CN212778924U

CN212778924U - Grenade decomposition device

Info

Publication number: CN212778924U
Application number: CN202021532524.2U
Authority: CN
Inventors: 宋桂飞; 吕科; 姜志保; 王韶光; 李良春; 王茂余; 李洁
Original assignee: No 3305 Factory Of Pla; 32181 Troops of PLA
Current assignee: No 3305 Factory Of Pla; 32181 Troops of PLA
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2021-03-23
Anticipated expiration: 2030-07-29

Abstract

The utility model discloses a grenade decomposition device, which relates to the technical field of ammunition destruction, and comprises a feeding station provided with an XZ sliding table assembly, a bending station provided with a bending mechanism and a decomposition station provided with a decomposition mechanism; the XZ sliding table assembly arranged on the workbench is connected with the feeding manipulator and the middle manipulator, and the feeding manipulator, the middle manipulator, the XZ sliding table assembly, the bending mechanism and the decomposing mechanism are controlled by the control cabinet, so that the purpose of automatically decomposing the grenades is realized. The XZ sliding table assembly is utilized to drive the feeding manipulator and the middle manipulator to perform translation motion, the feeding manipulator grabs the undecomposed grenades and moves the undecomposed grenades to the bending station from the feeding station, the gripping pieces of the grenades are bent at the bending station by means of the bending mechanism, and the grenades after the gripping pieces are bent are grabbed by the middle manipulator and moved to the decomposition station from the bending station; the decomposition of the grenades is realized by utilizing the decomposition mechanism at the decomposition station, so that the working efficiency and the safety factor can be improved, and the labor intensity can be reduced.

Description

Grenade decomposition device

Technical Field

The utility model relates to a technical field is destroyed to the ammunition, especially relates to a grenade decomposition device.

Background

With the updating of weaponry, ammunition is stored for a specified period of time, and ammunition approaching or reaching the storage age tends to increase year by year. Because scrapped ammunition is heavier and heavier in treatment task, and meanwhile, due to the fact that the ammunition is numerous in types and different in structural principle, part of ammunition is subjected to waste operation and has blind spots. At present, for the splitting of old series of grenades, the grenades are mainly manually disassembled by using simple tooling clamps or destroyed by adopting a direct detonation destruction mode. The destroying operation modes not only have high labor intensity and low working efficiency, but also lead the operating personnel to bear huge mental pressure, and ensure that the safety measures are almost zero. And because ammunition has very big potential safety hazard in the storage process, seriously endanger personal safety, can't guarantee the safety of long-distance transport more.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that to the not enough of above-mentioned prior art, provide a grenade decomposition device, can effectively improve work efficiency, reduce intensity of labour, improve decomposition work factor of safety.

In order to solve the technical problem, the utility model discloses the technical scheme who takes is:

a grenade decomposition device comprises a feeding station, a bending station and a decomposition station which are sequentially arranged on a workbench, wherein the feeding station is provided with an XZ sliding table assembly, the bending station is provided with a bending mechanism for bending a grenade holding piece, and the decomposition station is provided with a decomposition mechanism for decomposing grenades; the XZ sliding table assembly, the bending mechanism and the decomposing mechanism are all arranged on the workbench, the XZ sliding table assembly is connected with a feeding manipulator and an intermediate manipulator, the feeding manipulator is used for grabbing undecomposed grenades and moving the undecomposed grenades from a feeding station to a bending station, and the intermediate manipulator is used for grabbing the grenades after the holding pieces are bent and moving the grenades from the bending station to the decomposing station; the feeding mechanical arm, the middle mechanical arm, the XZ sliding table assembly, the bending mechanism and the decomposing mechanism are all controlled by the control cabinet.

Preferably, the XZ sliding table assembly comprises an upright post, an X-axis moving mechanism and a Z-axis moving mechanism, the X-axis moving mechanism is arranged on the upright post, and the X-axis moving mechanism is connected with the Z-axis moving mechanism for driving the X-axis moving mechanism to lift; the feeding mechanical arm and the middle mechanical arm are arranged on the X-axis moving mechanism in parallel.

