CN111023919B - Automatic assembly device of electric detonator containing explosive ignition part - Google Patents
Automatic assembly device of electric detonator containing explosive ignition part Download PDFInfo
- Publication number
- CN111023919B CN111023919B CN201911089250.6A CN201911089250A CN111023919B CN 111023919 B CN111023919 B CN 111023919B CN 201911089250 A CN201911089250 A CN 201911089250A CN 111023919 B CN111023919 B CN 111023919B
- Authority
- CN
- China
- Prior art keywords
- shell
- module
- electric detonator
- press
- medicament
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42C—AMMUNITION FUZES; ARMING OR SAFETY MEANS THEREFOR
- F42C17/00—Fuze-setting apparatus
- F42C17/04—Fuze-setting apparatus for electric fuzes
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Air Bags (AREA)
Abstract
The invention discloses an automatic assembly device of an electric detonator containing a explosive ignition piece, and belongs to the field of automatic assembly of initiating explosive devices. The automatic assembling device for the shell of the electric detonator with the explosive ignition piece, which is designed by the invention, realizes automatic explosive loading, automatic press fitting and automatic packaging of the electric detonator, thereby replacing manual operation, realizing man-machine isolation and essentially solving the problem of personnel safety in the assembling process; when guaranteeing whole assembly process security, promote production efficiency more than 2 times, reduce the cost of labor by half.
Description
Technical Field
The invention relates to an automatic assembly device of an electric detonator containing a explosive ignition part, belonging to the field of automatic assembly of initiating explosive devices.
Background
The electric detonator containing the explosive ignition piece is characterized in that sensitive explosives and powders are pre-installed in the ignition piece, the ignition time is accurately controlled, and the stability is high, so that the electric detonator is generally used as an ignition and explosion source of various initiating explosive devices.
Because the electric detonator contains the structural characteristics of the ignition part with the explosive, the main charge needs to be filled firstly when the electric detonator is assembled, then the ignition part with the explosive is assembled, and the ignition part and the shell of the electric detonator are in interference fit, so that certain safety risk and technical difficulty are brought to the assembly process. At present, the assembling process of the electric detonator is completed by manual operation, an operator holds a charge container to pour main charge into an electric detonator shell, then puts a firing part on the electric detonator shell, carefully presses the firing part in place by using a hand press, then carries out edge curling and closing on the opening part of the electric detonator shell after the pressing is in place, and carries out gluing and sealing on the closing part to complete the whole assembling action.
In the current assembly process, in order to ensure that the main charge is uniformly leveled in the electric detonator and the ignition part is pressed in place, an operator needs to be in direct contact with sensitive explosive, so that the relatively thorough man-machine isolation is difficult to realize, and a relatively large safety risk exists. Due to the influence of human body static electricity and factors such as friction and collision in the process of pressing the ignition part, explosion accidents and even personal injury are easy to occur under the condition of not in place safety control.
The automatic assembly method and the corresponding device are used for replacing manual operation to assemble the electric detonator containing the explosive ignition piece, and the method is an effective means for realizing man-machine isolation and solving the safety risk. From the existing domestic and foreign documents, no report is found on a method and a device for realizing automatic assembly of an electric detonator containing a propellant.
Disclosure of Invention
The technical problem solved by the invention is as follows: the invention provides an automatic assembling device for an electric detonator containing a powder ignition piece, which overcomes the defects of the existing manual assembling method for the electric detonator, and mainly solves the problem of safety risks caused by manual charging and manual assembling of the powder ignition piece.
The technical scheme of the invention is as follows:
the utility model provides an automatic assembly device who contains electric detonator of taking medicine piece of starting a fire, loads module, medicament pressure equipment module, the piece of starting a fire assembly module, the piece of starting a fire pressure equipment module, turn-up binding off module, the sealed module of rubber coating including last unloading module, casing assembly module, medicament, the piece of starting a fire assembly module, the piece of starting a fire pressure equipment module, turn-up binding off module, the sealed module of rubber coating, wherein, last unloading module, casing assembly module, medicament load module, medicament pressure equipment module, the piece of starting a fire assembly module, the piece of starting a fire pressure equipment module, turn-up binding off module, the sealed module of rubber coating all install on table surface.
