CN116511876A - Automatic press-fitting production equipment for pyrotechnic gas generator - Google Patents

Abstract

The invention belongs to the technical field of pyrotechnic gas generator production equipment, and particularly relates to automatic press-fitting production equipment for a pyrotechnic gas generator, which comprises a controller, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism and the second driving mechanism are electrically connected with the controller and respectively drive a first turntable and a second turntable which are arranged at intervals to rotate in a stepping manner; a transfer mechanism is arranged between the first turntable and the second turntable; the device also comprises a lower shell and medicine box feeding mechanism, a lower shell detection mechanism, a lower shell marking mechanism, a medicine box press-fitting mechanism, a filter screen feeding and detection mechanism, a filter screen press-fitting mechanism, an upper end cover feeding and detection mechanism and an upper end cover press-fitting mechanism which are electrically connected with the controller and are arranged on the rack. The automatic production of the pyrotechnic gas generator is realized, the artificial interference factors of manual production are eliminated, the problems of low efficiency, high labor intensity, poor safety and low degree of automation of the conventional manual production are solved, and the injury of equipment to people is avoided.

Description

Automatic press-fitting production equipment for pyrotechnic gas generator

Technical Field

The invention belongs to the technical field of pyrotechnic gas generator production equipment, and particularly relates to automatic press-fitting production equipment for a pyrotechnic gas generator.

Background

The pyrotechnic gas generator is used in the steering wheel of the automobile, and when the automobile is impacted, the gas generator can be detonated in a very short time so as to provide a certain amount of gas for the opening of the safety airbag, and the pyrotechnic gas generator has an extremely important function in the safety system of the whole automobile, so that the production requirement of the pyrotechnic gas generator is very strict.

At present, the production of the gas generator is completed in a mode of cooperation of manual equipment and professional equipment, and the manual equipment is responsible for feeding and discharging materials. Many human interferences are generated in the production process, and certain dangers are generated for people due to the dangers of professional equipment. The production mode has low efficiency, high labor intensity, poor safety and low automation degree.

Disclosure of Invention

In view of the above-mentioned shortcomings, the present invention aims to provide an automatic press-fitting production device for pyrotechnic gas generators.

The invention provides the following technical scheme: an automatic press-fitting production device of a pyrotechnic gas generator comprises a controller, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism and the second driving mechanism are electrically connected with the controller and respectively drive a first turntable and a second turntable which are arranged at intervals to rotate in a stepping manner; the first turntable and the second turntable are respectively and uniformly provided with a first product storage table and a second product storage table in an annular shape; a transfer mechanism is arranged between the first turntable and the second turntable and is used for transferring products from the product storage table to the second product storage table and discharging the products on the second product storage table;

The transfer mechanism comprises a first four-axis robot which is electrically connected with the controller, and a first pneumatic clamping jaw is arranged on the first four-axis robot; the first pneumatic clamping jaw is driven by the first four-axis robot to clamp the product on the first product storage table, and then the product is placed on the second product storage table. After the products on the second rotary table complete all the processing procedures, the first four-axis robot drives the first pneumatic clamping jaw to clamp the products on the second product storage table, and the products are placed on the conveying line.

The first driving mechanism and the second driving mechanism are arranged on the rack, one side of the rack is provided with a lower shell material rack, a medicine box material rack, a filter screen material rack and an upper end cover material rack, and the material racks can be automatically fed by an AGV.

The device also comprises a lower shell and medicine box feeding mechanism, a lower shell detection mechanism, a lower shell marking mechanism, a medicine box press-fitting mechanism, a filter screen feeding and detection mechanism, a filter screen press-fitting mechanism, an upper end cover feeding and detection mechanism and an upper end cover press-fitting mechanism which are electrically connected with the controller and are arranged on the rack;

the lower shell and the medicine box feeding mechanism are used for conveying the lower shell to the lower shell detection mechanism or conveying the medicine box to the medicine box press-fitting mechanism;

the lower shell detection mechanism is used for detecting whether the lower shell is qualified or not;

The lower shell marking mechanism is used for marking the lower shell which is qualified in detection and conveying the marked lower shell to a first product storage table of the first turntable;

the medicine box pressing mechanism is used for installing the medicine box into a lower shell on the first product storage table;

the filter screen feeding and detecting mechanism is used for detecting the filter screen and conveying the filter screen which is qualified in detection to the filter screen press-fitting mechanism;

the filter screen pressing mechanism is used for installing a filter screen into a lower shell on the first product storage table;

the upper end cover feeding and detecting mechanism is used for detecting the upper end cover and conveying the upper end cover which is qualified in detection to the upper end cover press-fitting mechanism;

the upper end cover pressing mechanism is used for installing the upper end cover on the lower shell on the second product storage table.

