阅读说明：本技术 一种固体推进剂装填药柱的切断整型系统 (Solid propellant loads cutting off integer system of powder column ) 是由 梁鹏 张鹏 黄维刚 刘峥 于 2021-05-24 设计创作，主要内容包括：本发明提供一种固体推进剂装填药柱的切断整型系统,解决现有固体推进剂装填药柱在切断及端面整型作业过程中存在生产效率低、对人体存在危害以及容易发生事故的问题。该系统中,上料小车用于完成原药柱的收纳；桁架机械手包括支撑架、上料夹爪和下料夹爪,用于完成原药柱的上料以及成品药柱的下料；送料装置位于上料夹爪的下方,用于将原药柱轴向输送至定长切断及端面整型装置上；定长切断及端面整型装置设置在送料装置一侧,用于实现原药柱的柔性定长切断及端面整型作业；下料小车设置在下料夹爪的下方,用于完成成品药柱的收纳；控制装置用于控制上料小车、桁架机械手、送料装置、定长切断及端面整型装置和下料小车,完成药柱的切断整型操作。(The invention provides a cutting and reshaping system for a solid propellant filled grain, which solves the problems of low production efficiency, harm to human bodies and easiness in accidents in the cutting and end face reshaping operation processes of the existing solid propellant filled grain. In the system, the feeding trolley is used for accommodating the raw material columns; the truss manipulator comprises a support frame, a feeding clamping jaw and a discharging clamping jaw and is used for completing the feeding of the original explosive columns and the discharging of finished explosive columns; the feeding device is positioned below the feeding clamping jaws and used for axially conveying the original drug columns to the fixed-length cutting and end face shaping device; the fixed-length cutting and end face shaping device is arranged on one side of the feeding device and is used for realizing flexible fixed-length cutting and end face shaping operation of the raw powder column; the blanking trolley is arranged below the blanking clamping jaw and used for accommodating finished product grains; the control device is used for controlling the feeding trolley, the truss manipulator, the feeding device, the fixed-length cutting and end face shaping device and the discharging trolley to complete the cutting and shaping operation of the explosive columns.)

1. A solid propellant fills cutting and reshaping system of powder column which characterized in that: the device comprises a feeding trolley (1), a truss manipulator (2), a feeding device (3), a fixed-length cutting and end face shaping device (4), a discharging trolley (5) and a control device;

the feeding trolley (1) is used for accommodating the raw material columns;

the truss manipulator (2) comprises a support frame (21), and a feeding clamping jaw (22) and a discharging clamping jaw (23) which are arranged on the support frame (21) and can move in a three-dimensional manner, wherein the feeding clamping jaw (22) and the discharging clamping jaw (23) are used for completing the feeding of the raw explosive columns and the discharging of finished explosive columns;

the feeding device (3) is positioned below the feeding clamping jaw (22) and is used for axially conveying the original drug column to the fixed-length cutting and end face shaping device (4);

the fixed-length cutting and end face shaping device (4) is arranged on one side of the feeding device (3) and is used for realizing flexible fixed-length cutting and end face shaping operation of the raw explosive columns;

the blanking trolley (5) is arranged below the blanking clamping jaw (23) and is used for accommodating finished product explosive columns;

the control device is used for controlling the feeding trolley (1), the truss manipulator (2), the feeding device (3), the fixed-length cutting and end face shaping device (4) and the discharging trolley (5) to complete the cutting and shaping operation of the explosive columns.

2. The solid propellant charge column cut-off and reforming system of claim 1, wherein: the fixed-length cutting and end face shaping device (4) comprises a rack (41), a rotary clamping mechanism (42), a fixed-length cutting mechanism (43), an end face shaping mechanism (44) and a first shaping linear module (45);

the rotary clamping mechanism (42) is arranged on the rack (41) and is used for clamping and rotating the original medicine column axially fed by the feeding device (3); the fixed-length cutting mechanism (43) is arranged on the rack (41) and is used for cutting the clamped explosive column in a fixed length; the end face shaping mechanism (44) is arranged on the rack (41) and is used for finishing end face shaping of the explosive columns;

the fixed-length cutting mechanism (43) comprises a gantry cutter frame (4301), a cutting electric cylinder (4302), a compaction air cylinder (4303), a cutting knife (4304), an upper compaction block (4305), a lower support block (4306) and a gas-liquid pressure cylinder (4307); the compaction cylinder (4303) is arranged above an upper cover plate of the gantry cutter frame (4301), an output rod of the compaction cylinder is connected with an upper compaction block (4305), the gas-liquid pressure cylinder (4307) is arranged below a lower cover plate of the gantry cutter frame (4301), the output rod of the gas-liquid pressure cylinder is connected with a lower support block (4306), the upper compaction block (4305) and the lower support block (4306) are arranged between the upper cover plate of the gantry cutter frame (4301) and the lower cover plate of the gantry cutter frame (4301), and the compaction of the explosive columns is realized under the action of the compaction cylinder (4303) and the gas-liquid pressure cylinder (4307); the cutting electric cylinder (4302) is arranged above an upper cover plate of the gantry knife rest (4301), and an output rod of the cutting electric cylinder is connected with a cutting knife (4304) and used for cutting off the compacted explosive columns;

the end face shaping mechanism (44) is arranged on the rack (41) through a first shaping linear module (45), and the first shaping linear module (45) realizes axial movement of the end face shaping mechanism (44); the end face shaping mechanism (44) comprises a second shaping linear module (4401), a servo motor (4402), a shaping cutter (4403), a fixed-length air cylinder (4404), a limiting block (4405), a position detection sensor (4406), a fixed-length detection sensor (4412), a pressing roller (4407) and a rotary pressing air cylinder (4408);

the second shaping linear module (4401) is arranged on the first shaping linear module (45), the servo motor (4402) is arranged on the second shaping linear module (4401) and can move along the axial direction of the explosive column, the shaping cutter (4403) is connected with an output shaft of the servo motor (4402), and the head part of the explosive column is shaped into a certain shape under the rotation of the shaping cutter (4403) and the rotary clamping mechanism (42);

the fixed-length air cylinder (4404) is arranged on the first shaping linear module (45), the output end of the fixed-length air cylinder is connected with the limiting block (4405), the limiting block (4405) is used for limiting the position of a medicine column axially fed by the feeding device (3), and the fixed-length detection sensor (4412) is arranged on the fixed-length air cylinder (4404), can detect the length of the medicine column in a fixed-length mode, and meets the fixed-length cutting requirement;

the position detection sensor (4406) is arranged on the second shaping linear module (4401) and the first shaping linear module (45) and is used for detecting the positions of the second shaping linear module (4401) and the first shaping linear module (45);

rotatory cylinder (4408) that compresses tightly sets up on first integer straight line module (45), and its output pole is connected with compressing tightly running roller (4407), compresses tightly running roller (4407) and compresses tightly the explosive column head under rotatory cylinder (4408) effect that compresses tightly.