A feeding and discharging module: respectively conveying the shell of the electric detonator to be assembled, the main charge and the explosive-carrying ignition piece to positions where the shell assembling module, the explosive filling module and the ignition piece assembling module grab; or the assembled and glued electric detonator shell is blanked by matching with the gluing and sealing module;
a housing assembly module: grabbing an electric detonator shell to be assembled from the feeding and discharging module, and filling medicine by matching with the medicine filling module;
A medicament filling module: grabbing main charge from the feeding and discharging module, and matching with the shell assembly module to charge;
the medicament press-fitting module: matching with the shell assembly module to carry out medicament press mounting;
the ignition part assembling module comprises: grabbing the ignition piece with the explosive from the feeding and discharging module, and matching with the shell assembling module to assemble the ignition piece;
the ignition part is pressed and mounted on the module: the powder ignition part is pressed and mounted by matching with the shell assembly module;
a crimping and closing module: matching with a shell assembly module to perform electric detonator shell crimping and closing;
gluing and sealing the module: and the shell assembly module is matched to perform gluing and sealing on the shell of the electric detonator.
The feeding and discharging module comprises a feeding and discharging unit of the shell of the electric detonator, a medicament feeding unit and an ignition part feeding unit, wherein,
the electric detonator shell feeding and discharging unit comprises an electric detonator shell, a shell material tray and a material tray guide rail, wherein the electric detonator shell is placed on the shell material tray, the shell material tray slides on the material tray guide rail, and the electric detonator shell is conveyed to a specified feeding and discharging position through the material tray guide rail;
the medicament feeding unit comprises main medicaments, a medicament tray and a medicament feeding guide rail, the main medicaments are placed on the medicament tray, the medicament tray slides on the medicament feeding guide rail, and the main medicaments are conveyed to a specified feeding position through the medicament feeding guide rail;
The ignition part feeding unit comprises an ignition part with the explosive, an ignition part material tray and an ignition part feeding guide rail, the ignition part with the explosive is placed on the ignition part material tray, the ignition part material tray slides on the ignition part feeding guide rail, and the ignition part with the explosive is sent to a specified feeding position through the ignition part feeding guide rail.
The shell assembly module comprises a shell mounting robot, a mold positioning seat and a stepping turntable, wherein the mold positioning seat is arranged on the stepping turntable and comprises a shell base, a guide mold and a medicine loading mold; the stepping turntable and the shell loading robot are arranged on the working table surface, the shell loading robot grabs the electric detonator shell from the shell material tray, and then the electric detonator shell is loaded into the shell base on the die positioning seat.
The medicament filling module comprises a die filling manipulator and a medicament filling robot which are both arranged on the working table; the die assembling manipulator clamps a guide die from a die positioning seat and assembles the guide die on the shell of the electric detonator, and then clamps a charging die from the die positioning seat and assembles the charging die on the guide die; the main charge is clamped by the charge robot from the medicament tray and poured into the charge die, and flows into the shell of the detonator through the charge die.
The medicament press-mounting module comprises a press-mounting press which is arranged on the working table, the press-mounting press extends a press head into the medicament-loading die to pressurize the main charge in the shell of the electric detonator, and the electric detonator is withdrawn after being pressurized to a preset pressure.
The firing part assembling module comprises a firing part loading robot which is arranged on the working table surface, and the firing part loading robot clamps the firing part with the powder from a firing part tray and loads the firing part into the powder loading module.
Furthermore, the firing member assembling module also comprises a detection camera which is arranged on the firing member assembling robot; the main charge in the shell of the electric detonator is photographed by the detection camera, the photograph is transmitted to the vision software of the upper computer for processing, and whether the main charge exists or not is judged by the gray value of the charge area.
The ignition part press-fitting module comprises an ignition part movable pressure head and an ignition part press which are both arranged on the working table surface, and the ignition part movable pressure head is positioned below the ignition part press and is coaxially arranged with the ignition part press; the movable pressure head of the ignition part matched with the ignition part with the explosive rotates to the position above the ignition part with the explosive, the ignition part with the explosive is slowly pressed into the shell of the electric detonator by the axial pressurization of the press of the ignition part, and the electric detonator moves to a preset stroke and then exits.
The hemming closing-up module comprises a hemming movable pressure head and a hemming press which are both arranged on the working table, and the hemming movable pressure head is positioned below the hemming press and is coaxially arranged with the hemming press; and the hemming movable pressure head matched with the electric detonator shell rotates to the upper part of the electric detonator shell, performs hemming closing on the opening part of the electric detonator shell by axially pressurizing through the hemming press, and exits after pressurizing to preset pressure.
The gluing and sealing module comprises a gluing manipulator and is arranged on the working table; the dispensing manipulator sequentially clamps the medicine loading die and the guide die from the shell base at corresponding positions on the die positioning seat, and then coats epoxy resin glue at the curling and closing opening of the shell of the electric detonator according to a corresponding circular path.
The shell loading robot clamps the electric detonator shell which is assembled and glued from the shell base, puts the electric detonator shell on a shell material tray, utilizes the rotary table to realize continuous circulation of the electric detonator assembling process, and enables the electric detonator assembling device to enter a continuous working state.
