KR20180073840A - Installation for assembling process automation of propelling charge - Google Patents

Abstract

The present invention relates to a propelling charge assembly process automation apparatus, including a marking confirmation means (200) supplied with a marked exhausted container (1), imaging a marking (3) on the front surface of the exhausted container (1), performing comparison to a pre-stored original image, and determining pass or non-pass, an automatic exhausted container supply means (300) gripping the pass-marked exhausted container (1), performing turning such that a charging hole (5) on the back surface of the exhausted container (1) is directed upwards, and then performing supply to a charging machine (10), and an automatic stopper attachment means (400) applying acetone to the charging hole (5) on the back surface of the exhausted container (1) and supplying and attaching a stopper (7). The present invention automates a propelling charge assembly process, which results in work environment improvement, human error prevention, defect reduction, and productivity improvement.

Description

TECHNICAL FIELD [0001] The present invention relates to an automation system for a propulsion system,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus for automating a propulsion charge assembly process, and more particularly, to a propulsion charge assembly process automation apparatus capable of supplying a consumable container and automating plug attachment during a propulsion charge assembly process.

81MM propulsion charge K675 and 60MM propulsion charge K672A1 is a depleted vessel propulsion charge used for mortar shells and flares.

As shown in FIG. 1, the exhaust container type propulsion charge assembling process (LAP process) proceeds in the order of attaching exhausting containers to the exhausting container marking-filling machine, injecting propellant, and attaching caps.

As shown in FIGS. 1 and 2, the operation of supplying the exhausted container to the filling machine is performed by the operator h by visually confirming the quality state of the marking (3) on the front surface of the depleted container (1) (1) is inserted into the index (15) of the filling machine (10) with the upper surface (5) facing up and the operation button is pressed to fill the exhausting container (1) with the propellant.

The cap attaching operation is a work of closing the filling hole 5 of the exhausting container 1 with the cap 7 by the worker h and holding the cap 7 by using the vacuum pincette 20 and placing the high- And is attached to the back filling hole 5 to visually confirm the quality of the attachment of the plug 7.

However, the visual confirmation of the marking condition on the front of the existing exhaust container causes the problem of undefined marking due to human error, the problem of insertion of the exhausted container (front side ↔ back side), and musculoskeletal problems caused by repeated operation.

In addition, acetone application and cap attaching work involves problems of exposure to organic solvents continuously by workers, malfunctioning position due to human error, and musculoskeletal problems caused by repeated work.

Patent Document 1: Korean Patent No. 0968878 (registered on July 1, 2010)

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide an automation system for a propulsion charge assembly process capable of supplying exhausted containers and automating attachment of plugs during a propulsion charge assembly process.

According to an aspect of the present invention for achieving the above object, the present invention provides a propellant-filled space having an outer circumferential surface and an inner circumferential surface, the propellant- A marking confirming means for taking a marking on the front surface of the exhausting container by receiving the exhausting container formed with the filling hole and judging the acceptance failure in comparison with the original image stored beforehand; And a means for automatically attaching a plug for supplying the plug with acetone and filling the filling hole on the back side of the depleted container with the stopper.

The marking confirmation means is a vision checker.

So that the exhausted container judged by the marking confirmation means to be marking failure is automatically discharged.

The automatic exhausting apparatus of claim 1, further comprising: a turning unit for holding the outer circumferential surface of the exhausting container determined to be marking acceptance so as to allow the opposing unit to grip the backside of the exhausting container; And a supply unit for holding the inner circumferential surface on the back surface to move the front surface of the exhausting container to a state in which the front surface of the exhausting container can be seated on the filling machine, and then placing the filling hole on the back surface of the exhausting container facing upward.

The turning unit and the supplying unit are in the form of a robot arm having a plurality of articulated arms.

The turning unit includes a grip for gripping an outer circumferential surface for selectively gripping an outer circumferential surface of the exhausting container, and the supply unit includes a gripper for gripping an inner circumferential surface that selectively grips the inner circumferential surface of the exhausting container.