3. The solid propellant charge column cut-off and reforming system of claim 2, wherein: guide sleeves (4308) are arranged on two sides of the cutting knife (4304), the guide sleeves (4308) are sleeved on a vertical column of the gantry knife rest (4301) and used for guiding the movement of the cutting knife (4304), and meanwhile, a first buffer block (4310) is arranged on the vertical column of the gantry knife rest (4301) and used for achieving damping and buffering of the cutting knife (4304) in the cutting process.

4. The solid propellant charge column cut-off and reforming system of claim 3, wherein: the gantry tool rest (4301) is further provided with a guide post (4309), the upper pressing block (4305) and the lower supporting block (4306) are sleeved on the guide post (4309) through a first linear bearing (4311), and directional movement of the upper pressing block (4305) and the lower supporting block (4306) is achieved.

5. The solid propellant charge column cut-off and reforming system of claim 4, wherein: and a second buffer block (4312) is arranged on the guide column (4309) and used for realizing the damping and buffering in the process of compressing the upper compressing block (4305) and the lower supporting block (4306).

6. The solid propellant charge column cut-off and reforming system of claim 5, wherein: the cutting knife (4304) is made of beryllium bronze, so that the safety and reliability of cutting operation are ensured.

7. The solid propellant charge column cut-off and reforming system of any one of claims 2 to 6, wherein: the rotary clamping mechanism (42) comprises a three-jaw chuck (421), a three-phase explosion-proof motor (422), a synchronous belt (423), a belt wheel and a throw tile (424); three-phase explosion-proof machine (422) set up in frame (41), and its output shaft passes through hold-in range (423) and band pulley drive three-jaw chuck (421) rotatory, and holding tile (424) set up in three-jaw chuck (421), and it is tight to realize pressing from both sides through the cylinder.

8. The solid propellant charge column cut-off and reforming system of claim 7, wherein: still be provided with radial running roller (4409) and axial running roller (4410) on first integer straight line module (45), radial running roller (4409) are used for supplementary powder column to rotate, axial running roller (4410) are used for satisfying the axial motion of powder column.

9. The solid propellant charge column cut-off and reforming system of claim 8, wherein: the outer side of the shaping knife (4403) is also provided with a shaping protective cover (4411) for preventing the powder generated by the explosive column from splashing.

10. The solid propellant charge column cut-off and reforming system of claim 9, wherein: the truss manipulator (2) comprises a support frame (21), a loading area X-axis module (24), a loading area Y-axis module (25), a loading area Z-axis module (26), a loading clamping jaw (22), a blanking area X-axis module (27), a blanking area Y-axis module (28), a blanking area Z-axis module (29) and a blanking clamping jaw (23); the feeding area X-axis module (24), the feeding area Y-axis module (25) and the feeding area Z-axis module (26) are all arranged on the support frame (21) and used for providing movement of the feeding clamping jaws (22) in ZYX three directions; unloading district X axle module (27), unloading district Y axle module (28), unloading district Z axle module (29) all set up on support frame (21) for provide the removal of unloading clamping jaw (23) in the three direction of ZYX.

11. The solid propellant charge column cut-off and reforming system of claim 10, wherein: the feeding clamping jaw (22) comprises a rotary cylinder (221), a power-assisted cylinder (222), a feeding clamping cylinder (223) and a feeding profiling finger (224); the body of the rotary cylinder (221) is arranged on the feeding area Z-axis module (26), an output rod of the rotary cylinder is connected with the body of the feeding clamping cylinder (223) to drive the feeding clamping cylinder (223) to do rotary motion, the body of the boosting cylinder (222) is arranged on the feeding area Z-axis module (26), and the output rod of the boosting cylinder is connected with the body of the feeding clamping cylinder (223) and used for providing auxiliary force for the rotation of the feeding clamping cylinder (223); the feeding profiling fingers (224) are connected with two output rods of the feeding clamping cylinder (223) and used for grabbing the explosive columns;

the blanking clamping jaw (23) comprises a blanking clamping cylinder (231) and a blanking profiling finger (232), the body of the blanking clamping cylinder (231) is connected with a blanking zone Z-axis module (29), and the feeding profiling finger (224) is connected with two output rods of the feeding clamping cylinder (223) and used for grabbing the explosive columns.

12. The solid propellant charge column cut-off and reforming system of claim 11, wherein: the automatic feeding device (3) comprises a feeding support (31), a rodless cylinder (32), a stroke cylinder (33), a second linear bearing (34), a V-shaped roller (35), a pushing rod (36) and a foot cup (37);

the feeding support (31) is arranged below the truss manipulator (2), and the foot cup (37) is arranged below the feeding support (31) and used for supporting and adjusting the feeding support (31);

the rodless cylinder (32) is arranged on the feeding support (31), an output rod of the rodless cylinder is connected with the body of the stroke cylinder (33) and used for realizing the linear motion of the stroke cylinder (33), and the second linear bearing (34) is arranged on the feeding support (31) and used for guiding the movement of the output rod of the rodless cylinder (32);

the V-shaped roller (35) is arranged on the feeding support (31) and located on one side of the pushing rod (36), the pushing rod (36) is connected with an output rod of the stroke cylinder (33), and under the action of the rodless cylinder (32) and the stroke cylinder (33), the powder columns on the V-shaped roller (35) are axially fed and pushed to the fixed-length cutting and end face shaping device (4).

13. The solid propellant charge column cut-off and reforming system of claim 12, wherein: the feeding trolley (1) comprises a feeding frame (11), a cylinder frame (12) arranged on the feeding frame (11), a first caster wheel (13) with a brake and a first handrail (14); the cylinder frame (12) is used for positioning the technical column, and a flat copper strip is arranged at the bottom of the feeding frame (11) to realize static electricity conduction and grounding.

14. The solid propellant charge column cut-off and reforming system of claim 13, wherein: the truss manipulator is characterized in that a feeding trolley positioning mechanism (15) and a feeding pressing pliers (16) are further arranged below the truss manipulator (2), a feeding sensor (17) is arranged on the feeding trolley positioning mechanism (15), the feeding sensor (17) is used for detecting the position of the feeding trolley (1), and the feeding pressing pliers (16) lock the feeding trolley (1) in place at a fixed position.

15. The solid propellant charge column cut-off and reforming system of claim 14, wherein: the blanking trolley (5) comprises a blanking frame (51), a V-shaped positioning seat (52) arranged on the blanking frame (51), a second caster wheel (53) with a brake and a second handrail (54); the V-shaped positioning seat (52) is used for positioning the finished product explosive columns, and a flat copper strip is arranged at the bottom of the blanking frame (51) to realize static electricity conduction and grounding.