The electric detonator assembling system scans the two-dimensional code on the electric detonator shell to identify the identity information of the electric detonator shell through the code scanner, and the code scanner is installed on the working table surface and is close to a shell material tray.
An automatic assembly method of an electric detonator containing a propellant ignition part comprises the steps of feeding and discharging, shell assembly, medicament filling, medicament press-mounting, ignition part assembly, ignition part press-mounting, crimping and closing, gluing and sealing, wherein the assembly flow is divided into 8 main execution steps, corresponding execution mechanisms are distributed around a stepping turntable, and the turntable is used for realizing continuous circulation of the electric detonator assembly process;
the method comprises the following specific steps:
(1) feeding: the shell of the electric detonator, the main charge and the ignition element with the explosive are loaded into corresponding material trays for loading,
(2) Assembling a shell: the shell of the electric detonator is arranged in a mould base through a robot;
(3) medicament filling: assembling a guide die and a charging die on an electric detonator shell through a manipulator, and charging main charge into the charging die through a robot;
(4) medicament press fitting: pressurizing the main charge by a pressing machine to make the main charge compact and flat;
(5) assembling the ignition part: loading the ignition part into a charging mould through a robot;
(6) press-fitting an ignition piece: pressurizing the explosive ignition piece through a press machine and a movable pressure head so as to enable the explosive ignition piece to be arranged inside the shell of the electric detonator;
(7) and (3) edge curling and closing: crimping and closing the shell of the electric detonator by a press machine and a movable pressure head;
(8) gluing and sealing: gluing and sealing the closing opening by using a glue dispensing device;
(9) blanking: and blanking the electric detonator shell which is sealed by the glue.
Compared with the existing assembly method, the invention has the advantages that:
1) the main charge and the shell of the electric detonator to be assembled are automatically fed through a manipulator, and are pressurized through a pressing press so as to be compact and flat, so that the main charge is automatically assembled from a charging tray to the shell of the electric detonator, and the problem of danger of manual assembly of the main charge of the existing electric detonator is solved;
2) the automatic feeding of the explosive-carrying ignition piece is realized through a mechanical arm during the assembly, and the explosive-carrying ignition piece is pressurized through a press machine and a movable pressure head and is arranged in the shell of the electric detonator, so that the problems of manual assembly and press mounting of the conventional explosive-carrying ignition piece are solved;
3) The shell of the electric detonator is crimped and closed by the press and the movable pressure head, and the closed part is glued and sealed by the glue dispensing device, so that the problems of manual crimping and gluing in the prior art are solved;
4) the assembly system is also provided with a code scanner, so that the identity information of the shell of the electric detonator can be quickly identified in a rotary code scanning mode of a product, and the problem that the identity information of the shell assembly of the existing electric detonator can not be quickly and automatically identified is solved;
5) the invention realizes the cyclic utilization of the assembly mould and the cyclic circulation of the shell of the electric detonator by using the cyclic circulation mode of the stepping turntable, shortens the turnover time among the steps in the assembly process and can effectively improve the assembly efficiency.
In conclusion, the automatic assembling device for the electric detonator shell with the explosive ignition piece, which is designed by the invention, realizes automatic medicament filling, automatic press fitting and automatic packaging of the electric detonator, thereby replacing manual operation, realizing man-machine isolation and essentially solving the problem of personnel safety in the assembling process; when guaranteeing whole assembly process security, promote production efficiency more than 2 times, reduce the cost of labor by half.
Drawings
FIG. 1 is a structural view of an automatic assembling apparatus for an electric detonator comprising a powder ignition member according to the present invention;
FIG. 2 is a block diagram of an assembled housing mold;
FIG. 3 is a block diagram of an electric detonator containing a charged ignition element;
FIG. 4 is a process flow diagram of an automatic assembly method of an electric detonator containing a powder ignition element.
Reference numerals:
1-code scanner, 2-shell material tray, 3-lightning tube shell, 4-mould positioning seat, 5-shell loading robot, 6-mould loading manipulator, 7-medicine loading robot, 8-medicine tray, 9-main medicine, 10-medicine loading guide rail, 11-medicine pressing press, 12-fire piece loading robot, 13-fire piece material tray, 14-medicine carrying fire piece, 15-detection camera, 16-fire piece movable pressure head, 17-fire piece press, 18-crimping press, 19-crimping movable pressure head, 20-stepping turntable, 21-dispensing manipulator, 22-working table, 23-shell base, 24-guiding mould and 25-medicine loading mould; 26-tray guide rail; 27-a firing member feeding guide rail.