The lower shell and the medicine box feeding mechanism comprise a four-axis robot II which is electrically connected with the controller, and a pneumatic clamping jaw II and a vacuum chuck I are arranged on the four-axis robot II; the second pneumatic clamping jaw is provided with an analog magnetic switch I for detecting the opening degree of the second pneumatic clamping jaw and a proximity sensor for detecting whether the second pneumatic clamping jaw clamps the lower shell;

the lower shell detection mechanism comprises a driving mechanism III electrically connected with the controller, and the driving mechanism III is used for driving the transfer tool to do transverse linear motion; and a first color sensor electrically connected with the controller is arranged above the driving mechanism III.

The transfer tool is provided with a plurality of positions for placing the lower shells, so that the lower shells of different models can be placed, the first color sensor can be connected with the first sliding table cylinder, and the first color sensor can be switched between different positions, so that the lower shells of different positions on the transfer tool are detected.

The lower shell marking mechanism comprises a four-axis robot III which is electrically connected with the controller, and a pneumatic clamping jaw III is arranged on the four-axis robot III;

the lower shell marking mechanism further comprises a visual positioning mechanism for positioning the lower shell clamped by the pneumatic clamping jaw three;

the visual positioning mechanism comprises a light source and an industrial camera;

the lower shell marking mechanism further comprises a driving mechanism IV which is arranged on one side of the visual positioning mechanism and is electrically connected with the controller, and the driving mechanism IV is used for driving the movable seat I to do transverse linear motion; a driving mechanism five for driving the material receiving platform to rotate is arranged on the first movable seat, and a clamping mechanism I for fixing the lower shell is arranged on the material receiving platform;

the lower shell marking mechanism further comprises a laser code printer arranged above the driving mechanism.

The lower end of the laser lithography machine is provided with an air extraction cover which is connected with an air extractor. A light shield is arranged in the air suction cover in a vertically sliding way, and a sliding table cylinder II for driving the light shield to move up and down is arranged on the side surface of the air suction cover.

The medicine box press-mounting mechanism comprises a first servo press which is arranged on the first bracket and is electrically connected with the controller, and the first servo press is used for driving a medicine box press head above the first turntable to do vertical linear motion; a second vacuum chuck for sucking the medicine box is arranged in the medicine box pressure head;

the medicine box press-fitting mechanism further comprises a medicine box conveying mechanism for conveying the medicine boxes on the medicine box feeding tool to be sucked by the medicine box press head.

The medicine box conveying mechanism comprises a horizontal feeding rodless cylinder I arranged on one side of the bracket I, and the horizontal feeding rodless cylinder I is used for driving the movable seat II to do horizontal linear motion along the direction approaching to or far from the turntable I; the first-stage lifting sliding table cylinder I and the second-stage lifting sliding table cylinder I which is driven by the first-stage lifting sliding table cylinder I to do vertical linear motion are arranged on the second moving seat; the second-stage lifting sliding table cylinder I is used for driving the moving seat III to do vertical linear motion; and a horizontal feeding sliding table cylinder I is arranged on the moving seat III and used for driving the medicine box feeding tool to do horizontal linear motion along the direction approaching to or far from the turntable I.

And a first press-mounting support column corresponding to the medicine box press head is arranged below the turntable, and coaxial through holes are formed in the first turntable and the first product storage table.

The filter screen feeding and detecting mechanism comprises a four-axis robot IV which is electrically connected with the controller, and a pneumatic clamping jaw IV is arranged on the four-axis robot IV;

a driving mechanism six for driving the moving seat four to do vertical linear motion is arranged on the four sides of the four-axis robot, a driving mechanism seven for driving the detection platform to rotate is arranged on the moving seat four, and a clamping mechanism II for fixing the filter screen is arranged on the detection platform;

a driving mechanism eight for driving the first displacement sensor to do vertical linear motion is arranged on the six sides of the driving mechanism;

the filter screen feeding and detecting mechanism further comprises an electronic scale I.

The filter screen press mechanism comprises a second servo press machine which is arranged on the second bracket and is electrically connected with the controller, and the second servo press machine is used for driving a filter screen press head above the first turntable to do vertical linear motion; a pneumatic clamping jaw V is arranged in the filter screen pressure head;

the filter screen press-mounting mechanism further comprises a filter screen conveying mechanism for conveying the filter screen on the filter screen feeding tool to be clamped by the pneumatic clamping jaw five.

The filter screen conveying mechanism comprises a horizontal feeding rodless cylinder II arranged on one side of the bracket II, and the horizontal feeding rodless cylinder II is used for driving the movable seat V to do horizontal linear motion along the direction approaching to or far from the turntable I; a first-stage lifting sliding table cylinder II is arranged on the moving seat II, and a second-stage lifting sliding table cylinder II which is driven by the first-stage lifting sliding table cylinder II to do vertical linear motion is arranged on the moving seat II; the second-stage lifting sliding table cylinder II is used for driving the moving seat II to do vertical linear motion; and a horizontal feeding sliding table cylinder II is arranged on the moving seat II and is used for driving the filter screen feeding tool to do horizontal linear motion along the direction approaching or far away from the turntable I.