Preferably, the X-axis moving mechanism is a horizontal cylinder, the Z-axis moving mechanism is a vertical cylinder, the feeding manipulator and the middle manipulator are arranged at the lower end of a horizontal moving plate in parallel, the horizontal moving plate is connected with the movable end of a piston rod of the horizontal cylinder, and the upright post is provided with a limit stop for limiting the stroke of the horizontal moving plate; the cylinder body of the horizontal cylinder is arranged on a vertical moving plate, and the vertical moving plate is connected with the movable end of a piston rod of the vertical cylinder; the cylinder body of the vertical cylinder is connected with the upright post, and the side surface of the upright post is provided with a guide rail matched with the vertical moving plate.

Preferably, the bending mechanism comprises a positioning clamp, a telescopic mechanism and two jaws, the positioning clamp is matched with the bottom of the grenade, the middle manipulator is arranged opposite to the two jaws, the open ends of the two jaws are provided with jaws for clamping the holding sheet, and the connecting ends of the two jaws are connected with the telescopic mechanism; the outer side surfaces of the two clamp claws are symmetrically provided with a guide roller and a reset pressure spring.

Preferably, the telescopic mechanism is a telescopic cylinder, a connector is arranged at the movable end of a piston rod of the telescopic cylinder, the connector is connected with the middle connecting plate through a pin shaft, and the end part of the middle connecting plate is pivoted with the rear part of the jaw through a hinge shaft.

Preferably, the disassembling mechanism comprises a turntable assembly and two rotary unloading manipulators, the turntable assembly is arranged on the workbench, the two rotary unloading manipulators are connected with a rotary power head and are used for rotatably unloading the grenade body and the detonator, and the rotary power head is arranged above the workbench; the rotary table assembly is provided with a projectile body rotary unloading station and a detonator rotary unloading station, and the two rotary unloading manipulators are correspondingly arranged above the projectile body rotary unloading station and the detonator rotary unloading station; the projectile body rotary unloading station is provided with a first clamping mechanism, the detonator rotary unloading station is provided with a second clamping mechanism, the rotary table assembly comprises a supporting seat for mounting the first clamping mechanism and the second clamping mechanism, and the supporting seat is connected with the rotating mechanism and used for driving the projectile body rotary unloading station and the detonator rotary unloading station on the supporting seat to rotate alternately; and a blanking hole is formed in the side surface of the rotating mechanism and used for enabling the ignition mechanism after the grenade is decomposed to fall down.

Preferably, the rotating mechanism is a rotary swing cylinder; the rotary unloading manipulator, the first clamping mechanism and the second clamping mechanism are all parallel gas claws, and the inner side surfaces of the rotary unloading manipulator and the parallel gas claws are matched with the appearance of the grenade; the parallel gas claws of the two rotary unloading manipulators are respectively a large claw for clamping a projectile body and a small claw for clamping a detonator.

Preferably, the rotary power head comprises a support, two power mechanisms for driving the two rotary unloading manipulators to rotate and two lifting mechanisms for driving the two rotary unloading manipulators to lift, the lifting mechanisms are arranged on the support, and the power mechanisms are connected with the lifting mechanisms and used for driving the power mechanisms to lift; the power mechanism comprises a motor, a driving gear, a driven gear and a main shaft, the motor is arranged on the support, an output shaft of the motor is coaxially fixed with the driving gear, the driving gear is meshed with the driven gear, and the driven gear is sleeved on the main shaft; the large clamping jaws and the small clamping jaws are respectively arranged at the lower ends of the main shafts of the two groups of power mechanisms.

Preferably, the driving gear, the driven gear and the main shaft are all arranged in the shell, and the motor is fixed outside the shell; the movable end of the lifting mechanism is connected with the shell; and the top of the main shaft is provided with a pneumatic-electric slip ring for driving the rotary unloading manipulator.

Preferably, the lifting mechanism is a lifting cylinder, a cylinder body of the lifting cylinder is fixed on the support, the end part of a piston rod of the lifting cylinder is connected with a fixed plate, and the fixed plate is connected with the shell; and a displacement sensor is further arranged on the side surface of the lifting cylinder and used for detecting the lifting stroke of the rotary unloading manipulator.

Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: compared with the prior art, the utility model has the advantages that the feeding station, the bending station and the decomposing station are sequentially arranged on the workbench, the XZ sliding table assembly of the feeding station is used for driving the feeding manipulator and the middle manipulator to perform translation motion, the feeding manipulator grabs the undecomposed grenade and moves from the feeding station to the bending station, the gripping piece of the grenade is bent at the bending station by the aid of the bending mechanism, and the grenade bent by the gripping piece is grabbed by the middle manipulator and moves from the bending station to the decomposing station; finally, the grenade is decomposed by a decomposition mechanism at a decomposition station; the feeding mechanical arm, the middle mechanical arm, the XZ sliding table assembly, the bending mechanism and the decomposing mechanism are controlled by the control cabinet, and the purpose of automatically decomposing the grenades is achieved. Utilize the utility model discloses can improve work efficiency, reduce intensity of labour, improve the factor of safety of grenade decomposition work, guarantee operation personnel safety.

Drawings

Fig. 1 is a schematic structural diagram of a grenade decomposition device according to an embodiment of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a schematic structural view of an XZ slide table assembly according to the present invention;

FIG. 4 is a left side view of the XZ slide table assembly of FIG. 1;

FIG. 5 is a top view of the XZ slide assembly of FIG. 3;

FIG. 6 is a left side view of the bending mechanism of FIG. 1;

FIG. 7 is a sectional view A-A of FIG. 6;

fig. 8 is a plan view of the bending mechanism of the present invention in a state where the jaws are closed;

fig. 9 is a top view of the bending mechanism of the present invention with the jaws open;

fig. 10 is a partial enlarged view at B in fig. 9;

fig. 11 is a left side view of the separating mechanism of the present invention;

FIG. 12 is a top view of the turret assembly of FIG. 11;

FIG. 13 is a schematic illustration of the configuration of the projectile discharge station of FIG. 11;

FIG. 14 is a cross-sectional view taken at C-C of FIG. 13;

fig. 15 is a schematic structural diagram of the rotary power head of the present invention;

FIG. 16 is a left side view of the rotary power head of FIG. 15;

FIG. 17 is a cross-sectional view taken along line D-D of FIG. 16;

FIG. 18 is a top view of the rotary power head of FIG. 16;

fig. 19 is a schematic structural diagram of the control cabinet of the present invention;

in the figure: 00-grenade, 001-detonator, 002-holding piece and 003-bomb body; 01-a loading station, 02-a bending station, 03-a decomposition station, 04-a projectile body rotary unloading station and 05-a detonator rotary unloading station; 06-positioning shaft, 07-spring;

1-a workbench, 2-a feeding manipulator and 3-an intermediate manipulator; 4-a control cabinet, 5-a motor, 6-a driving gear, 7-a driven gear, 8-a main shaft, 9-a shell, 10-an electro-pneumatic slip ring, 11-a fixed plate, 12-a displacement sensor, 13-a guide rod and 14-a supporting plate; 15-a feed conveyor belt; 16-a projectile discharging belt, 17-a detonator discharging belt and 18-a holding piece discharging belt;

the device comprises a 100-XZ sliding table assembly, a 110-upright post, a 120-X axis moving mechanism, a 130-Z axis moving mechanism, a 140-horizontal moving plate, a 150-limit stop, a 160-vertical moving plate, a 170-guide rail and a 180-guide column;

200-bending mechanism, 210-positioning clamp, 220-telescoping mechanism, 221-connector, 222-pin shaft, 223-middle connecting part, 224-hinge shaft; 230-jaws, 231-jaws; 240-guide roller, 250-reset pressure spring;