And a transfer unit for holding the inner peripheral surface of the exhausting container in the filling machine and transferring the inner peripheral surface of the exhausting container to the automatic cap attaching means.

Wherein the automatic cap attaching means comprises an acetone dosing unit protruding from a lower portion of a dose-uptreatment unit main body and having a nozzle fin portion for supplying and applying acetone while rotating in correspondence with a circumference of the filling hole, And a cap supply unit protruding from a lower portion of the supply unit body as possible and having a suction portion for selectively sucking a cap by receiving vacuum.

The upward and downward movement of the dosing unit main body is performed by the operation of a cylinder that provides hydraulic pressure or pneumatic pressure.

The nozzle pin portion is rotated by a circular first rotary rail mounted at one end of the nozzle fin portion and corresponding to an inner diameter of the filling hole and a circular second rotary rail for circumferentially spacing the outer diameter of the first rotary rail And the other end is connected to the rotation axis of the driving motor through a pivoting rotation axis portion and rotates along the second rotation rail when the rotation axis rotates so that the nozzle pin portion is connected to the first rotation rail And a rotating member for rotating the rotating member.

And a cap attaching quality inspecting means for receiving the exhausting container with the cap attached thereto and taking a photograph of the back side of the exhausting container and comparing the original image with the stored original image to judge the pass fail.

The stopper attachment quality checking means is a vision checker.

So that the discharged container with the plug detachment quality judged by the plug attaching quality inspection means is automatically discharged.

And a data processing unit for storing images and data photographed by the vision checker to enable product tracking management.

The present invention improves the working environment by automating the propulsion charge assembling process, thereby eliminating the work conditions in which the operator is exposed to the harmful substances.

In addition, the present invention has the effect of improving the reliability of process quality control by human error prevention and image and data management.

In addition, the present invention has the effect of improving productivity by reducing personnel through automation.

1 is a view showing a conventional exhaust vessel type propulsion charge assembling process.
2 is a view showing a conventional automated apparatus for assembling a propulsion charge process.
3 is a view showing an apparatus for automating the propulsion charge assembly process of the present invention.
4 is a view showing marking confirmation means according to an embodiment of the present invention;
FIGS. 5A to 5C are views showing an automatic supply device for an exhausting container according to an embodiment of the present invention; FIG.
6 (a) and 6 (b) are views showing an acetone administration unit in a plug automatic attachment unit according to an embodiment of the present invention;
7 (a) to 7 (c) are views showing the plug supply unit in the plug automatic attachment unit according to the embodiment of the present invention.
8 is a view showing a plug attachment quality checking means according to an embodiment of the present invention;

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 3, the automated apparatus for assembling the propulsion charge assembly process of the present invention automatically performs exhaustion vessel marking, marking quality inspection, supply of exhaustion container filling machine, injection of propellant, plugging, and plugging quality inspection.

The exhausting container 1 is formed in a shape of a horseshoe or a donut tube having an outer circumferential surface and an inner circumferential surface and is provided with a propellant filling space therein and is marked on the front surface and a charging hole 5 capable of filling a propellant in the propellant filling space.

These exhaust containers (1) can be used for the assembly of the 81MM propulsion charge K675 and the 60MM propulsion charge K672A1.

The marking is printed with the product name, lot number, etc. of the exhaustion container 1. The marking is performed using the ink in the marking means 100.

As shown in FIGS. 3 to 7, the automation device for the propulsion charge assembly process includes the marking confirmation means 200, the automatic exhausting container supply means 300, and the plug automatic attachment means 400.

As shown in Fig. 4, the marked exhausted container 1 is fed to the marking confirmation means 200 by the feeding operation of the feeding line 20 while being put on the feeding line 20. Fig.

The transfer line 20 operates in the form of a conveyor belt so that the exhausting container 1 located at one side is moved to the other side and the exhausting container 1 is positioned at the corresponding position. A detection sensor is provided at the corresponding position so that the feeding operation of the feeding line 20 is stopped for a set time when the exhausting container 1 reaches the corresponding position.