Detailed Description
In order to make the objects, technical methods and advantages of the present invention more apparent, the following detailed description of the disclosed embodiments of the present invention is provided with reference to the accompanying drawings.
Referring to fig. 1, there is shown a structural view of an automatic assembling apparatus for an electric detonator containing a explosive-containing ignition element according to the present invention, referring to fig. 2, there is shown a structural view of an assembling shell mold according to the present invention, referring to fig. 3, there is shown a structural view of an electric detonator containing an explosive-containing ignition element according to the present invention, and referring to fig. 4, there is shown a process flow chart of an automatic assembling method for an electric detonator containing an explosive-containing ignition element according to the present invention.
The utility model provides an automatic assembly device who contains electric detonator of taking medicine piece of starting a fire, loads module, medicament pressure equipment module, the piece of starting a fire assembly module, the piece of starting a fire pressure equipment module, turn-up binding off module, the sealed module of rubber coating including last unloading module, casing assembly module, medicament, the piece of starting a fire assembly module, the piece of starting a fire pressure equipment module, turn-up binding off module, the sealed module of rubber coating, wherein, last unloading module, casing assembly module, medicament load module, medicament pressure equipment module, the piece of starting a fire assembly module, the piece of starting a fire pressure equipment module, turn-up binding off module, the sealed module of rubber coating all install on table surface.
The feeding and discharging module comprises a feeding and discharging unit of the shell of the electric detonator, a medicament feeding unit and an ignition part feeding unit;
the feeding and discharging unit of the electric detonator shell comprises an electric detonator shell 3, a shell material tray 2 and a material tray guide rail 26, wherein the electric detonator shell 3 is placed on the shell material tray 2, the shell material tray 2 slides on the material tray guide rail 26, and the electric detonator shell is conveyed to a specified feeding and discharging position through the material tray guide rail 26;
the medicament feeding unit comprises main charges 9, a medicament tray 8 and a medicament feeding guide rail 10, wherein the main charges 9 are placed on the medicament tray 8, the medicament tray 8 slides on the medicament feeding guide rail 10, and the main charges are conveyed to a specified feeding position through the medicament feeding guide rail 10;
The ignition part feeding unit comprises an ignition part with the explosive 14, an ignition part material tray 13 and an ignition part feeding guide rail 27, the ignition part with the explosive 14 is placed on the ignition part material tray 13, the ignition part material tray 13 slides on the ignition part feeding guide rail 27, and the ignition part with the explosive is sent to a specified feeding position through the ignition part feeding guide rail.
The shell assembling module comprises a shell installing robot 5, a mold positioning seat 4 and a stepping turntable 20, wherein the mold positioning seat 4 is installed on the stepping turntable 20 and comprises a shell base 23, a guide die 24 and a powder charging die 25; the stepping turntable 20 and the shell loading robot 5 are arranged on a working table surface 22, the shell loading robot 5 grabs the electric detonator shell 3 from the shell tray 2, and then the electric detonator shell 3 is loaded into the shell base 23 on the die positioning seat 4, wherein the shell loading robot 5 is an EPSON T3-401S type four-axis robot.
The medicament filling module comprises a mould filling manipulator 6 and a medicament filling robot 7 which are both arranged on the working table surface 22; the die-filling manipulator 6 clamps the guide die 24 from the die positioning seat 4 and then installs the guide die on the shell 3 of the electric detonator, and clamps the explosive-filling die 25 from the die positioning seat 4 and then installs the explosive-filling die on the guide die 24; the charging robot 7 clamps the main charge 9 from the medicament tray 8 and pours the main charge 9 into the charging die 25, and the main charge 9 flows into the electric detonator shell 3 through the charging die 25;
The guide die 24 is used for positioning the medicine charging die 25, so that the mouth part of the medicine charging die is aligned with the mouth part of the electric detonator shell 3, and the main medicine 9 can smoothly flow in; the explosive loading die 25 is used for guiding the main explosive 9 and the explosive-carrying ignition piece 14 to ensure that the main explosive and the explosive-carrying ignition piece are smoothly loaded into the shell 3 of the electric detonator; the mold loading manipulator 6 is a dong you da XYTH530-F type orthogonal manipulator, and the shell loading robot 5 is an EPSON T3-401S type four-axis robot.
The medicament press-mounting module comprises a pressing machine 11 which is arranged on a working table 22, wherein the pressing machine 11 extends a pressing head into a medicament loading die 25 to pressurize the main medicament 9 in the electric detonator shell 3, and the pressing machine 11 is a ruhlamat RSP10/300/250 type servo press after the main medicament 9 is pressurized to a preset pressure.