16. The solid propellant charge column cut-off and reforming system of claim 15, wherein: the automatic feeding device is characterized in that a feeding trolley positioning mechanism (55) and a feeding pressing pliers (56) are further arranged below the truss manipulator (2), a feeding sensor (57) is arranged on the feeding trolley positioning mechanism (55), the feeding sensor (57) is used for detecting the position of a feeding trolley (5), and the feeding pressing pliers (56) lock the feeding trolley (5) in place at a fixed position.

Technical Field

The invention belongs to the technical field of industrial automation, and particularly relates to a cutting and shaping system for a solid propellant filling grain.

Background

With the rapid development of the initiating explosive device industry, man-machine isolation in the initiating explosive device production process becomes a problem which needs to be solved urgently in the current society. At present, the production of filling the explosive columns with the solid propellant mainly depends on manual work to complete cutting and end face reshaping operations, the mode is extremely low in production efficiency, solvent volatilization and dust phenomena exist in the process of cutting and end face reshaping of the explosive columns, the harm to human bodies is great, in addition, the explosive columns are flammable and explosive, once accidents occur, great damage can be caused to operating personnel and families, and meanwhile, great loss is brought to the state and the society.

Disclosure of Invention

The invention aims to solve the problems of low production efficiency, harm to human bodies and easiness in accidents in the cutting and end face reshaping operation processes of the existing solid propellant filled grain, and provides a cutting and reshaping system of the solid propellant filled grain.

In order to achieve the purpose, the invention adopts the following technical scheme:

a cutting and shaping system for filling a solid propellant with explosive columns comprises a feeding trolley, a truss manipulator, a feeding device, a fixed-length cutting and end face shaping device, a discharging trolley and a control device; the feeding trolley is used for accommodating the raw material columns; the truss manipulator comprises a support frame, and a feeding clamping jaw and a discharging clamping jaw which are arranged on the support frame and can move in a three-dimensional manner, wherein the feeding clamping jaw and the discharging clamping jaw are used for completing the feeding of the raw explosive columns and the discharging of finished explosive columns; the feeding device is positioned below the feeding clamping jaws and used for axially conveying the original drug column to the fixed-length cutting and end face shaping device; the fixed-length cutting and end face shaping device is arranged on one side of the feeding device and is used for realizing flexible fixed-length cutting and end face shaping operation of the raw powder column; the blanking trolley is arranged below the blanking clamping jaw and used for accommodating finished product grains; the control device is used for controlling the feeding trolley, the truss manipulator, the feeding device, the fixed-length cutting and end face shaping device and the discharging trolley to complete the cutting and shaping operation of the explosive columns.

Further, the fixed-length cutting and end face reshaping device comprises a rack, a rotary clamping mechanism, a fixed-length cutting mechanism, an end face reshaping mechanism and a first reshaping linear module; the rotary clamping mechanism is arranged on the rack and is used for clamping and rotating the original medicine column axially fed by the feeding device; the fixed-length cutting mechanism is arranged on the rack and is used for cutting the clamped explosive column in a fixed length; the end face shaping mechanism is arranged on the rack and used for finishing end face shaping of the explosive columns; the fixed-length cutting mechanism comprises a gantry tool rest, a cutting electric cylinder, a pressing air cylinder, a cutting knife, an upper pressing block, a lower supporting block and a gas-liquid pressure cylinder; the compressing cylinder is arranged above the upper cover plate of the gantry tool rest, the output rod of the compressing cylinder is connected with the upper compressing block, the gas-liquid pressurizing cylinder is arranged below the lower cover plate of the gantry tool rest, the output rod of the gas-liquid pressurizing cylinder is connected with the lower supporting block, the upper compressing block and the lower supporting block are arranged between the upper cover plate of the gantry tool rest and the lower cover plate of the gantry tool rest, and the compressing of the explosive columns is realized under the action of the compressing cylinder and the gas-liquid pressurizing cylinder; the cutting electric cylinder is arranged above the upper cover plate of the gantry tool rest, and an output rod of the cutting electric cylinder is connected with the cutting knife and used for cutting off the compressed explosive columns; the end face shaping mechanism is arranged on the rack through a first shaping linear module, and the first shaping linear module realizes axial movement of the end face shaping mechanism; the end face shaping mechanism comprises a second shaping linear module, a servo motor, a shaping cutter, a fixed length cylinder, a limiting block, a position detection sensor, a fixed length detection sensor, a pressing roller and a rotary pressing cylinder; the second shaping linear module is arranged on the first shaping linear module, the servo motor is arranged on the second shaping linear module and can move along the axial direction of the explosive column, the shaping knife is connected with an output shaft of the servo motor, and the head of the explosive column is shaped into a certain shape under the rotation of the shaping knife and the rotary clamping mechanism; the fixed-length cylinder is arranged on the first shaping linear module, the output end of the fixed-length cylinder is connected with the limiting block, the limiting block is used for limiting the position of the explosive column axially fed by the feeding device, and the fixed-length detection sensor is arranged on the fixed-length cylinder, so that the length of the explosive column can be detected in a fixed-length mode, and the fixed-length cutting requirement is met; the position detection sensors are arranged on the second shaping linear module and the first shaping linear module and are used for detecting the positions of the second shaping linear module and the first shaping linear module; the rotary compression cylinder is arranged on the first shaping linear module, an output rod of the rotary compression cylinder is connected with the compression roller, and the compression roller compresses the head of the explosive column under the action of the rotary compression cylinder.

Furthermore, guide sleeves are arranged on two sides of the cutting-off knife and sleeved on an upright post of the gantry knife rest for guiding the movement of the cutting-off knife, and meanwhile, a first buffer block is arranged on the upright post of the gantry knife rest for realizing the damping and buffering of the cutting-off knife in the cutting-off process.

Furthermore, a guide post is further arranged on the gantry tool rest, and the upper pressing block and the lower supporting block are sleeved on the guide post through a first linear bearing, so that the directional movement of the upper pressing block and the lower supporting block is realized.

Furthermore, a second buffer block is arranged on the guide column and used for achieving damping and buffering in the process of compressing the upper compressing block and the lower supporting block.

Furthermore, the cutting knife is made of beryllium bronze, so that the safety and reliability of cutting operation are ensured.

Furthermore, the rotary clamping mechanism comprises a three-jaw chuck, a three-phase explosion-proof motor, a synchronous belt, a belt wheel and a holding tile; the three-phase explosion-proof motor is arranged on the rack, an output shaft of the three-phase explosion-proof motor drives the three-jaw chuck to rotate through the synchronous belt and the belt wheel, the tile is arranged in the three-jaw chuck, and clamping is achieved through the air cylinder.