The marking checking means 200 photographs the marking 3 on the front surface of the supplied exhausting container 1 and compares the marking with the original image thus stored to determine the passing fail.

The marking confirmation means 200 is a vision checker.

The vision checker photographs the marking 3 on the front face of the exhausting container 1 and compares the photographed image with the pre-stored original image to determine a mark failure state, ink blurring, period missing, The pre-stored original image is an image of a container of a normal product that has been determined to be acceptable.

The images and data photographed by the vision checker are stored in the data processing unit 510 so that product tracking management is possible.

The exhausted containers determined as marking failure in the marking confirmation means 200 are automatically discharged through a separate transfer unit (not shown).

As shown in FIGS. 5A to 5C, the automatic evacuating container automatic feeding device 300 grasps the exhausted container determined as marking acceptance, turns the filling hole 5 on the back surface of the exhausting container 1 to face upward To the charging machine (10).

The exhausting container automatic feeding means 300 includes a turning unit 310 and a feeding unit 320.

5A and 5B, the turning unit 310 grasps the outer circumferential surface at the front surface of the exhausting container 1 determined as marking acceptance, so that the counterpart unit, that is, the supply unit 320, To a state in which it can be gripped.

5B and 5C, the supply unit 320 grasps the inner circumferential surface of the exhausted container 1 moved by the turning unit 310 from the back surface so that the front surface of the depleted container 1 is fed to the filling machine 10 The filling hole 5 on the back surface of the exhausting container 1 is seated on the index 15 of the filling machine 10 with its top facing upward.

The index 15 means a seating jig in which the exhausting container 1 is seated and in a seated state can be supported.

The turning unit 310 and the feeding unit 320 may be in the form of a robot arm having a plurality of articulated arms. Alternatively, the turning unit 310 and the feeding unit 320 may be in the form of arms capable of moving the exhausting container 1 in a vertical, horizontal, and rotational operation by a servomotor.

The turning unit 310 has an outer peripheral surface holding tongue 311 for selectively holding the outer peripheral surface of the exhausting container 1. The supply unit 320 includes a gripper 321 for gripping an inner circumferential surface that selectively grips the inner circumferential surface of the exhausting container 1. [

The outer peripheral surface holding tongue 311 and the inner peripheral surface holding tongue 321 can be separated from each other by the operation of the cylinder or the tongue can be operated in a direction in which the inner peripheral surface holding tongue 321 and the inner peripheral surface holding grip 321 are close to each other.

When the outer peripheral surface holding tongue 311 of the turning unit 310 grasps the outer peripheral surface of the exhausting container 1 from the front surface of the exhausting container 1 and then transfers the outer peripheral surface of the exhausting container 1 to the feeding unit 320, Since the inner circumferential surface of the exhausting container 1 is gripped by the back surface of the exhausting container 1, the exhausting container can be turned.

When the supply unit 320 having received the exhaustion container 1 places the exhaustion container 1 on the index 15 of the filling machine 10, the front surface of the exhaustion container 1 is seated on the index 15, The charging hole 5 on the back surface of the container 1 faces upward.

When the filling hole 5 of the depletion container 1 faces upward, the filling hole 5 can be filled with the propellant.

The filling machine 10 weighs and charges the propellant into the filling hole 5 of the spent container 1 which is seated in the index 15. The charging machine 10 sequentially moves the exhausting container 1 which is seated on the index 15 while rotating the rotary part 13 with the index 15 mounted thereon about the rotary shaft 11 to the position of the propellant charging part 17 So that the propellant can be charged.

The filling machine 10 has a plurality of indexes 15 in the form of a circle on the rotary part 13 around the rotary shaft 11 so as to sequentially seat the exhausting containers 1, The operation of filling the filling hole of the exhausting container with the propellant is successively performed (see Fig. 3).