The firing part assembling module comprises a firing part loading robot 12 which is arranged on a working table surface 22, the firing part loading robot 12 clamps the firing part 14 with the explosive from a firing part tray 13 and loads the firing part into a charging mould 25, and the firing part loading robot 12 is an EPSON T3-401S type four-axis robot.
The assembly module of the igniter comprises a detection camera 15, is installed on a robot 12 for loading the igniter, photographs the main charge 9 in the shell 3 of the detonator through the detection camera 15, transmits the photographs to the vision software of the upper computer for processing, and judges whether the main charge 9 exists or not through the gray value of a charge area.
The ignition part press-fitting module comprises an ignition part movable pressure head 16 and an ignition part press 17 which are both arranged on a working table surface 22, and the ignition part movable pressure head 16 is positioned below the ignition part press 17 and is coaxially arranged with the ignition part press 17; the movable pressure head 16 of the ignition part matched with the ignition part 14 with the explosive rotates to the position above the ignition part with the explosive, the ignition part 14 with the explosive is slowly pressed into the shell 3 of the detonator by the axial pressurization of the ignition part press 17, and the shell moves to a preset stroke and then exits; the firing bar press 17 is a ruhlamat RMP0.5/200/400 servo press.
The curling and closing module comprises a curling movable pressure head 19 and a curling press 18; are all arranged on a working table surface 22, and a curling movable pressure head 19 is positioned below a curling press 18 and is coaxially arranged with the curling press; the movable crimping pressure head 19 matched with the electric detonator shell 3 rotates to the upper part of the electric detonator shell, and is axially pressurized by the crimping press 18 to crimp and close the opening part of the electric detonator shell 3, and the electric detonator shell is withdrawn after being pressurized to a preset pressure; the crimping press 18 is a ruhlamat RMP0.5/200/400 servo press.
The gluing sealing module comprises a dispensing manipulator 21 which is arranged on a working table surface 22, the dispensing manipulator 21 sequentially clamps a medicine loading die 25 and a guide die 24 from a shell base 23 and installs the medicine loading die and the guide die at corresponding positions on the die positioning seat 4, and then epoxy resin glue is coated at the curling and closing opening of the shell 3 of the electric detonator according to a corresponding circular path; the dispensing robot 21 is a Dongzhou XYTH442-A1 type orthogonal robot.
The shell loading robot 5 clamps the electric detonator shell 3 which is assembled and glued from the shell base 23, puts the electric detonator shell on the shell material tray 2, utilizes the rotary table to realize the continuous circulation of the electric detonator assembling process, and enables the device to enter a continuous working state.
The electric detonator assembling system also scans the two-dimensional code on the electric detonator shell 3 to identify the identity information of the electric detonator through the code scanner 1, and the code scanner 1 is installed on the working table surface 22 and is close to the shell material tray 2.
The method comprises the following specific steps:
(1) the shell 3 of the electric detonator is placed on the material plate 2 of the shell in a matrix form, the main charge 9 is placed on the medicament material plate 8 in a matrix form, the ignition part 14 with the medicament is placed on the ignition part material plate 13 in a matrix form, and the ignition part is sent to a position where a robot catches through a corresponding material plate guide rail;
(2) the shell installing robot 5 clamps the electric detonator shell 3 from the shell material tray 2, scans the two-dimensional code on the electric detonator shell 3 through the code scanner 1 to identify the identity information of the electric detonator shell, then axially installs the electric detonator shell 3 into the shell base 23 on the mold positioning seat 4, and clockwise rotates a station (22.5 degrees) by the stepping turntable 20;
(3) the die-filling manipulator 6 clamps the guide die 24 from the die positioning seat 4 and then installs the guide die on the shell 3 of the electric detonator, and then clamps the explosive-filling die 25 from the die positioning seat 4 and then installs the explosive-filling die on the guide die 24, and the stepping turntable 20 rotates clockwise for a station;
(4) The charging robot 7 clamps the main charge 9 from the medicament tray 8 and pours the main charge 9 into the charging die 25, the main charge 9 flows into the electric detonator shell 3 through the charging die 25, and the stepping turntable 20 rotates clockwise for one station;
(5) the pressing head of the pressing machine 11 axially extends into the charging die 25 to pressurize the main charge 9 in the shell 3 of the electric detonator, the main charge is withdrawn after the main charge is pressurized to a preset pressure, and the stepping turntable 20 rotates clockwise for one station;