300-decomposition mechanism, 310-turntable assembly, 311-first clamping mechanism, 312-second clamping mechanism, 313-rotation mechanism, 314-support seat, 315-blanking hole, 316-shield; 320-rotary unloading manipulator, 321-big jaw and 322-small jaw; 330-rotary power head, 331-bracket, 332-power mechanism and 333-lifting mechanism.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly apparent, the technical solutions in the embodiments of the present invention are described below clearly and completely with reference to the accompanying drawings and specific embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1 and 2, the utility model provides a grenade decomposition device, including material loading station 01, bending station 02 and decomposition station 03 that set gradually on workstation 1, material loading station 01 is equipped with XZ slip table assembly 100, bending station 02 is equipped with bending mechanism 200 that is used for bending the grenade grip piece, decomposition station 03 is equipped with decomposition mechanism 300 that is used for decomposing the grenade; the XZ sliding table assembly 100, the bending mechanism 200 and the decomposing mechanism 300 are all arranged on the workbench 1, the XZ sliding table assembly 100 is connected with a feeding manipulator 2 and an intermediate manipulator 3, the feeding manipulator 2 is used for grabbing undecomposed grenades 00 and moving the undecomposed grenades 00 from a feeding station 01 to a bending station 02, and the intermediate manipulator 3 is used for grabbing the grenades 00 with bent holding pieces and moving the grenades 00 from the bending station 02 to a decomposing station 03; the feeding manipulator 2, the middle manipulator 3, the XZ sliding table assembly 100, the bending mechanism 200 and the decomposing mechanism 300 are all controlled by a control cabinet 4. The grenades are placed on a mould of a feeding conveyer belt 15, the grenades are conveyed to the lower portion of a feeding manipulator one by one along with the operation of the feeding conveyer belt, the feeding manipulator puts the grenades on a bending mechanism of a bending station by means of an XZ sliding table assembly to be bent by holding pieces, an intermediate manipulator moves the grenades bent by holding pieces to a decomposing mechanism of a decomposing station by means of the XZ sliding table assembly, and the grenades are decomposed by the decomposing mechanism; finally, all the decomposed parts are conveyed out for collection through a projectile discharging belt 16, a detonator discharging belt 17 and a piece holding discharging belt 18 in sequence. As shown in fig. 19, the control cabinet is provided with a monitor screen and a remote control console, so that the decomposition operation of the grenade can be remotely controlled in the central control room, and the personal safety of the workers can be ensured.

Compared with the prior art, the utility model provides a grenade decomposition device has compact structure, degree of automation is high, safe and reliable's advantage, utilize the XZ slip table assembly drive material loading manipulator and the middle manipulator of material loading station to do the translation action, material loading manipulator snatchs the grenade that does not decompose and moves to bending station from material loading station and bends the piece of holding of grenade, and then snatch the grenade that holds after the piece is bent and move to the decomposition station from bending station through middle manipulator and realize the decomposition of grenade; the feeding mechanical arm, the middle mechanical arm, the XZ sliding table assembly, the bending mechanism and the decomposing mechanism are controlled by the control cabinet, and the purpose of automatically decomposing the grenades is achieved. Utilize this technical scheme can improve work efficiency, reduce intensity of labour, need not artifical direct contact grenade, improve the factor of safety of grenade decomposition work, guarantee operation personnel safety, and then improve the overall ability of scrapping ammunition processing.

In a preferred embodiment of the present invention, as shown in fig. 1-5, the XZ sliding table assembly 100 includes a vertical column 110, an X-axis moving mechanism 120 and a Z-axis moving mechanism 130, the X-axis moving mechanism 120 is disposed on the working table 1, the Z-axis moving mechanism 130 is disposed on the vertical column 110, and the X-axis moving mechanism 120 is connected to the Z-axis moving mechanism 130 for driving the vertical column to move up and down; the feeding manipulator 2 and the intermediate manipulator 3 are arranged in parallel on the X-axis moving mechanism 120. By adopting the structure, the horizontal displacement and the vertical lifting of the feeding manipulator and the middle manipulator can be realized.

In a specific embodiment of the present invention, as shown in fig. 3, 4 and 5, the X-axis moving mechanism 120 is a horizontal cylinder, the Z-axis moving mechanism 130 is a vertical cylinder, the feeding manipulator 2 and the middle manipulator 3 are arranged in parallel at the lower end of the horizontal moving plate 140, the horizontal moving plate 140 is connected to the movable end of the piston rod of the horizontal cylinder, the vertical column 110 is provided with a limit stop 150 for limiting the stroke of the horizontal moving plate 140, so as to ensure accurate gripping of the feeding manipulator and the middle manipulator; the cylinder body of the horizontal cylinder is arranged on the vertical moving plate 160, and the vertical moving plate 160 is connected with the movable end of the piston rod of the vertical cylinder; the cylinder body of the vertical cylinder is connected with the upright post 110, and the side surface of the upright post 110 is provided with a guide rail 170 matched with the vertical moving plate 160; meanwhile, a guide post 180 is arranged on one side of the upright post, and the vertical moving plate is in sliding fit with the guide post through a guide hole on one side of the connecting plate, so that the vertical moving plate is further guided in the vertical direction.