Further, still be provided with radial running roller and axial running roller on the first integer sharp module, radial running roller is used for assisting the powder column to rotate, the axial running roller is used for satisfying the axial motion of powder column.

Further, the shaping protection cover is arranged on the outer side of the shaping cutter and used for preventing powder generated by the explosive columns from splashing.

Furthermore, the truss manipulator comprises a support frame, a loading area X-axis module, a loading area Y-axis module, a loading area Z-axis module, a loading clamping jaw, a blanking area X-axis module, a blanking area Y-axis module, a blanking area Z-axis module and a blanking clamping jaw; the feeding area X-axis module, the feeding area Y-axis module and the feeding area Z-axis module are all arranged on the support frame and used for providing movement of the feeding clamping jaws in ZYX three directions; unloading district X axle module, unloading district Y axle module, unloading district Z axle module all set up on the support frame for provide the removal of unloading clamping jaw in the three direction of ZYX.

Furthermore, the feeding clamping jaw comprises a rotary cylinder, a boosting cylinder, a feeding clamping cylinder and a feeding profiling finger; the body of the rotary cylinder is arranged on the feeding area Z-axis module, an output rod of the rotary cylinder is connected with the body of the feeding clamping cylinder to drive the feeding clamping cylinder to do rotary motion, the body of the boosting cylinder is arranged on the feeding area Z-axis module, and the output rod of the boosting cylinder is connected with the body of the feeding clamping cylinder and used for providing auxiliary force for the rotation of the feeding clamping cylinder; the feeding profiling fingers are connected with the two output rods of the feeding clamping cylinder and used for grabbing the explosive columns; the unloading clamping jaw includes unloading die clamping cylinder and unloading profile modeling finger, unloading die clamping cylinder's body and unloading district Z axle module group link, the material loading profile modeling finger is connected with two output poles of material loading die clamping cylinder for snatch the explosive column.

Furthermore, the automatic feeding device comprises a feeding support, a rodless cylinder, a stroke cylinder, a second linear bearing, a V-shaped roller, a pushing rod and a foot cup; the feeding support is arranged below the truss manipulator, and the foot cup is arranged below the feeding support and used for supporting and adjusting the feeding support; the rodless cylinder is arranged on the feeding support, an output rod of the rodless cylinder is connected with the body of the stroke cylinder and used for realizing the linear motion of the stroke cylinder, and the second linear bearing is arranged on the feeding support and used for guiding the movement of the output rod of the rodless cylinder; the V-shaped roller is arranged on the feeding support and located on one side of the pushing rod, the pushing rod is connected with an output rod of the stroke cylinder, under the action of the rodless cylinder and the stroke cylinder, the powder columns located on the V-shaped roller are axially fed, and the powder columns are pushed to the fixed-length cutting and end face shaping device.

Furthermore, the feeding trolley comprises a feeding frame, a cylinder frame, a first caster wheel with a brake and a first handrail, wherein the cylinder frame, the first caster wheel with the brake and the first handrail are arranged on the feeding frame; the cylindrical frame is used for positioning the technical column, and the flat copper strip is arranged at the bottom of the feeding trolley frame to realize electrostatic conduction and grounding.

Furthermore, a feeding trolley positioning mechanism and a feeding pressing hand vice are further arranged below the truss manipulator, a feeding sensor is arranged on the feeding trolley positioning mechanism and used for detecting the position of the feeding trolley, and the feeding pressing hand vice locks the feeding trolley in place at a fixed position.

Furthermore, the blanking trolley comprises a blanking frame, a V-shaped positioning seat arranged on the blanking frame, a second caster with a brake and a second handrail; the V-shaped positioning seat is used for positioning the finished product explosive column, and a flat copper strip is arranged at the bottom of the blanking frame to realize static conduction and grounding.

Furthermore, a blanking trolley positioning mechanism and a blanking pressing hand vice are further arranged below the truss manipulator, a blanking sensor is arranged on the blanking trolley positioning mechanism and used for detecting the position of the blanking trolley, and the blanking pressing hand vice locks the in-place blanking trolley at a fixed position.

Compared with the prior art, the invention has the following beneficial technical effects:

the invention provides a cutting and reshaping system for a solid propellant filled grain, which replaces manual work to finish the fixed-length cutting and end face reshaping of the grain, carries out automatic reformation on the cutting and reshaping processes of the grain, can not only efficiently realize the flexible fixed-length cutting and end face automatic reshaping operation of the grain, but also realize man-machine isolation in production operation and guarantee the life safety of operating personnel.

Drawings

FIG. 1 is a schematic diagram of a cut-off and reforming system for a solid propellant charge of the present invention;

FIG. 2 is a schematic structural view of a truss robot of the present invention;

FIG. 3 is a schematic structural view of a feeding clamping jaw and a discharging clamping jaw of the invention;

FIG. 4 is a schematic structural view of the feeding trolley of the invention;

FIG. 5 is a schematic view of the feeding device of the present invention;

FIG. 6 is a schematic view of the fixed length cutting and end face shaping apparatus of the present invention;

FIG. 7 is a schematic structural view of a rotary clamping mechanism of the present invention;

FIG. 8 is a schematic structural view of the fixed-length cutting mechanism of the present invention;

FIG. 9 is a schematic structural view of an end face shaping mechanism of the present invention;

fig. 10 is a schematic structural view of the blanking trolley of the invention.

Reference numerals: 1-a feeding trolley, 2-a truss manipulator, 3-a feeding device, 4-a fixed length cutting and end face shaping device, 5-a blanking trolley, 11-a feeding trolley frame, 12-a cylinder frame, 13-a first braking caster, 14-a first handrail, 15-a feeding trolley positioning mechanism, 16-a feeding compaction pliers, 17-a feeding sensor, 21-a supporting frame, 22-a feeding clamping jaw, 23-a blanking clamping jaw, 24-a feeding area X-axis module, 25-a feeding area Y-axis module, 26-a feeding area Z-axis module, 27-a blanking area X-axis module, 28-a blanking area Y-axis module, 29-a blanking area Z-axis module, 221-a rotating cylinder, 222-an assisting cylinder, 223-a feeding clamping cylinder, 224-a feeding finger profile modeling, 231-a blanking clamping cylinder, 232-a blanking profiling finger, 31-a feeding bracket, 32-a rodless cylinder, 33-a stroke cylinder, 34-a second linear bearing, 35-a V-shaped roller, 36-a material pushing rod, 37-a foot cup, 41-a frame, 42-a rotary clamping mechanism, 43-a fixed length cutting mechanism, 44-an end face shaping mechanism, 45-a first shaping linear module, 421-a three-jaw chuck, 422-a three-phase explosion-proof motor, 423-a synchronous belt, 424-a tile, 4301-a gantry knife rest, 4302-a cutting electric cylinder, 4303-a pressing cylinder, 4304-a cutting knife, 4305-an upper pressing block, 4306-a lower supporting block, 4307-a gas-liquid pressure cylinder, 4308-a guide sleeve, 4309-a guide column, 4310-a first buffer block, 4311-a first linear bearing, 4312-a second buffer block, 4401-a second shaping linear module, 4402-a servo motor, 4403-a shaping knife, 4404-a fixed length cylinder, 4405-a limiting block, 4406-a position detection sensor, 4407-a pressing roller, 4408-a rotary pressing cylinder, 4409-a radial roller, 4410-an axial roller, 4411-a shaping protective cover, 4412-a fixed length detection sensor, 51-a blanking frame, 52-a V-shaped positioning seat, 53-a second belt brake caster, 54-a second handrail, 55-a blanking trolley positioning mechanism, 56-a blanking pressing pliers and 57-a blanking sensor.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention and are not intended to limit the scope of the present invention.