(6) the detonator loading robot 12 photographs the main charge 9 in the detonator shell 3 through the detection camera 15, after the upper computer vision software judges that the main charge 9 exists, the detonator loading robot 12 clamps the detonator with the explosive 14 from the detonator tray 13, the detonator with the explosive is axially loaded into the explosive loading die 25, and the stepping turntable 20 rotates clockwise for one station;
(7) the movable pressure head 16 of the ignition part matched with the ignition part 14 with the explosive rotates to the upper part, the ignition part press 17 is used for axially pressing, the ignition part 14 with the explosive is slowly pressed into the shell 3 of the detonator, the shell moves to a preset stroke and then is withdrawn, and the stepping rotary disc 20 rotates one station clockwise;
(8) the movable crimping pressure head 19 matched with the electric detonator shell 3 rotates to the upper part of the electric detonator shell, the crimping press 18 is used for axially pressing to crimp and close the opening part of the electric detonator shell 3, the electric detonator shell is withdrawn after being pressed to a preset pressure, and the stepping rotary disc 20 rotates a station clockwise;
(9) The dispensing manipulator 21 sequentially clamps a medicine loading die 25 and a guide die 24 from a shell base 23 and installs the medicine loading die and the guide die at corresponding positions on the die positioning seat 4, then a circle of continuous epoxy resin glue is coated at the curling and closing opening of the shell 3 of the electric detonator according to a corresponding circular path, and the stepping turntable 20 rotates one station clockwise;
(10) the shell loading robot 5 clamps the electric detonator shell 3 which is assembled and glued from the shell base 23, places the electric detonator shell in the original position on the shell material tray 2, and continuously clamps the unassembled shell material tray 2 for feeding according to the step (2);
(11) after the first electric detonator shell 3 is assembled, 8 stations of the stepping rotary table 20 realize simultaneous assembly actions, and the device enters a continuous working state.
One station of the above steps is rotated 22.5 °.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (3)
1. The utility model provides an automatic assembly device that contains electric detonator with medicine initiating part which characterized in that: the device comprises a feeding and discharging module, a shell assembling module, a medicament filling module, a medicament press-fitting module, an ignition piece assembling module, an ignition piece press-fitting module, a crimping and closing-up module and a gluing and sealing module; the device comprises a feeding and discharging module, a shell assembling module, a medicament filling module, a medicament press-fitting module, an ignition piece assembling module, an ignition piece press-fitting module, a crimping and closing-up module and a gluing and sealing module, wherein the feeding and discharging module, the shell assembling module, the medicament filling module, the medicament press-fitting module, the ignition piece assembling module, the ignition piece press-fitting module, the crimping and closing-up module and the gluing and sealing module are all arranged on a working table top; wherein:
A feeding and discharging module: respectively conveying the shell of the electric detonator to be assembled, the main charge and the explosive-carrying ignition piece to positions where the shell assembling module, the explosive filling module and the ignition piece assembling module grab; or the assembled and glued electric detonator shell is blanked by matching with the gluing and sealing module;
a housing assembly module: grabbing an electric detonator shell to be assembled from the feeding and discharging module, and filling medicine by matching with the medicine filling module;
a medicament filling module: grabbing main charge from the feeding and discharging module, and matching with the shell assembly module to charge;
the medicament press-fitting module: matching with the shell assembly module to carry out medicament press mounting;
the ignition part assembling module comprises: grabbing the ignition piece with the explosive from the feeding and discharging module, and matching with the shell assembling module to assemble the ignition piece;
the ignition part is pressed and mounted on the module: the powder ignition part is pressed and mounted by matching with the shell assembly module;
a crimping and closing module: matching with a shell assembly module to perform electric detonator shell crimping and closing;
gluing and sealing the module: the shell assembly module is matched for gluing and sealing the shell of the electric detonator;
the feeding and discharging module comprises a feeding and discharging unit of the shell of the electric detonator, a medicament feeding unit and an ignition part feeding unit; the feeding and discharging unit of the electric detonator shell comprises an electric detonator shell (3), a shell material tray (2) and a material tray guide rail (26), wherein the electric detonator shell (3) is placed on the shell material tray (2), the shell material tray (2) slides on the material tray guide rail (26), and the electric detonator shell (3) is conveyed to a specified feeding and discharging position through the material tray guide rail (26);