In a specific embodiment of the present invention, as shown in fig. 6-9, the bending mechanism 200 includes a positioning fixture 210, a telescopic mechanism 220 and two jaws 230, the positioning fixture 210 is matched with a detonator 001 at the bottom of the grenade 00, the intermediate manipulator 3 is arranged opposite to the two jaws, the open ends of the two jaws are provided with jaws 231 for holding the holding sheet 002, and the connecting ends of the two jaws are connected to the telescopic mechanism 220; the outer side surfaces of the two jaws are symmetrically provided with a guide roller 240 and a reset pressure spring 250. When a feeding manipulator puts the grenade to the fixed back of positioning fixture clamp, start telescopic machanism, the piece backward motion is held to cliping when two tong claws draw in, and the guide roll of both sides and the pressure spring that resets exert pressure to two jack catchs simultaneously, and two jack catchs can firmly clip the piece of holding of grenade, along with telescopic machanism's the back of contracting, can pull the piece backward, and then realize holding bending of piece.

Further optimizing the technical scheme, as shown in fig. 8-10, the telescopic mechanism 220 is a telescopic cylinder, a movable end of a piston rod of the telescopic cylinder is provided with a connector 221, the connector 221 is connected with a middle connecting plate 223 through a pin 222, and an end of the middle connecting plate 223 is pivotally connected with the rear portion of the jaw 230 through a hinge 224. By adopting the structure, the flexible connection between the telescopic cylinder and the claw can be realized.

In a specific embodiment of the present invention, as shown in fig. 11-14, the disassembling mechanism 300 includes a turntable assembly 310 and two rotary disassembling manipulators 320, the turntable assembly 310 is disposed on the workbench 1, the two rotary disassembling manipulators 320 are connected to a rotary power head 330 for rotatably disassembling the projectile 003 of the grenade 00 and the detonator 001, and the rotary power head 330 is disposed above the workbench 1; the turntable assembly 310 is provided with a projectile body rotary unloading station 04 and a detonator rotary unloading station 05, and the two rotary unloading manipulators 320 are correspondingly arranged above the projectile body rotary unloading station 04 and the detonator rotary unloading station 05; the projectile body rotary unloading station 04 is provided with a first clamping mechanism 311, the detonator rotary unloading station 05 is provided with a second clamping mechanism 312, the rotary table assembly 310 comprises a rotary mechanism 313 capable of rotating 180 degrees and a supporting seat 314 for mounting the first clamping mechanism 311 and the second clamping mechanism 312, the supporting seat is driven to rotate 180 degrees by the rotary mechanism, and the projectile body rotary unloading station and the detonator rotary unloading station are driven to be alternately replaced; and a blanking hole 315 is formed in the side surface of the rotating mechanism 313 and is used for enabling the ignition mechanism after the grenade is decomposed to fall down. The side surface of the detonator rotary unloading station 05 of the rotary table assembly 310 is provided with a protective cover 316 which is used for shielding a falling ignition mechanism with a holding piece. According to the scheme, the grenade can shift between the bomb rotary unloading station 04 and the detonator rotary unloading station 05 through the rotating mechanism, and the bomb rotary unloading and the detonator rotary unloading are performed in a crossed manner.

In an embodiment of the present invention, as shown in fig. 11, the rotating mechanism 313 is a rotary oscillating cylinder; the rotary unloading manipulator 320, the first clamping mechanism 311 and the second clamping mechanism 312 are all parallel gas claws, and the inner side surfaces of the rotary unloading manipulator 320 and the parallel gas claws are matched with the appearance of the grenade 00; the parallel gas claws of the two rotary unloading manipulators 320 are respectively a large claw 321 for clamping the projectile 003 and a small claw 322 for clamping the detonator. Wherein, the gas claw lateral wall of first fixture 311 and second fixture 312 is equipped with the location axle to at the epaxial suit spring 07 of location, when the lower part of centre gripping grenade, the location axle is fixed a position under the spring action and is pressed from both sides tightly the lower part outer wall of grenade, avoids taking place to rotate at the spin-off in-process grenade lower part.

