Method and Robotic System for 20mm Super Pull Apart Machine Autofeeding

Abstract

The present invention discloses a method and system for automatically feeding 20 mm rounds into the SPAM (Super Pull Apart Machine) for demilitarization. The method involves deploying a robot to transfer 20 mm rounds from the ammunition bin to a bowl feeder. Additionally, the method incorporates a bowl feeder for aligning and releasing ammunition onto the chain conveyor to feed 20 mm rounds to the SPAM at a specified feed rate. Lastly, the method includes a control and management system to coordinate all components within the feed system through communication units, along with user software for operators to monitor and control the feeding process. The present invention enhances the safety of the demilitarization process by minimizing manual handling of hazardous materials, thus reducing the risk of accidents and injuries. Additionally, it reduces operational costs and increases demilitarization efficiency.

1 . A Super Pull Apart Machine (SPAM) autofeeding system to automatically feed 20 mm ammunition into the SPAM for demilitarization, comprising:
 a) a robotic system equipped with vision system and sensors for transferring ammunition from 20 mm ammunition bin into the bowl feeder using a customized gripper for secure handling;   b) a bowl feeder for aligning and releasing 20 mm rounds into the cups of the chain conveyor at a preset feed rate, and providing real-time status updates to the control and management system, featuring:
 i) a clutch mechanism for controlling the rotation of the feeder wheel; 
 ii) a feeder wheel designed to efficiently guide and orient 20 mm rounds within the feeder bowl; 
 iii) a sweep arm for ensuring uniform distribution of 20 mm rounds along the feeder wheel; 
 iv) a discharge assembly to facilitate the smooth release 20 mm rounds from the feeder bowl to the transit slide; 
 v) a custom-designed transit slide to sort and orient the 20 mm rounds to ensure their tips point upwards at the outlet; 
 vi) a custom-designed outlet that securely transfers 20 mm rounds from the transit slide to the cups on the chain conveyor; 
 vii) customizable bowl geometry and adjustable settings to adapt to specific application needs, including feed rate adjustments; 
 viii) integrated sensors for monitoring ammunition levels, detecting jams, and providing feedback to the control and management system. 
   c) a control and management system coordinating all components within the 20 mm SPAM autofeeding system throughout the entire feeding process, including monitoring the status of each component, adjusting parameters based on real-time data from vision systems and sensors, managing feeding schedules, and providing comprehensive reporting capabilities. This system enables operators to monitor and regulate the process using user-friendly software, allowing for seamless control and optimization of the entire ammunition feeding process within the SPAM.   
     
     
         2 . An automated method, as set forth in  claim 1 , for depositing ammunition from 20 mm ammunition bins into the bowl feeder massively using a feeder robot equipped with a vision system, comprising the steps of:
 a) locating the position of 20 mm ammunition bin using the vision system;   b) gripping 20 mm ammunition bin and transferring ammunition from the ammunition bin to the bowl feeder;   c) updating status to the control and management system and receiving control signals to synchronize with the feed process.   
     
     
         3 . An automated method, as set forth in  claim 1 , for aligning and releasing 20 mm rounds into the cups of the chain conveyor at a preset feed rate using a bowl feeder, comprising the steps of:
 a) receiving 20 mm ammunition from the robot to the bowl feeder;   b) aligning and orienting 20 mm ammunition within the feeder bowl;   c) transferring the aligned 20 mm rounds from the bowl feeder to the transit slide;   d) aligning and orienting the 20 mm rounds on the transit slide to ensure their tips point upwards at the outlet;   e) precisely dropping the aligned 20 mm rounds into the cups of the chain conveyor at the preset feed rate;   f) adjusting the feed rate to accommodate the status of the 20 mm SPAM;   g) detecting the presence or absence of 20 mm rounds at the outlet using integrated sensors and a vision system;   h) monitoring ammunition flow and detecting jams or irregularities using vision system and sensors to ensure consistent and controlled ammunition flow;   i) updating status to the control and management system and receiving control signals to synchronize with the feed process.   
     
     
         4 . A control and management system, as set forth in  claim 1 , coordinates all components throughout the entire 20 mm feeding process and allows operators to monitor and regulate the process using user software, comprising:
 a) communication with subcontrollers at the robot, bowl feeder, chain conveyor, and SPAM;   b) monitoring ammunition flow, status, and process parameters based on visual and sensor data from multiple locations;   c) adjusting feed rate and system parameters as needed;   d) providing user interface for real-time monitoring and control.   
     
     
         5 . A network of vision systems according to  claim 1 , integrated into the automated method, facilitating:
 a) Locating 20 mm ammunition bins in the loading area and/or the SPAM building;   b) checking the status of 20 mm ammunition bins to determine if they are empty;   c) precise gripping and transferring of 20 mm ammunition from ammunition bin to the bowl feeder based on visual cues;   d) confirmation of successful transfer through feedback from each vision system;   e) verifying if any bins remain in the loading area;   f) continuous monitoring the feeding process and updating feeding status data to the control and management system.