The medicament feeding unit comprises main medicaments (9), a medicament tray (8) and a medicament feeding guide rail (10), the main medicaments (9) are placed on the medicament tray (8), the medicament tray (8) slides on the medicament feeding guide rail (10), and the main medicaments (9) are conveyed to a specified feeding position through the medicament feeding guide rail (10);
the firing part feeding unit comprises a firing part (14) with a powder, a firing part tray (13) and a firing part feeding guide rail (27); the ignition part with the explosive (14) is placed on the ignition part material tray (13), the ignition part material tray (13) slides on the ignition part feeding guide rail (27), and the ignition part with the explosive is sent to a specified feeding position through the ignition part feeding guide rail (27);
the shell assembling module comprises a shell installing robot (5), a mold positioning seat (4) and a stepping turntable (20), wherein the mold positioning seat (4) is installed on the stepping turntable (20) and comprises a shell base (23), a guide mold (24) and a medicine loading mold (25), and the shell installing robot (5) and the stepping turntable (20) are installed on a working table top (22); the shell installing robot grabs the shell of the electric detonator from the shell material tray and then installs the shell of the electric detonator into the shell base on the die positioning seat;
the medicament filling module comprises a die assembling manipulator (6) and a medicament charging robot (7), wherein the die assembling manipulator (6) and the medicament charging robot (7) are both arranged on a working table top (22), the die assembling manipulator clamps the guide die from the die positioning seat and then clamps the medicament charging die from the die positioning seat and then clamps the guide die on the guide die; the main charge is clamped from a medicament tray by a charge robot and poured into a charge die, and flows into the shell of the detonator through the charge die;
The medicament press-mounting module comprises a press-mounting press (11), and the press-mounting press (11) is arranged on the working table top (22); the pressing head of the pressing machine extends into the charging die to pressurize the main charge in the shell of the electric detonator, and the electric detonator is withdrawn after the main charge is pressurized to a preset pressure;
the ignition part assembling module comprises an ignition part loading robot (12), the ignition part loading robot (12) is arranged on a working table surface (22), and the ignition part loading robot clamps the ignition part with the explosive from an ignition part charging tray and loads the ignition part into the explosive loading module;
the ignition part press-fitting module comprises an ignition part movable pressure head (16) and an ignition part press (17), the ignition part movable pressure head (16) is positioned below the ignition part press (17) and is coaxially mounted with the ignition part press, and the ignition part movable pressure head (16) and the ignition part press (17) are both mounted on a working table top (22); the movable pressure head of the ignition part matched with the ignition part with the explosive rotates to the position above the ignition part with the explosive, the ignition part with the explosive is slowly pressed into the shell of the electric detonator by the axial pressurization of the press of the ignition part, and the electric detonator moves to a preset stroke and then exits;
the crimping and necking module comprises a crimping movable pressure head (19) and a crimping press (18), wherein the crimping movable pressure head (19) is positioned below the crimping press (18) and is coaxially arranged with the crimping press, and the crimping movable pressure head (19) and the crimping press (18) are both arranged on a worktable surface (22); the movable crimping pressure head matched with the electric detonator shell rotates to the position above the electric detonator shell, the electric detonator shell is axially pressurized through the crimping press, the opening of the electric detonator shell is crimped and closed, and the electric detonator shell is withdrawn after the electric detonator shell is pressurized to a preset pressure;
The gluing and sealing module comprises a dispensing mechanical arm (21), and the dispensing mechanical arm (21) is arranged on the working table top (22); the dispensing manipulator sequentially clamps a medicine loading die and a guide die from the shell base and installs the medicine loading die and the guide die at corresponding positions on the die positioning seat, and then epoxy resin glue is coated at the curling and folding port of the shell of the electric detonator according to a corresponding circular path;
the shell loading robot clamps the electric detonator shell which is assembled and glued from the shell base, puts the electric detonator shell on a shell material tray, utilizes the rotary table to realize continuous circulation of the electric detonator assembling process, and enables the electric detonator assembling device to enter a continuous working state.
2. The automatic assembling apparatus of an electric detonator containing a propellant charge as set forth in claim 1, wherein: the assembly module for the firing part further comprises a detection camera (15), and the detection camera (15) is installed on the robot (12) for installing the firing part.