The invention provides a cutting and reshaping system for a solid propellant filled grain, which replaces manual work to finish the fixed-length cutting and end face reshaping of the grain, carries out automatic reformation on the cutting and reshaping processes of the grain, can not only efficiently realize the flexible fixed-length cutting and end face automatic reshaping operation of the grain, but also realize man-machine isolation in production operation and guarantee the life safety of operating personnel.

As shown in figure 1, the cutting and shaping system for the solid propellant filled grain comprises a feeding trolley 1, a truss manipulator 2, a feeding device 3, a fixed-length cutting and end face shaping device 4, a discharging trolley 5 and a control device. The feeding trolley 1 is mainly used for accommodating the raw material columns; the truss manipulator 2 comprises a support frame 21, and a feeding clamping jaw 22 and a discharging clamping jaw 23 which are arranged on the support frame 21 and can move in a three-dimensional manner, wherein the feeding clamping jaw 22 and the discharging clamping jaw 23 mainly complete feeding of raw explosive columns and discharging of finished explosive columns; the feeding device 3 is positioned below the feeding clamping jaw 22 and used for axially conveying the original drug column to the fixed-length cutting and end face shaping device 4; the fixed-length cutting and end face shaping device 4 is arranged on one side of the feeding device 3 and is used for realizing flexible fixed-length cutting and end face shaping operation of the raw powder column; the blanking trolley 5 is arranged below the blanking clamping jaw 23 and is used for accommodating finished product grains; the blanking trolley 5 can be divided into a head section blanking trolley and a rear section blanking trolley, the head section blanking trolley mainly stores head section finished product grains, and the rear section blanking trolley mainly stores rear section finished product grains. The control device mainly completes program control of logical actions of the equipment and is used for controlling the feeding trolley 1, the truss manipulator 2, the feeding device 3, the fixed-length cutting and end face shaping device 4 and the discharging trolley 5 to complete cutting and shaping operations of the explosive columns.

As shown in fig. 2, the truss manipulator 2 of the present invention mainly completes the charging and discharging of the grains, and specifically includes a support frame 21, a charging area X-axis module 24, a charging area Y-axis module 25, a charging area Z-axis module 26, a charging clamping jaw 22, a discharging area X-axis module 27, a discharging area Y-axis module 28, a discharging area Z-axis module 29, and a discharging clamping jaw 23; the feeding area X-axis module 24, the feeding area Y-axis module 25 and the feeding area Z-axis module 26 are all arranged on the support frame 21 and used for providing movement of the feeding clamping jaws 22 in ZYX three directions; unloading district X axle module 27, unloading district Y axle module 28, unloading district Z axle module 29 all set up on support frame 21 for provide the removal of unloading clamping jaw 23 in the three direction of ZYX.

As shown in fig. 3, the feeding gripper 22 of the present invention comprises a rotary cylinder 221, a power cylinder 222, a feeding clamping cylinder 223 and a feeding profiling finger 224; the body of the rotary cylinder 221 is arranged on the feeding area Z-axis module 26, the output rod of the rotary cylinder is connected with the body of the feeding clamping cylinder 223 to drive the feeding clamping cylinder 223 to rotate, the body of the power-assisted cylinder 222 is arranged on the feeding area Z-axis module 26, and the output rod of the power-assisted cylinder is connected with the body of the feeding clamping cylinder 223 and used for providing auxiliary force for the rotation of the feeding clamping cylinder 223; the feeding profiling fingers 224 are connected with two output rods of the feeding clamping cylinder 223 and used for grabbing the explosive columns; the blanking clamping jaw 23 comprises a blanking clamping cylinder 231 and a blanking profiling finger 232, the body of the blanking clamping cylinder 231 is connected with the blanking zone Z-axis module 29, and the loading profiling finger 224 is connected with two output rods of the loading clamping cylinder 223 and used for grabbing the explosive columns.

Based on the structure, the truss manipulator 2 has the following characteristics: 1) six modules on the truss manipulator 2 can be driven by an explosion-proof servo motor, the speed and the displacement can be adjusted and controlled, and the accurate feeding and the accurate discharging of the explosive columns are realized; 2) the feeding clamping jaw 22 mainly comprises 1 rotating cylinder 221, 1 boosting cylinder 222, 1 feeding clamping cylinder 223 and a feeding profiling finger 224, can realize operations such as clamping, horizontally turning 90 degrees and vertically turning 90 degrees of a grain, and is flexible and reliable in grain clamping; 3) the blanking clamping jaw 23 is composed of 1 blanking clamping cylinder 231 and a loading clamping cylinder 223, and the head section finished product grain and the rear section finished product grain are sequentially and accurately stacked on the head section blanking trolley 5 and the rear section blanking trolley 5.

As shown in fig. 4, the feeding trolley 1 of the present invention mainly contains the raw material columns to provide materials for the truss manipulator 2, and specifically includes a feeding trolley frame 11, a cylinder frame 12 arranged on the feeding trolley frame 11, a first caster 13 with a brake, and a first handrail 14; the cylinder frame 12 is used for positioning the technical column, and the flat copper strip is arranged at the bottom of the feeding vehicle frame 11 to realize electrostatic conduction and grounding. A feeding trolley positioning mechanism 15 and a feeding pressing pliers 16 are further arranged below the truss manipulator 2, a feeding sensor 17 is arranged on the feeding trolley positioning mechanism 15, the feeding sensor 17 is used for detecting the position of the feeding trolley 1, and the feeding pressing pliers 16 lock the feeding trolley 1 in place at a fixed position.