The waste container 1 filled with the propellant in the filling machine 10 is gripped by the transfer unit 330 and transferred to the automatic cap attachment means 400 (see FIG. 3).

For example, in the filling machine 10, the exhausted container 1 filled with the propellant is held by the transfer unit 330 to be placed on the transfer line 30 and transferred by the operation of the transfer line 30, Is conveyed to the position where the means 400 is located.

The transfer unit 330 grips the inner circumferential surface of the waste container 1 and transfers it to the transfer line 30 which can be transferred to the automatic cap attaching means 400. Since the exhausting container 1 is seated on the index 15, it is difficult to grasp the outer circumferential surface, so the inner circumferential surface is grasped and transferred. The transfer unit 330 may be a shape including an arm movable by a servomotor and a gripper provided at a tip of the arm and operated by a cylinder.

The stopper automatic attaching means 400 applies acetone to the filling hole 5 on the back surface of the depletion container 1 and feeds the stopper 7 to attach it.

As shown in Figs. 6 and 7, the stopper automatic attachment means 400 includes an acetone administration unit 410 and a plug supply unit 420. Fig.

As shown in FIG. 6, the acetone dosing unit 410 is provided to protrude from the lower portion of the dose unit body 411 capable of ascending and descending and is rotated corresponding to the circumference of the filling hole 5, And a fin portion 412.

Acetone dissolves a part of the inner circumferential surface of the filling hole 5 of the depletion container 1 to facilitate attachment of the cap.

The ascending and descending of the dosing unit main body 411 can be performed by the operation of a cylinder that provides hydraulic pressure or pneumatic pressure.

The nozzle fin portion 412 can be applied to the inner circumferential surface of the filling hole 5 by supplying acetone in the shape of a pin having a small diameter, and is raised and lowered simultaneously with the ascending and descending of the dosing unit main body 411.

The nozzle pin portion 412 is rotatably mounted on a second rotary rail 414 disposed at a predetermined distance from the outer diameter of the first rotary rail 413, And is rotatable along the first rotary rail 413 in conjunction with the operation of the rotary member 415 being rotated along the second rotary rail 414 by being connected to the member 415. [

The arrangement of the two first rotary rails 413 and the second rotary rails 414 is to allow the nozzle fin 412 to rotate at a small turning radius.

The outer diameter of the first rotary rail 413 is set such that the nozzle fin portion 412 along the first rotary rail 413 corresponds to the inner diameter of the filling hole 5, The acetone can be precisely coated while the other end of the hole 412 is rotated along the inner diameter of the filling hole 5.

The rotation of the rotary member 415 rotating along the second rotary rail 414 is connected to the rotation shaft 417 of the drive motor 416 and the drive motor 416 at one end thereof and the other end thereof is connected to the rotary member 415 And is operable by the 'A' shaped extension shaft portion 418.

A configuration for enabling rotation of the nozzle fin portion 412 such as the first rotation rail 413, the second rotation rail 414, the rotation member 415, and the drive motor 416 is provided in the administration unit main body 411 .

7, the plug supply unit 420 includes a suction unit 422 protruding from a lower portion of the supply unit body 421 capable of horizontally moving up and down, and the suction unit 422 includes a vacuum And selectively adsorbs the cap 7 by being supplied.

Horizontal movement of the supply unit main body 421 can be performed through a rail provided in a separate frame, and up and down movement of the supply unit main body 421 can be performed by operation of a cylinder that provides hydraulic pressure or pneumatic pressure.

The horizontal movement of the supply unit main body 421 moves to the stopper supply part so as to suck the stopper and move to the position of the exhausting container 1 to attach the sucked stopper 7 to the filling hole 5 of the exhausting container 1 need.

The supply unit main body 421 sucks the cap by the suction part 422 by a vacuum adsorption method. When the plug 7 is vacuum-sucked and supplied to the filling hole of the exhausting container 1, it is possible to smoothly supply the plug without missing the supply, and to reduce the assembly failure.

Since the plug 7 has a shape having a flat surface, the vacuum adsorption is easy.