3. The automatic assembling device of an electric detonator containing a propellant charge initiating piece according to any one of claims 1 to 2, wherein: the code scanning device further comprises a code scanner (1), and the code scanner (1) is installed on the working table top (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911089250.6A CN111023919B (en) | 2019-11-08 | 2019-11-08 | Automatic assembly device of electric detonator containing explosive ignition part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911089250.6A CN111023919B (en) | 2019-11-08 | 2019-11-08 | Automatic assembly device of electric detonator containing explosive ignition part |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111023919A CN111023919A (en) | 2020-04-17 |
| CN111023919B true CN111023919B (en) | 2022-08-12 |
Family
ID=70205102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911089250.6A Active CN111023919B (en) | 2019-11-08 | 2019-11-08 | Automatic assembly device of electric detonator containing explosive ignition part |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111023919B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112139366A (en) * | 2020-07-30 | 2020-12-29 | 四川航天川南火工技术有限公司 | Automatic crimping device and method for ignition medicine box for aerospace firemen |
| CN112902773A (en) * | 2020-12-28 | 2021-06-04 | 北方导航控制技术股份有限公司 | Press from both sides special plane of screwing of embracing detonator |
| CN114184095B (en) * | 2021-11-29 | 2023-12-29 | 四川航天川南火工技术有限公司 | Automatic press-fitting device and method for energetic powder material based on servo pressurization |
| CN114275247B (en) * | 2022-01-17 | 2023-04-28 | 东莞怡合达自动化股份有限公司 | Component feeding equipment for grenade fuze production |
| CN117804292B (en) * | 2024-02-28 | 2024-04-30 | 南京尚景智造科技有限公司 | Automatic packaging control system and method for initiating explosive device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101290205A (en) * | 2008-06-25 | 2008-10-22 | 廊坊智通机器人系统有限公司 | Primer automatic screwing device |
| CN201425449Y (en) * | 2009-05-14 | 2010-03-17 | 西安北方庆华机电集团有限公司 | Device for automatically filling explosive cylinder of detonator |
| CN104589051A (en) * | 2015-01-05 | 2015-05-06 | 上海广为焊接设备有限公司 | Automated assembly system |
| CN206247958U (en) * | 2016-11-17 | 2017-06-13 | 北京金源恒业科技开发有限公司 | One kind produces special-purpose sealing plug for industrial detonator |
| CN206680410U (en) * | 2017-04-13 | 2017-11-28 | 长沙矿山研究院有限责任公司 | A kind of rendrock automatic loading mechanism |
| CN109665928A (en) * | 2019-01-09 | 2019-04-23 | 湖北卫东化工股份有限公司 | A kind of detonator automatic clip machine |
-
2019
- 2019-11-08 CN CN201911089250.6A patent/CN111023919B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101290205A (en) * | 2008-06-25 | 2008-10-22 | 廊坊智通机器人系统有限公司 | Primer automatic screwing device |
| CN201425449Y (en) * | 2009-05-14 | 2010-03-17 | 西安北方庆华机电集团有限公司 | Device for automatically filling explosive cylinder of detonator |
| CN104589051A (en) * | 2015-01-05 | 2015-05-06 | 上海广为焊接设备有限公司 | Automated assembly system |
| CN206247958U (en) * | 2016-11-17 | 2017-06-13 | 北京金源恒业科技开发有限公司 | One kind produces special-purpose sealing plug for industrial detonator |
| CN206680410U (en) * | 2017-04-13 | 2017-11-28 | 长沙矿山研究院有限责任公司 | A kind of rendrock automatic loading mechanism |
| CN109665928A (en) * | 2019-01-09 | 2019-04-23 | 湖北卫东化工股份有限公司 | A kind of detonator automatic clip machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111023919A (en) | 2020-04-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111023919B (en) | Automatic assembly device of electric detonator containing explosive ignition part | |
| CN102376982A (en) | Turnover fixture, power battery assembling method and equipment | |
| CN110821928B (en) | Light and thin piece assembling system for igniter powder surface | |
| CN108098284B (en) | Sealing ring clamping device | |
| CN102847946B (en) | Automatic shaping device for powder metallurgy parts | |
| CN108512013B (en) | Automatic assembly equipment for torsion spring jacks of connectors of new energy automobiles | |
| CN113310784A (en) | New energy automobile electronic wire harness manufacturing quality testing system and testing method | |
| CN115160094B (en) | Automatic assembling device for grouping electrode needles of initiating explosive device glass sealing body | |
| CN107225401A (en) | Electronic product intellectuality assembling outfit | |
| CN114184095B (en) | Automatic press-fitting device and method for energetic powder material based on servo pressurization | |
| CN209902655U (en) | Gear sensor production equipment | |
| CN107553092B (en) | Rubber ring assembling device | |
| CN114193176A (en) | Automatic welding production system and method for water pump guide vanes | |
| CN105169587A (en) | Automatic assembly system of dry powder extinguisher | |
| CN109571005A (en) | The assemble method of F connector assembling device | |
| CN106270023A (en) | Fingerprint recognition module bender | |
| CN207480010U (en) | A kind of device for assembling sealing ring | |
| CN103170828A (en) | Motor locking plate assembling machine | |
| CN111644840A (en) | Automatic assembly device for frequency converter terminal and clamp spring | |
| WO2023111836A1 (en) | Manufacturing machine and method to manufacture a cylindrical battery | |
| CN208993134U (en) | A kind of novel riveter | |
| CN202608080U (en) | Automatic shaping device for powder metallurgy part | |
| CN206622483U (en) | Fingerprint recognition module bender | |
| JPS63137526A (en) | Method and device for forming cylindrical vessel by compressing and clamping joint of one end surface and can body made of metal and machine compressing and clamping joint of vessel and can end surface | |
| US3855759A (en) | Method and apparatus for closing and/or sealing receptacles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |