CN-121994088-A - Automatic primer screwing equipment and accurate screwing depth control method

CN121994088ACN 121994088 ACN121994088 ACN 121994088ACN-121994088-A

Abstract

The invention discloses automatic primer screwing equipment and a screwing depth precise control method, which are suitable for automatic precise screwing assembly of a cartridge case screwing primer, and based on the screwing equipment, a cartridge case bottom surface reference is converted to a bottom surface sensor simulation plane, a primer excircle reference is converted to the top end of a screwing tool batch head, and screwing reference points can be converted to a screwing device per se, so that the screwing depth of primer is directly controlled. The displacement sensor and the torque sensor are matched with the control equipment to be screwed in place, the double displacement sensor is arranged to control the calculation of the screwing depth, the relative displacement A between the virtual bottom surface datum plane and the fixed baffle is measured respectively, the relative screwing quantity B of the screwing batch head is detected in real time, the difference B-A of the compression quantity of the two sensors is detected in the screwing process, the screwing depth of the primer is controlled, the torque sensor is set to detect the screwing torque in real time, and after the screwing depth reaches A set range, the screwing is stopped, and the primer is screwed in place.

Inventors

Fan Changshuai
KANG YAJUAN
LI ENSHENG
GAO SHIXI
ZHANG QI

Assignees

河南北方红阳机电有限公司

Dates

Publication Date: 20260508
Application Date: 20260310

Claims (9)