In a specific embodiment of the present invention, as shown in fig. 15 to 18, the rotary power head 330 includes a support 331, two sets of power mechanisms 332 for driving the two rotary discharging manipulators 320 to rotate, and two sets of lifting mechanisms 333 for driving the two rotary discharging manipulators 320 to lift, the lifting mechanisms 333 are disposed on the support 331, and the power mechanisms 332 are connected to the lifting mechanisms 333 for driving the power mechanisms 332 to lift; the power mechanism 332 comprises a motor 5, a driving gear 6, a driven gear 7 and a spindle 8, wherein the motor 5 is arranged on the support 331, an output shaft of the motor 5 is coaxially fixed with the driving gear 6, the driving gear 6 is meshed with the driven gear 7, and the driven gear 7 is sleeved on the spindle 8; the large jaw 321 and the small jaw 322 are respectively disposed at the lower ends of the main shafts 8 of the two power mechanisms 332. The two rotary unloading manipulators can rotate and lift simultaneously under the driving of the two motors and the gear transmission, so that the work of rotary unloading of the corresponding projectile body on the projectile body rotary unloading station 04 and the detonator rotary unloading station 05 and rotary unloading of the detonator can be realized, and the operation is convenient and fast.

In an embodiment of the present invention, as shown in fig. 17, the driving gear 6, the driven gear 7 and the main shaft 8 are all disposed in the housing 9, and the motor 5 is fixed outside the housing 9, so as to prevent the transmission member from being contaminated; the movable end of the lifting mechanism 333 is connected with the shell 9; the top of the main shaft 8 is provided with the gas-electric slip ring 10 for driving the rotary unloading manipulator 320, so that cleanness and sanitation in the working process can be ensured.

In an embodiment of the present invention, as shown in fig. 15, the lifting mechanism 333 is a lifting cylinder, a cylinder body of the lifting cylinder is fixed on the bracket 331, a piston rod end of the lifting cylinder is connected to the fixing plate 11, and the fixing plate 11 is connected to the housing 9; and a displacement sensor 12 is further arranged on the side surface of the lifting cylinder and used for detecting the lifting stroke of the rotary unloading manipulator 320. A supporting plate 14 is arranged above the fixing plate 11, the displacement sensor can be mounted at the end part of the guide rod 13, and the guide rod penetrates through a guide hole in the supporting plate 14 to move up and down, so that the movement accuracy of the rotary unloading manipulator is further ensured.

The utility model provides a material loading manipulator, middle manipulator, unload manipulator, motor, pneumoelectric slip ring and each cylinder soon and control by the switch board, unload the station soon with the projectile body and unload the station design soon with the detonator and be the revolving platform mode, make the multistation realize the action linkage, accomplish the pay-off simultaneously, unload soon, steps such as the ejection of compact, and then promote split efficiency, practice thrift the split time, realize the multistation simultaneous operation, improved degree of automation. This technical scheme contrasts traditional artifical destruction, has the security height, decomposes advantages such as efficient, degree of automation height, destroys work to the grenade, can treat to destroy the grenade by safe efficient and decompose, and the decomposition process realizes automated control to furthest's realization personnel break away from the risk involved, ensure to disassemble in-process operating personnel's personal safety, under the prerequisite of assurance security, compromise efficiency, reduce and consume.

The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. A grenade decomposition device, its characterized in that: the device comprises a feeding station, a bending station and a decomposing station which are sequentially arranged on a workbench, wherein the feeding station is provided with an XZ sliding table assembly, the bending station is provided with a bending mechanism for bending a hand grenade holding piece, and the decomposing station is provided with a decomposing mechanism for decomposing the hand grenade; the XZ sliding table assembly, the bending mechanism and the decomposing mechanism are all arranged on the workbench, the XZ sliding table assembly is connected with a feeding manipulator and an intermediate manipulator, the feeding manipulator is used for grabbing undecomposed grenades and moving the undecomposed grenades from a feeding station to a bending station, and the intermediate manipulator is used for grabbing the grenades after the holding pieces are bent and moving the grenades from the bending station to the decomposing station; the feeding mechanical arm, the middle mechanical arm, the XZ sliding table assembly, the bending mechanism and the decomposing mechanism are all controlled by the control cabinet.

2. The grenade decomposition device of claim 1, characterized in that: the XZ sliding table assembly comprises an upright post, an X-axis moving mechanism and a Z-axis moving mechanism, the X-axis moving mechanism is arranged on the upright post, and the X-axis moving mechanism is connected with the Z-axis moving mechanism for driving the X-axis moving mechanism to lift; the feeding mechanical arm and the middle mechanical arm are arranged on the X-axis moving mechanism in parallel.