7 (c), the operation of supplying and attaching the cap 7, which is sucked by the suction unit 422, to the charging hole 5 of the exhaustion container 1 is completed It increases. The raised supply unit main body 421 horizontally moves to the stopper supply part to suck the stopper to attach the stopper to the filling hole of the next exhausted container to be transported.

And a cap attaching quality inspecting means 500 for inspecting the quality of the exhausting container 1 to which the cap 7 is attached.

The spent container 1 to which the cap 7 is attached is conveyed to the position where the cap attaching quality checking means 500 is located according to the operation of the transfer line 30. [ When the exhausting container 1 is transferred to the position of the cap inspecting quality inspection means 500, the control unit, which has received the sensing information of the sensing sensor, temporarily stops the operation of the transfer line, It can be stopped at the position where the inspection means 500 is located.

As shown in Fig. 8, the cap attaching quality checking means 500 photographs the consumable container 1 with the cap 7 attached thereto and compares it with a previously stored original image to determine pass fail.

The cap attaching quality checking means 500 is a vision checker. The images and data photographed by the vision checker are stored in the data processing unit 510 so that product tracking management is possible.

The spent container with the plug detachment quality determined by the plug attaching quality inspection means 500 is automatically discharged through a separate conveying unit.

The exhausted container determined to be acceptable by the plugging quality inspection means 500 is conveyed through the conveyance line 30 and conveyed to the next process (for example, a packaging process).

The operation of the present invention will be described below.

Since the marking quality check is automatically performed in the vision checker according to the present invention, it is possible to accurately perform the determination of the marked state, the ink bleeding, the period missing, and the like.

In addition, defective products determined to be inadequate in the marking quality inspection are automatically discharged, thereby improving the product reliability.

Since the supply of the exhausting container filling machine is performed in such a manner that the exhausting container 1 is supplied to the filling machine 10 after the exhausting container is supplied from the turning unit 310 to the supply unit 320, It is possible to automatically supply the filling machine 10 with the filling hole 5 of the container 1 facing upward.

It is also possible to apply acetone precisely around the filling hole 5 of the exhausting container 1 by attaching the exhausting container stopper and to transfer the stopper 7 one by one through vacuum suction to attach it to the filling hole of the exhausting container 1 It is possible to prevent the occurrence of an assembling failure.

Further, since the quality inspection of the plug attachment is automatically performed by the vision inspector, the determination of the attachment state of the plug, the defective attachment position, and the omission of the plug can be accurately performed.

In addition, defective products determined to be inadequate in the quality inspection of the plug attachment are automatically discharged, so that the product reliability is improved.

As described above, according to the present invention, it is possible to prevent a musculoskeletal disease problem of a worker and prevent a human error by automating the marking quality inspection, the supply of the exhausting container filling machine, the attachment of the exhaust container cap, .

Table 1 below shows the effect of the automated apparatus of the present invention.

division Before improvement After improvement Required Personnel 8 people 6 people M-hr / foot 0.0756 (85M-hr / 1124 feet) 0.060 (67 M-hr / 1124 feet) M-hr Productivity 13.22 feet / M-hr 16.78 feet (M-hr)

According to Table 1, productivity was improved by automation, and the number of people required for the process was reduced from eight before the improvement to two after the improvement of six.

The productivity of M-hr was improved by 27%, from 13.22 / M-hr before improvement to 16.78 / M-hr after improvement.

The work environment is improved by eliminating the exposure conditions of acetone, which is a harmful substance used for attaching the plug through automation, to the worker.

The problem of musculoskeletal diseases of the worker by the simple repetitive work of putting the exhausting container or attaching the stopper was improved through automation.

Human error prevention is possible through automation, and image and data management improves process quality control reliability.