The technical columns are sequentially placed into the cylindrical frame 12 of the feeding trolley 1, after the feeding trolley 1 is filled with the technical columns, the feeding trolley 1 is pushed to a feeding trolley positioning mechanism 15 in a workshop, at the moment, the feeding sensor 17 senses that the feeding trolley 1 is in place, and the feeding trolley 1 is in place, which is one of the starting conditions of the equipment. The feeding trolley 1 has the following characteristics: 1) the cylindrical frame 12 is adopted to position the explosive columns, so that the stability of the materials in the transportation process of the feeding trolley 1 is ensured; 2) the flat copper strip is arranged at the bottom of the feeding trolley 1 to realize electrostatic conduction and grounding; 3) the feeding trolley 1 is provided with casters with brakes, so that the stable control of the feeding trolley 1 is realized; 4) the feeding trolley positioning mechanism 15 is provided with an explosion-proof proximity switch (namely a feeding sensor 17) which can detect whether the feeding trolley 1 is in place; 5) and a feeding pressing hand clamp 16 is arranged on the feeding trolley positioning mechanism 15, and the feeding trolley 1 is locked through the feeding pressing hand clamp 16 after the feeding trolley positioning mechanism is in place, so that the stability of the subsequent operation of the truss manipulator 2 is realized.

As shown in fig. 5, the feeding device 3 of the present invention pushes the explosive columns to corresponding positions, and then the fixed-length cutting and end face shaping device 4 completes the fixed-length cutting and end face shaping of the explosive columns, which specifically comprises a feeding bracket 31, a rodless cylinder 32, a stroke cylinder 33, a second linear bearing 34, a V-shaped roller 35, a pushing rod 36 and a foot cup 37; the feeding support 31 is arranged below the truss manipulator 2, and the foot cup 37 is arranged below the feeding support 31 and used for supporting and adjusting the feeding support 31; the rodless cylinder 32 is arranged on the feeding support 31, an output rod of the rodless cylinder is connected with the body of the stroke cylinder 33 and used for realizing the linear motion of the stroke cylinder 33, and the second linear bearing 34 is arranged on the feeding support 31 and used for guiding the movement of the output rod of the rodless cylinder 32; the V-shaped roller 35 is arranged on the feeding support 31 and located on one side of the pushing rod 36, meanwhile, the pushing rod 36 is connected with an output rod of the stroke cylinder 33, under the action of the rodless cylinder 32 and the stroke cylinder 33, the powder columns located on the V-shaped roller 35 are axially fed, and are pushed to the fixed-length cutting and end face shaping device 4. The automatic feeding device 3 has the following characteristics: 1) the pneumatic feeding mode is adopted, the operation safety is ensured, and the rodless cylinder 32 is adopted as the cylinder, so that the control is reliable; 2) the feeding support 31 can be built by adopting aluminum profiles, and has the advantage of light weight; 3) the feeding bracket 31 is provided with an adjustable foot cup 37 for adjusting the state and the position of the feeding bracket 31; 4) the stroke of the material pushing rod 36 can be controlled by the rodless cylinder 32 and the stroke cylinder 33, and the device is suitable for the explosive columns with different lengths and has a wide application range.

As shown in fig. 6, the cut-to-length and end-face shaping device 4 of the present invention clamps, cuts to length, and shapes the powder column sent from the feeding device 3, and specifically includes a frame 41, a rotary clamping mechanism 42, a cut-to-length mechanism 43, an end-face shaping mechanism 44, and a first shaping linear module 45; the rotary clamping mechanism 42 is arranged on the frame 41 and is used for clamping and rotating the explosive columns axially fed by the feeding device 3; the fixed-length cutting mechanism 43 is arranged on the frame 41 and is used for cutting the clamped explosive column in a fixed length; the end face shaping mechanism 44 is arranged on the frame 41 and is used for finishing end face shaping of the explosive column.

As shown in fig. 7, the rotary clamping mechanism 42 of the present invention mainly completes clamping of the explosive column in the cutting process and clamping rotation of the explosive column in the shaping process, and the mechanism includes a three-jaw chuck 421, a three-phase explosion-proof motor 422, a synchronous belt 423, a belt pulley and a throw tile 424; three-phase explosion-proof machine 422 sets up in frame 41, and its output shaft passes through hold-in range 423 and the rotatory three-jaw chuck 421 of band pulley drive, and the tile 424 setting is held in the three-jaw chuck 421, realizes pressing from both sides tightly through the cylinder to accomplish the rotation and the clamp of powder column. The rotary clamping mechanism 42 has the following features: 1) the three-jaw chuck 421 is driven by an explosion-proof motor, and the synchronous belt 423 is used for transmission, so that the transmission is stable; 2) the three-jaw chuck 421 is connected with a holding tile 424, the three-jaw holding tile 424 is used for clamping the explosive column, and the clamping mode adopts pneumatic clamping, so that reliable clamping can be realized.

As shown in fig. 8, the fixed-length cutting mechanism 43 mainly completes fixed-length cutting operation of the explosive column, and comprises a gantry knife rest 4301, a cutting electric cylinder 4302, a pressing air cylinder 4303, a cutting knife 4304, an upper pressing block 4305, a lower supporting block 4306 and a gas-liquid pressure cylinder 4307; the compaction cylinder 4303 is arranged above the upper cover plate of the gantry knife rest 4301, the output rod of the compaction cylinder is connected with the upper compaction block 4305, the gas-liquid pressure cylinder 4307 is arranged below the lower cover plate of the gantry knife rest 4301, the output rod of the gas-liquid pressure cylinder 4306 is connected with the lower support block 4306, the upper compaction block 4305 and the lower support block 4306 are arranged between the upper cover plate of the gantry knife rest 4301 and the lower cover plate of the gantry knife rest 4301, and the compaction of the explosive columns is realized under the action of the compaction cylinder 4303 and the gas-liquid pressure cylinder 4307; the cutting electric cylinder 4302 is arranged above the upper cover plate of the gantry knife rest 4301, and the output rod of the cutting electric cylinder is connected with a cutting knife 4304 and used for cutting off the compacted explosive columns; guide sleeves 4308 are arranged on two sides of the cutting knife 4304, the guide sleeves 4308 are sleeved on a vertical column of the gantry knife holder 4301 and used for guiding the movement of the cutting knife 4304, and meanwhile, a first buffer block 4310 is arranged on the vertical column of the gantry knife holder 4301 and used for realizing damping and buffering of the cutting knife 4304 in the cutting process. The gantry knife rest 4301 is further provided with a guide column 4309, the upper pressing block 4305 and the lower supporting block 4306 are sleeved on the guide column 4309 through a first linear bearing 4311, so that the upper pressing block 4305 and the lower supporting block 4306 move directionally. And a second buffer block 4312 is arranged on the guide column 4309 and is used for realizing damping and buffering in the process of compressing the upper compressing block 4305 and the lower supporting block 4306. The cutting knife 4304 is made of beryllium bronze, so that the safety and reliability of cutting operation are ensured. The fixed-length cutting mechanism 43 of the present invention has the following features: 1) the cutting electric cylinder 4302 is adopted to drive the cutter to cut off the explosive column, and the cutting speed and the cutting stroke are adjustable and controllable; 2) a gas-liquid pressure cylinder 4307 is connected with the lower supporting block 4306, so that the position of the lower supporting block 4306 is firm and reliable; 3) an air cylinder is adopted to drive the upper compaction block 4305, and the stroke of the upper compaction block 4305 is adjustable and controllable; 4) the column and guide column 4309 of the gantry knife rest 4301 are provided with buffer blocks, which play a role in damping and buffering during cutting and pressing.