1. The automatic primer screwing equipment is characterized by comprising a bottom plate, a power driving module, a screwing execution module and a positioning detection module, wherein the modules are used for realizing automatic positioning, accurate screwing and parameter monitoring of primer cooperatively; The power driving module comprises a pushing cylinder, a bottom plate guide rail and a stopping mechanism, wherein the pushing cylinder, the bottom plate guide rail and the stopping mechanism are respectively arranged on the surface of the bottom plate, the pushing cylinder is connected with a mechanism support plate through a floating joint, the mechanism support plate is arranged on the guide rail, the pushing cylinder drives the mechanism support plate to move forward on the bottom plate guide rail, and the stopping mechanism is used for limiting the forward movement of the mechanism support plate; The screwing execution module comprises a speed reducer mounting plate, a torque sensor and a bearing mounting plate which are respectively arranged on the surface of the mechanism mounting plate, wherein the servo motor is connected with the speed reducer, the speed reducer is fixed on the speed reducer mounting plate, and the thrust bearing is fixed on the bearing mounting plate; The positioning detection module comprises a bottom surface sensor mounting plate fixed at one end of the mechanism supporting plate, three bottom surface sensors are mounted on the bottom surface sensor mounting plate and used for simulating a space plane to determine the reference position of the bottom of the cartridge by contacting with the compression deformation of the bottom surface of the cartridge, the batch head sensor is fixed at one side of the mechanism supporting plate through the batch head sensor mounting plate and connected with a batch head sensor measuring block arranged at one side of the mechanism mounting plate, the relative displacement between the mechanism mounting plate and the mechanism supporting plate is detected through the compression amount of the batch head sensor, and the accurate control of the primer screwing depth is realized by combining the data of the bottom surface sensor and the batch head sensor.
2. The automatic primer screwing equipment according to claim 1, wherein the stopping mechanism comprises a stopping block arranged on the mechanism supporting plate and a buffer mounting plate arranged on the surface of the bottom plate, the buffer is fixed on the buffer mounting plate, the stopping block and the buffer are in front-back corresponding states, and when the mechanism supporting plate moves forwards, the stopping stop dog block gradually touches the buffer to stop the mechanism supporting plate.
3. The automatic primer screwing equipment according to claim 1, wherein the elastic compression mechanism comprises a linear bearing arranged on the surface of the mechanism supporting plate and a fixing ring for fixing the linear bearing, the guide rod sequentially penetrates through the fixing ring and the linear bearing and then is connected with a transmission spring, and the other end of the transmission spring is connected with one end of the mechanism mounting plate.
4. The automatic primer screwing equipment according to claim 1, wherein the speed reducer is connected with the torque sensor through a first coupler, the torque sensor is in butt joint with the force transmission rotating shaft through a second coupler, and a limiting ring is further arranged on the outer wall of the force transmission rotating shaft between the second coupler and the bearing mounting plate.
5. An automated primer screwing apparatus according to claim 1, wherein the three bottom sensors form an equilateral triangle by contacting the contact points of the cartridge bottom after compression deformation, and the screwing head is located at the center of gravity of the equilateral triangle.
6. The accurate control method of the screwing depth of the automatic primer screwing equipment is realized by depending on the automatic primer screwing equipment integrating the sounding and screwing functions, and is characterized in that the sounding reference of the equipment and the manual sounding reference are unified into the whole bottom surface of a cartridge, the screwing depth of the primer is directly controlled through the displacement value of a displacement sensor, and the auxiliary control of a torque sensor is combined, and the method specifically comprises the following steps: 1) Unifying and calibrating the reference, namely unifying the sounding reference of the screwing equipment with the manual sounding reference, taking the whole bottom surface of the cartridge as a detection reference, arranging three bottom surface sensors and one screwing head, wherein the three bottom surface sensors are distributed into equilateral triangles, the screwing head is positioned at the gravity center position of the equilateral triangles, deforming the three bottom surface sensors and the head sensors in a plane compression mode, recording displacement values of the four sensors at the moment to be a 1 、a 2 、a 3 and b respectively, and calculating a calibration value C according to the gravity center property of the triangle: (1) Thus, the space plane calibration of the three bottom surface sensors and the batch head sensor is completed, so that the three bottom surface sensors and the batch head sensor are positioned on the same space plane and serve as zero reference for screwing depth detection; 2) The real-time calculation of the screwing depth comprises the steps of compressing three bottom surface sensors, enabling the projection of a triangle formed by contact points in space to be an equilateral triangle, enabling the center of gravity to be in the same line with the calibration center of gravity, collecting the numerical value e 1 、e 2 、e 3 of the three bottom surface sensors and the numerical value f of the batch head sensor in real time in the screwing measurement process, and calculating the actual screwing depth D based on the nature of the center of gravity of the triangle and combining the calibration value C: (2) realizing real-time quantitative detection of primer screwing depth; 3) The multi-sensor cooperative control comprises the steps of controlling screwing equipment to be screwed in place through cooperation of three bottom surface sensors, A batch head sensor and A torque sensor, measuring relative displacement A between A virtual bottom surface reference surface and A bottom surface sensor mounting plate through the three bottom surface sensors, measuring relative screwing quantity B of the virtual bottom surface reference surface and A screwing batch head through the batch head sensor, detecting compression quantity difference B-A of the two displacement sensors in real time in the screwing process, taking the compression quantity difference B-A as A core basis to directly control the primer screwing depth, and detecting screwing torque through the torque sensor in real time to realize cooperative control of the screwing depth and the torque.
7. The method for precisely controlling the screwing depth of the automatic primer screwing equipment according to claim 6, wherein the cooperative control rule of the screwing depth and the torque in the step 3) is that the screwing torque is detected in real time through a torque sensor, when the torque reaches a set range, the equipment stops screwing to finish primer assembly, and when the screwing depth is close to a critical value, the torque still does not reach the set range, the equipment stops screwing preferentially, the screwing depth is used as a primary control index, and assembly disqualification caused by ultra-deep screwing is avoided.
8. The method for precisely controlling the screwing depth of an automatic primer screwing apparatus according to claim 6, further comprising a spatial error compensation step of ordering the compression amounts of the three bottom surface sensors to m, l, n in terms of large, medium, and small, so that the distance between the two sensors is s, determining three-dimensional coordinates of contact points of the three bottom surface sensors, setting the three-point coordinates as (m, ,0), (l,0, ),(n, 0), Determining the normal vector of the contact point plane according to the three-point coordinates as follows: = (3) Cartridge bottom surface, xoy the plane normal vector is: = (0, 1), three bottom sensor imaginary reference plane normal vectors are: = (1, 0), and respectively determining angles of the contact plane with the cartridge bottom surface and the virtual reference plane , ; (4) (5) Is obtained by the following formulas (4) and (5): (6) (7) let the error compensation value be q and the radius of the batch head be r, and obtain the error compensation value according to the two angles Due to Can reflect whether the plane and the bottom surface are acute or obtuse, so that the + -sign of q is defined by The compensation value q is integrated into the calculation of the tightening depth D, and the calculation error caused by the spatial plane deviation is corrected.
9. The method for precisely controlling the screwing depth of the automatic primer screwing equipment according to claim 6, wherein the method is characterized in that the base surface reference of the cartridge is converted to the bottom surface sensor simulation plane during operation, the base outer circle reference is converted to the top end of the screwing head, and the screwing reference points are all converted to the screwing equipment.

Description

Automatic primer screwing equipment and accurate screwing depth control method Technical Field The invention relates to the technical field of cartridge primer assembly, in particular to automatic primer screwing equipment and a screwing depth precise control method, which are particularly suitable for automatic and high-precision assembly operation of screw-in primer. Background In the field of cartridge assembly, primers are classified into press-in primers and screw-in primers according to the mode of loading the primers into a cartridge. The screw-in primer assembly process has obvious technical pain points that on one hand, the screw-in primer has high safety risk, screw-in depth and moment are difficult to accurately control, primer is easy to trigger due to over-deep, and the propellant is invalid due to the influence of over-shallow primer, on the other hand, the assembly qualification rate is low, unqualified products need to manually detach the primer coated with asphalt varnish, manually screw the gasket after readjustment, the primer is extremely easy to collide in the operation process, great potential safety hazard exists, time and labor are wasted, and production efficiency is severely restricted. An automatic screwing device is urgently required to be developed, the safety and efficiency problems of manual assembly are solved, and the assembly precision and the qualification rate are improved. In addition, the existing screwing equipment has the working process that the depth of a platform in a primer hole is detected through a probe of a primer hole sounding device, so that the number of required gaskets is given, the required gaskets are manually added, then the automatic screwing device is used for screwing, the primer screwing depth is indirectly controlled through the torque, and the assembly of the cartridge primer is completed. However, due to poor consistency of the workpiece of the primer hole of the cartridge, inaccurate sounding of the primer hole is caused by the fact that part of the primer hole platform is unobvious, the measuring standard is the excircle of the primer hole, the manual detection primer screwing depth is based on the whole bottom surface of the cartridge, so that the given reference value of the number of gaskets is not great, meanwhile, due to the fact that the consistency of the bottom of the cartridge, the copper gaskets and the primer threaded workpiece is poor, the reliability of indirectly controlling the primer screwing depth through torque is poor, and therefore the qualification rate of product assembly is low and the safety risk is high. And the unqualified products of assembly need to be manually disassembled from the primer coated with asphalt varnish, the gasket is readjusted and then manually screwed by a special spanner, the primer is extremely easy to collide in the process of disassembly and reinstallation, and great potential safety hazards exist. Disclosure of Invention In order to meet the technical requirements, the invention aims to provide automatic primer screwing equipment, which replaces manual operation with equipment to realize automatic control of primer screwing process, and solves the technical problems of insufficient screw-in depth and torque control precision, high safety risk and low production efficiency. The invention further aims to provide a screwing depth accurate control method based on the automatic primer screwing equipment, the used screwing equipment has sounding and screwing functions, a sounding reference of the device is unified with a manual sounding reference, when the primer is screwed, the primer screwing depth is directly controlled through a displacement sensor, so that the problem of poor reliability of indirect torque control caused by poor consistency of a cartridge, the primer and a gasket workpiece is solved, meanwhile, the torque sensor is used for controlling screwing torque, the product primer is ensured to withdraw from a torque requirement, the screwing qualification rate is ensured, and the intrinsic safety of production is improved. In order to achieve the aim, the invention provides the technical scheme that the screwing equipment for automatically assembling the cartridge primer comprises a bottom plate, a power driving module, a screwing execution module and a positioning detection module, wherein the modules are used for realizing automatic positioning, accurate screwing and parameter monitoring of the primer in a cooperative manner; The power driving module comprises a pushing cylinder, a bottom plate guide rail and a stopping mechanism, wherein the pushing cylinder, the bottom plate guide rail and the stopping mechanism are respectively arranged on the surface of the bottom plate, the pushing cylinder is connected with a mechanism support plate through a floating joint, the mechanism support plate is arranged on the guide rail, the pushing cylinder drives the mechanism support plate to move