Best Mode for Carrying Out the Invention The present invention has been described in detail in the drawings and specification. Although specific terms are used herein, they are used for the purpose of describing the present invention only and are not used to limit the scope of the present invention described in the meaning of the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

1: depleted container 3: marking
5: Charging hole 7: Plug
10: charging machine 11: rotating shaft
13: rotation part 15: index
100: Marking means 200: Marking confirmation means
300: Automatic supply device for exhausting container 310: Turning unit
311: Tongue for holding the outer peripheral surface 320: Supply unit
321: Tongue for holding the inner peripheral surface 400: Automatic attachment device
410: acetone dosing unit 420: plug supply unit
500: cap attaching quality inspecting means 510: data processing section

Claims (14)

A front end of the exhausting container is exposed with a marking on the front side of the exhausting container, and the front end of the exhausting container is provided with a propellant filling space having an outer circumferential surface and an inner circumferential surface, A marking confirmation means for comparing the stored original image with the stored original image to determine acceptance failure;
An exhausting container automatic feeding means for holding the exhausted container determined to be acceptable for marking, turning the filling hole on the back surface of the exhausting container to face upward, and supplying the exhausted container to the filling machine; And
And a stopper automatic attaching means for attaching acetone to the filling hole on the back surface of the exhausting container and supplying a stopper to attach the stopper. The method according to claim 1,
Wherein the marking confirmation means is a vision checker. The method according to claim 1,
Characterized in that the exhausting container judged by the marking checking means to be marking failure is automatically discharged. The method according to claim 1,
The exhausting device automatic supply means
A turning unit for gripping the outer peripheral surface of the exhausting container determined as marking acceptance and moving the outer peripheral surface of the exhausting container in a state in which the opposite unit can grip the backside of the exhausting container;
The exhausting container moved by the turning unit is gripped by the inner circumferential surface from the back surface to move the front surface of the exhausting container to a state in which the front surface of the exhausting container can be seated on the filling machine, And a unit for controlling the operation of the propulsion charge assembling process. The method of claim 4,
Wherein the turning unit and the supplying unit are in the form of a robot arm having a plurality of articulated arms. The method of claim 4,
Wherein the turning unit includes a gripper for holding an outer circumferential surface for selectively gripping an outer circumferential surface of the exhausting container,
Wherein the supply unit includes a gripper for holding an inner circumferential surface that selectively grips an inner circumferential surface of the exhausting container. The method of claim 4,
Further comprising a transfer unit for holding the inner circumferential surface of the exhausting container in the filling machine and transferring the inner circumferential surface of the exhausting container to the automatic plug attaching means. The method according to claim 1,
The stopper automatic attaching means
An acetone dosing unit protruding from a lower portion of the dose-uptreatment unit main body and having a nozzle fin portion for supplying and applying acetone while rotating in correspondence with the circumference of the filling hole;
And a cap supply unit protruding from a lower portion of the supply unit body capable of horizontally moving and raising and lowering and having a suction part for selectively sucking a cap by receiving vacuum. The method of claim 8,
Wherein the upward / downward movement of the dosing unit main body is performed by operation of a cylinder that provides hydraulic pressure or pneumatic pressure. The method of claim 8,
The rotation of the nozzle fin
A circular first rotary rail to which one end of the nozzle fin is mounted and which corresponds to an inner diameter of the filling hole; And
A first rotary rail mounted on a second rotary rail which surrounds the outer circumference of the first rotary rail so as to surround the outer circumference of the first rotary rail so as to surround the outer circumference of the first rotary rail, And a rotation member for rotating the nozzle fin along the first rotation rail while rotating along the second rotation rail when the nozzle pin is rotated. The method according to claim 1,
Further comprising a cap inspecting quality inspecting means for inspecting the back side of the exhausting container with the plug having the plug attached thereto and comparing the original image with the stored original image to judge pass fail. The method of claim 11,
Wherein the plug attachment quality checking means is a vision checker. The method of claim 11,
Characterized in that the exhaust plug quality inspection means determines that the exhausted container which has been judged to have failed the plug attachment is automatically discharged. The method according to claim 2 or 12,
And a data processor for storing images and data taken by the vision inspector so that product tracking can be managed.

Images