3. The grenade decomposition device of claim 2, characterized in that: the feeding manipulator and the middle manipulator are arranged at the lower end of a horizontal moving plate in parallel, the horizontal moving plate is connected with the movable end of a piston rod of the horizontal cylinder, and the upright post is provided with a limit stop block for limiting the stroke of the horizontal moving plate; the cylinder body of the horizontal cylinder is arranged on a vertical moving plate, and the vertical moving plate is connected with the movable end of a piston rod of the vertical cylinder; the cylinder body of the vertical cylinder is connected with the upright post, and the side surface of the upright post is provided with a guide rail matched with the vertical moving plate.

4. The grenade decomposition device of claim 1, characterized in that: the bending mechanism comprises a positioning clamp, a telescopic mechanism and two jaws, the positioning clamp is matched with the bottom of the grenade, the middle manipulator is arranged opposite to the two jaws, the open ends of the two jaws are provided with jaws for clamping the holding sheet, and the connecting ends of the two jaws are connected with the telescopic mechanism; the outer side surfaces of the two clamp claws are symmetrically provided with a guide roller and a reset pressure spring.

5. The grenade decomposition device of claim 4, characterized in that: the telescopic mechanism is a telescopic cylinder, a connector is arranged at the movable end of a piston rod of the telescopic cylinder, the connector is connected with the middle connecting plate through a pin shaft, and the end part of the middle connecting plate is pivoted with the rear part of the jaw through a hinge shaft.

6. The grenade decomposition device according to any of claims 1-5, characterized in that: the disassembly mechanism comprises a rotary table assembly and two rotary unloading manipulators, the rotary table assembly is arranged on the workbench, the two rotary unloading manipulators are connected with a rotary power head and are used for rotatably unloading the grenades and the detonators, and the rotary power head is arranged above the workbench; the rotary table assembly is provided with a projectile body rotary unloading station and a detonator rotary unloading station, and the two rotary unloading manipulators are correspondingly arranged above the projectile body rotary unloading station and the detonator rotary unloading station; the projectile body rotary unloading station is provided with a first clamping mechanism, the detonator rotary unloading station is provided with a second clamping mechanism, the rotary table assembly comprises a supporting seat for mounting the first clamping mechanism and the second clamping mechanism, and the supporting seat is connected with the rotating mechanism and used for driving the projectile body rotary unloading station and the detonator rotary unloading station on the supporting seat to rotate alternately; and a blanking hole is formed in the side surface of the rotating mechanism and used for enabling the ignition mechanism after the grenade is decomposed to fall down.

7. The grenade decomposition device of claim 6, characterized in that: the rotating mechanism is a rotary swing cylinder; the rotary unloading manipulator, the first clamping mechanism and the second clamping mechanism are all parallel gas claws, and the inner side surfaces of the rotary unloading manipulator and the parallel gas claws are matched with the appearance of the grenade; the parallel gas claws of the two rotary unloading manipulators are respectively a large claw for clamping a projectile body and a small claw for clamping a detonator.

8. The grenade decomposition device of claim 7, characterized in that: the rotary power head comprises a support, two power mechanisms and two lifting mechanisms, wherein the two power mechanisms are used for driving the two rotary unloading manipulators to rotate, the two lifting mechanisms are used for driving the two rotary unloading manipulators to lift, the lifting mechanisms are arranged on the support, and the power mechanisms are connected with the lifting mechanisms and are used for driving the power mechanisms to lift; the power mechanism comprises a motor, a driving gear, a driven gear and a main shaft, the motor is arranged on the support, an output shaft of the motor is coaxially fixed with the driving gear, the driving gear is meshed with the driven gear, and the driven gear is sleeved on the main shaft; the large clamping jaws and the small clamping jaws are respectively arranged at the lower ends of the main shafts of the two groups of power mechanisms.

9. The grenade decomposition device of claim 8, characterized in that: the driving gear, the driven gear and the main shaft are all arranged in the shell, and the motor is fixed outside the shell; the movable end of the lifting mechanism is connected with the shell; and the top of the main shaft is provided with a pneumatic-electric slip ring for driving the rotary unloading manipulator.

10. The grenade decomposition device of claim 9, characterized in that: the lifting mechanism is a lifting cylinder, a cylinder body of the lifting cylinder is fixed on the support, the end part of a piston rod of the lifting cylinder is connected with a fixed plate, and the fixed plate is connected with the shell; and a displacement sensor is further arranged on the side surface of the lifting cylinder and used for detecting the lifting stroke of the rotary unloading manipulator.