rails is arranged on the press-fitting rack.
2. The adaptive multipoint primer press-fitting mechanism according to claim 1, wherein the lower surface of the positioning bottom plate is provided with a positioning pin for matching with the shell feeding mechanism.
3. The adaptive multipoint primer press-fitting mechanism according to claim 1, wherein the pressure mechanism is disposed on the upper surface of the top plate, the pressure mechanism comprises a pressurizing member and a driving member for driving the pressurizing member, and the driving member is a servo motor or a cylinder.
4. The multipoint primer press-fitting mechanism with self-adaptive capacity according to claim 1, wherein the reset piece is a reset spring, and the reset spring is sleeved on the connecting rod.
5. The adaptive multi-primer press-fitting mechanism according to claim 1, wherein the floating spring is made of a metal having elasticity.
6. The adaptive multi-point primer press-fitting mechanism according to claim 5, wherein the floating spring is a die spring and is made of 65 Mn.
7. The adaptive multi-primer press-fitting mechanism according to claim 1, wherein the surface of the press-fitting head is treated with an enhanced hardness.
8. The adaptive multipoint primer press-fitting mechanism according to claim 1, wherein the press-fitting head is in clearance fit with the guide hole, and an upper end face of the guide hole is provided with an upper chamfer for guiding the press-fitting head.
9. The adaptive multipoint primer press-fitting mechanism according to claim 8, wherein the lower end face of the guide hole is provided with a lower chamfer for guiding the cartridge case.
10. The adaptive multipoint primer press-fitting mechanism according to claim 1, wherein an upper stop block and a lower stop block are arranged on the guide rail, the press-fitting rack slides between the upper stop block and the lower stop block, and the positions of the upper stop block and the lower stop block are adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111391227.XA CN114018107A (en) | 2021-11-23 | 2021-11-23 | Multipoint primer press-fitting mechanism with self-adaptive capacity |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111391227.XA CN114018107A (en) | 2021-11-23 | 2021-11-23 | Multipoint primer press-fitting mechanism with self-adaptive capacity |
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| CN114018107A true CN114018107A (en) | 2022-02-08 |
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| CN202111391227.XA Pending CN114018107A (en) | 2021-11-23 | 2021-11-23 | Multipoint primer press-fitting mechanism with self-adaptive capacity |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102645138A (en) * | 2012-04-24 | 2012-08-22 | 中国科学院合肥物质科学研究院 | Double-station automatic pressing machine for primer of hunting shot |
| US20150198429A1 (en) * | 2014-01-10 | 2015-07-16 | Iurie Mirza | Firearm cartridge primer removal tools |
| CN105973080A (en) * | 2016-05-16 | 2016-09-28 | 重庆市机电设计研究院 | Artillery primer charging system |
| CN109737834A (en) * | 2019-03-13 | 2019-05-10 | 绵阳市奥派科技有限公司 | A kind of powder charge plate pressing device |
| CN111121553A (en) * | 2018-10-31 | 2020-05-08 | 沈阳新松机器人自动化股份有限公司 | Automation equipment of pressure equipment basin stained paper crust |
| US10794676B1 (en) * | 2019-02-21 | 2020-10-06 | William H. Aerni | Ammunition reloading device |
| CN113432493A (en) * | 2021-06-29 | 2021-09-24 | 上海交通大学 | Small-caliber ammunition intelligent assembly primer press-fitting mechanism with flexible self-centering function |
-
2021
- 2021-11-23 CN CN202111391227.XA patent/CN114018107A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102645138A (en) * | 2012-04-24 | 2012-08-22 | 中国科学院合肥物质科学研究院 | Double-station automatic pressing machine for primer of hunting shot |
| US20150198429A1 (en) * | 2014-01-10 | 2015-07-16 | Iurie Mirza | Firearm cartridge primer removal tools |
| CN105973080A (en) * | 2016-05-16 | 2016-09-28 | 重庆市机电设计研究院 | Artillery primer charging system |
| CN111121553A (en) * | 2018-10-31 | 2020-05-08 | 沈阳新松机器人自动化股份有限公司 | Automation equipment of pressure equipment basin stained paper crust |
| US10794676B1 (en) * | 2019-02-21 | 2020-10-06 | William H. Aerni | Ammunition reloading device |
| CN109737834A (en) * | 2019-03-13 | 2019-05-10 | 绵阳市奥派科技有限公司 | A kind of powder charge plate pressing device |
| CN113432493A (en) * | 2021-06-29 | 2021-09-24 | 上海交通大学 | Small-caliber ammunition intelligent assembly primer press-fitting mechanism with flexible self-centering function |
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Application publication date: 20220208 |