As shown in fig. 9, the end face shaping mechanism 44 is disposed on the frame 41 through a first shaping linear module 45, and mainly completes the end face shaping operation of the explosive column, and the first shaping linear module 45 realizes the axial movement of the end face shaping mechanism 44; the end face shaping mechanism 44 comprises a second shaping linear module 4401, a servo motor 4402, a shaping knife 4403, a fixed-length air cylinder 4404, a limiting block 4405, a position detection sensor 4406, a fixed-length detection sensor 4412, a pressing roller 4407 and a rotary pressing air cylinder 4408; the second shaping linear module 4401 is arranged on the first shaping linear module 45, the servo motor 4402 is arranged on the second shaping linear module 4401 and can move along the axial direction of the medicine column, the shaping knife 4403 is connected with an output shaft of the servo motor 4402, the head of the medicine column is shaped to a certain shape under the rotation of the shaping knife 4403 and the rotary clamping mechanism 42, and meanwhile, the outer side of the shaping knife 4403 is further provided with a shaping protective cover 4411 for preventing the powder generated by the medicine column from splashing; the fixed-length cylinder 4404 is arranged on the first shaping linear module 45, the output end of the fixed-length cylinder 4404 is connected with the limiting block 4405, the limiting block 4405 is used for limiting the position of the explosive column axially fed by the feeding device 3, and the fixed-length detection sensor 4412 is arranged on the fixed-length cylinder 4404, can detect the length of the explosive column in a fixed-length mode, and meets the fixed-length cutting requirement; rotatory cylinder 4408 that compresses tightly sets up on first integer straight line module 45, and its output lever is connected with compressing tightly running roller 4407, compresses tightly running roller 4407 and compresses tightly the powder column head under rotatory cylinder 4408 effect that compresses tightly. Still be provided with radial running roller 4409 and axial running roller 4410 on the first integer straight line module 45, radial running roller 4409 is used for assisting the powder column to rotate, and axial running roller 4410 is used for satisfying the axial motion of powder column.

The fixed-length detection sensor 4412 is a magnetic ring switch on the fixed-length air cylinder 4404, and in an initial state, the air cylinder is in an extending state, the front magnetic ring switch detects that a magnetic ring is in place, when a medicine column is fed forwards, the fixed-length air cylinder 4404 is pressed back, the rear magnetic ring detection switch detects that the magnetic ring is in place, at the moment, the medicine column is positioned, and a chuck holds the medicine column tightly. The position detection sensor 4406 is arranged on the first shaping linear module and the second shaping linear module and is mainly used for detecting the positions of the first shaping linear module and the second shaping linear module, the first shaping linear module and the second shaping linear module travel to a certain position under the drive of the explosion-proof servo motor, the position detection sensor 4406 can detect the induction sheets of the first shaping linear module and the second shaping linear module and further feed signals back to the PLC, and then the equipment performs subsequent operation.

Based on the above structure, the end face shaping mechanism 44 of the present invention has the following features: 1) the linear module is adopted to drive the shaping mechanism to perform linear motion, so that the axial position of the limiting block 4405 can be accurately controlled; 2) the end face shaping of the explosive column is carried out by driving the milling cutter by an explosion-proof servo motor, the rotating speed of the explosion-proof servo motor can be accurately controlled, and further the rotating speed of the milling cutter can be accurately controlled; 3) the head shaping depth is guaranteed by adopting the feeding of the explosion-proof servo motor, the explosion-proof servo motor can feed forwards at a constant speed, the speed is adjustable and controllable, and the shaping quality can be guaranteed; 4) the shaping knife 4403 is made of beryllium bronze; 5) the axial roller 4410 can meet the axial movement of the explosive columns, and the radial roller 4409 can assist the rotation of the explosive columns; the axial roller 4410 can support the explosive column to feed forward, so as to avoid the situation that the front end of the explosive column is low; the radial roller 4409 compresses the explosive columns to prevent the occurrence of head throwing during the shaping process of the explosive columns; 6) the pressing roller 4407 plays a role of flexibly extruding the explosive columns under the coordination of the rotary pressing cylinder 4408; the pressing roller 4407 adopts a rubber covered wheel, so that the medicine columns can be prevented from being damaged by pressing in the pressing process; 7) the fixed-length detection sensor 4412 can detect the length of the explosive column in a fixed-length manner, and the fixed-length cutting requirement is met.

As shown in fig. 10, the blanking cart 5 can be divided into a head blanking cart and a rear blanking cart, the head blanking cart and the rear blanking cart have the same structure, and are mainly used for accommodating a head finished product grain and a rear finished product grain on the truss manipulator 2, and the specific structure is as follows: comprises a blanking frame 51, a V-shaped positioning seat 52 arranged on the blanking frame 51, a second caster 53 with a brake and a second handrail 54; the V-shaped positioning seat 52 is used for positioning the finished product grain, and the flat copper strip is arranged at the bottom of the blanking frame 51 to realize static electricity conduction and grounding. A blanking trolley positioning mechanism 55 and a blanking pressing pliers 56 are further arranged below the truss manipulator 2, a blanking sensor 57 is arranged on the blanking trolley positioning mechanism 55, the blanking sensor 57 is used for detecting the position of the blanking trolley 5, and the blanking pressing pliers 56 lock the in-place blanking trolley 5 at a fixed position. The blanking trolley 5 has the following characteristics: 1) the V-shaped positioning seat 52 is adopted to position the explosive columns, so that the stability of the materials in the transportation process of the blanking trolley 5 is ensured; 2) the flat copper strip is arranged at the bottom of the blanking trolley 5 to realize electrostatic conduction grounding; 3) the blanking trolley 5 is provided with universal wheels with brakes, so that the stable control of the blanking trolley 5 is realized; 4) the blanking trolley positioning mechanism 55 is provided with an explosion-proof proximity switch (namely a blanking sensor 57) for detecting whether the blanking trolley 5 is in place; 5) the blanking trolley positioning mechanism 55 is provided with a pressing hand vice, and the locking of the trolley is completed through the pressing hand vice after the blanking trolley 5 is in place, so that the stability of the blanking trolley 5 in the blanking process is ensured.

