| The automation of initiating explosive device management is an important manifestation of military modernization.The traditional method of detecting initiating explosive devices mainly relies on manual handling,with low working efficiency and high risk coefficient.Therefore,it is urgent to develop a set of initiating explosive device manipulator transmission line to realize automatic storage,weight detection,data recording,marking and coding of initiating explosive devices.Because the transmission line of manipulator relies on the motor to drive the screw to move in a straight line,which in turn drives the manipulator to move to complete the transmission of initiating explosive devices.However,during the development of the equipment,it is found that the screw had severe vibrations during the descent of the transmission line,especially at high-speed movement.Aiming at this problem,this paper analyzes the vibration of the screw.Based on the vibration model,the vibration equation of the screw is established.The factors that cause the vibration of the screw are analyzed.And designs a flexible follow-up damping device according to the analysis result.Then the vibration spectrum of transmission lines before and after the installation of damping device is detected.The test results show that the damping device designed can effectively reduce the vibration amplitude of the screw,thus significantly improving the stability of the transmission of the screw and the safety of the operation line.In the operation system,because the detected initiating explosive devices are heavy in weight and large in quantity,the transmission line of manipulator must take into account the operation speed on the premise of ensuring safety.Therefore,it is necessary to ensure the stability of the carrier structure and the safety of the manipulator.However,the largest carrier in this paper is a pyrotechnic storage rack.In order to meet the requirements of storing different types of initiating explosive devices,a set of adjustable and disassembly free storage components is designed,and the stability analysis of the carrier storage rack is analyzed.The stress analysis of the storage rack base,the bottom unit bin,the support plate and the support base is mainly based on the largest type of initiating explosive devices,and the corresponding results are obtained.The stress-strain diagram of the bearing body shows that the structure design of the bearing body is reasonable,safe and stable,and meets the development indicators.The operation of pyrotechnic products on the transmission line is completed by the gripping and releasing of hydraulic manipulators.The hydraulic manipulator is designed according to the geometric shape and structural parameters of the operation object.According to the largest model of pyrotechnic products,the force of the manipulator is limited.Based on the meta-analysis,the stress-strain diagram is obtained.According to the actual situation and the requirements of the equipment index,the designed manipulator can achieve the purpose of safely and stably picking up and setting fireworks.The key components of the transmission line of the initiating explosive device manipulator,such as the flexible follow-up damping device for the vibration reduction of the lead screw,the quick replacement support device for the storage rack and the hydraulic manipulator,are designed and completed in this paper,which provide reliable technical support for the smooth development of the automatic operation of initiating explosive device,and provide reliable technical support for the technical application in the related engineering fields. |
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