The control device mainly comprises a PLC controller, a motor, a driver, an explosion-proof sensor, a human-computer interface, other actuating mechanisms and the like. The controlled variables include the linear module speed, the rotational speed of the rotary clamping mechanism 42, the movement speed of the cutting blade 4304, and the rotational speed of the shaping blade 4403, which can be remotely adjusted. The control device adopts a PLC for control and management and is arranged in the electric explosion-proof cabinet. The equipment detection switch adopts an explosion-proof switch and is collected in the on-site explosion-proof cabinet; the electromagnetic valves are installed in the gas control box in a centralized manner, and the wiring is led into the electric explosion-proof box. The leading-out cable of the explosion-proof box is connected into an outdoor power supply bridge frame through the bridge frame and the explosion-proof flexible hose. The control device has the following characteristics: 1) the control system detects the station state in real time and displays the station state on a touch screen of the control cabinet; 2) the control mode comprises an automatic/manual mode and the like; 3) the control system is connected in an I/O mode, the running state of the system and the alarm can be displayed on the touch screen, and the alarm lamp can give a prompt; 4) when alarming, sound and light alarming is prompted; 5) the operation modes of starting, stopping, pausing and the like of the system can be controlled through a human-computer interface, and the operation state of the system and the system alarm can be displayed on the human-computer interface; 6) all devices are subjected to bridging and grounding.

Based on the concrete structure of the cutting and shaping system for filling the grains with the solid propellant, the production line for automatically feeding, cutting, shaping and discharging the filled grains can be completed, and the concrete working process is as follows:

before production each time, a head section blanking trolley and a rear section blanking trolley are pushed into the blanking trolley positioning mechanism 55, in-place detection sensors are installed in the blanking trolley positioning mechanism 55, after the head section blanking trolley and the rear section blanking trolley are in place, original medicine columns are placed into the cylindrical frame 12, after the medicine columns are filled in the cylindrical frame 12, the feeding trolley 1 is pushed into the feeding trolley positioning mechanism 15, the feeding sensor 17 senses that the feeding trolley 1 is in place, and after the feeding trolley 1 is in place, other equipment is started.

The loading gripper 22 of the truss manipulator 2 starts to take out the explosive column from the cylinder frame 12 in the loading trolley 1, then the explosive column is put on the V-shaped roller 35 of the feeding device 3 under the movement of the X-axis module 24 of the loading area, the Y-axis module 25 of the loading area and the Z-axis module 26 of the loading area, the pushing rod 36 pushes the explosive column to feed forward under the driving of the rodless cylinder 32 and the stroke cylinder 33, the front end surface of the explosive column triggers the fixed length cylinder 4404 and the limiting block 4405 of the fixed length cutting and end surface shaping device 4, the fixed length detection sensor 4412 arranged on the fixed length cylinder 4404 can detect the length of the explosive column at a fixed length, the information meeting the fixed length cutting requirement is sent to the control device, and the control device controls the rodless cylinder 32 and the stroke cylinder 33 to return to the original point, thereby completing the axial feeding of the explosive column.

The feeding device 3 pushes the explosive column to the upper side of the lower supporting block 4306, after the explosive column moves in place axially, the lower supporting block 4306 moves to a designated position under the action of the gas-liquid pressure cylinder 4307, the pressing cylinder 4303 drives the upper pressing block 4305 to press the explosive column tightly, then the three-jaw chuck 421 and the holding tile 424 in the rotary clamping mechanism 42 are driven by compressed air to finish clamping the explosive column, after the rotary clamping mechanism 42 clamps the explosive column tightly, the cutting electric cylinder 4302 drives the cutting knife 4304 on the gantry knife rest 4301 to move downwards at a constant speed, and the explosive column is cut off. The first buffer block 4310 and the second buffer block 4312 play a role in buffering and damping in the movement process of the gas-liquid pressure cylinder 4307, the compaction cylinder 4303 and the cut-off electric cylinder 4302. The blanking clamping jaw 23 in the truss manipulator 2 moves the cut first section of explosive columns under the coordination of the blanking area X-axis module 27, the blanking area Y-axis module 28 and the blanking area Z-axis module 29, the first section of explosive columns are stacked on the first section blanking trolley, and the cutting electric cylinder 4302, the pressing air cylinder 4303 and the gas-liquid pressure cylinder 4307 of the fixed-length cutting mechanism 43 return to the initial positions.

Subsequently, the end face shaping mechanism 44 moves to a designated position under the action of the first shaping linear module 45, the material pushing rod 36 in the feeding device 3 pushes the medicine column to feed forward, the medicine column starts to extrude the limiting block 4405 on the fixed-length cylinder 4404, the cylinder 4404 to be long is in a compressed state, after a fixed-length detection sensor 4412 (a magnetic switch) on the fixed-length cylinder 4404 senses that the medicine column is in place, the medicine column stops advancing, the rodless cylinder 32 returns to the original point, the pressing roller 4407 presses the head of the medicine column under the action of the rotary pressing cylinder 4408, after the rotary clamping mechanism 42 clamps the medicine column, the rotary clamping mechanism 4403 starts to rotate, the radial roller 4409 assists the medicine column to rotate circumferentially, the shaping knife 4403 starts to rotate under the drive of the explosion-proof servo motor 4402, the second shaping linear module 4401 drives the shaping knife 4403 to feed forward under the drive of the motor, the shaping knife 4403 is slowly embedded into the head of the medicine column at a certain depth at a constant speed, and the head of the medicine column rotates at a low speed under the rotation of the milling cutter 4403, shaping is performed to a certain shape, after the shaping is completed, the second shaping linear module 4401 is fed backwards, and the end face shaping mechanism 44 is returned to the original point under the action of the first shaping linear module 45.

Finally, the lower supporting block 4306 moves to a designated position under the action of the gas-liquid pressure cylinder 4307, the compaction cylinder 4303 drives the upper compaction block 4305 to compact the explosive column, and then the cutting electric cylinder 4302 drives the cutting knife 4304 on the gantry knife rest 4301 to slowly move downwards to cut off the explosive column. The blanking clamping jaw 23 in the truss manipulator 2 is matched with the X-axis module 27, the Y-axis module 28 and the Z-axis module 29 in the blanking area to move, and the cut rear-section explosive columns are taken away and placed on the rear-section blanking trolley. After all the materials on the loading trolley are produced, the loading trolley enters a workshop to be pushed out, and the empty loading trolley, the head-section blanking trolley filled with the materials and the rear-section blanking trolley are pushed out, so that the whole production operation is finished.