And a second press-mounting support column corresponding to the filter screen pressure head is arranged below the turntable.

The height measuring mechanism is electrically connected with the controller and arranged above the first turntable and is used for detecting whether the heights of the filter screen and the medicine box of the product on the first product storage table are qualified or not;

the height measuring mechanism comprises a sliding table cylinder III for driving a movable seat seven to do vertical linear motion, and a displacement sensor II and a displacement sensor III which are electrically connected with the controller are arranged on the movable seat seven; a lower shell pressing cap is fixedly connected to the lower end of the movable seat seven;

and a medicine box compression bar corresponding to the two phase displacement sensor and a filter screen compression bar corresponding to the three phase displacement sensor are inserted on the movable seat seven positioned below the two phase displacement sensor and the three phase displacement sensor in a vertically sliding manner.

The filter screen compression bars are multiple, and the upper ends of the multiple filter screen compression bars are fixedly connected with the filter screen compression bar connecting plate.

The height measuring mechanism further comprises a rodless cylinder used for driving the sliding table cylinder III to do transverse linear motion, so that the movable seat seven can be removed, and the interference of the movable seat seven on blanking is avoided.

The weighing mechanism is arranged below the second turntable; the weighing mechanism comprises a driving system for driving the second electronic scale to do vertical linear motion, the second electronic scale is fixedly connected with a push rod, and the second turntable and the second product storage table are provided with coaxial through holes.

The driving system comprises a jacking air cylinder fixedly connected with the rack, the jacking air cylinder is used for driving the jacking plate to do vertical linear motion, the jacking plate is connected with an electronic scale fixing plate through a vibration isolation pad, and the electronic scale II is connected with the electronic scale fixing plate. Guide rods are arranged at four corners of the lower end of the jacking plate, and are inserted into guide sleeves arranged on the bench. The lower end of the guide rod is fixedly connected with a buffer mounting plate, and a hydraulic buffer is mounted on the buffer mounting plate.

The upper end cover feeding and detecting mechanism comprises a four-axis robot five, and a vacuum chuck three is arranged on the four-axis robot five;

the upper end cover feeding and detecting mechanism further comprises a pneumatic clamping jaw six arranged on the five sides of the four-axis robot and an analog magnetic switch II for detecting the opening degree of the pneumatic clamping jaw six; and a second color sensor electrically connected with the controller is arranged below the pneumatic clamping jaw.

The upper end cover press-mounting mechanism comprises a servo press III which is arranged on a bracket III and is electrically connected with the controller, and the servo press III is used for driving an upper end cover press head above the turntable II to do vertical linear motion; a vacuum chuck IV is arranged in the upper end cover pressure head;

the upper end cover press-fitting mechanism further comprises an upper end cover conveying mechanism for conveying the upper end cover on the upper end cover feeding tool to be sucked by the upper end cover pressing head.

The upper end cover conveying mechanism comprises a horizontal feeding rodless cylinder III arranged on one side of a bracket III, and the horizontal feeding rodless cylinder III is used for driving the movable seat eight to do horizontal linear motion along the direction approaching to or far from the turntable II; a first-stage lifting sliding table cylinder III is arranged on the moving seat eight, and a second-stage lifting sliding table cylinder III which is driven by the first-stage lifting sliding table cylinder III to do vertical linear motion is arranged on the moving seat eight; the second-stage lifting sliding table cylinder III is used for driving the moving seat III to do vertical linear motion; and the movable seat nine is provided with a horizontal feeding sliding table cylinder three which is used for driving the upper end cover feeding tool to do horizontal linear motion along the direction approaching to or far from the turntable two.

And a press-mounting support column III corresponding to the upper end cover pressure head is arranged below the second turntable.

The beneficial effects of the invention are as follows: the utility model provides a can be driven pivoted carousel one and carousel two to be equipped with down casing and medicine box feed mechanism, lower casing detection mechanism, lower casing marking mechanism, medicine box pressure equipment mechanism, filter screen material loading and detection mechanism, filter screen pressure equipment mechanism, height finding mechanism in carousel week, thereby detect, mark and material loading to lower casing automatically, and install medicine box, filter screen on lower casing automatically. Meanwhile, the lower shell provided with the medicine box and the filter screen on the first turntable can be transferred to the second turntable through the transfer mechanism. The weighing mechanism, the upper end cover feeding and detecting mechanism and the upper end cover press-fitting mechanism are arranged around the second turntable, so that the upper end cover can be automatically arranged on the lower shell, and finally, the discharging is automatically carried out through the transferring mechanism. The automatic production of the pyrotechnic gas generator is realized, the artificial interference factors of manual production are eliminated, the problems of low efficiency, high labor intensity, poor safety and low degree of automation of the conventional manual production are solved, and the injury of equipment to people is avoided.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic view of the structure of the lower housing and the cartridge loading mechanism;

FIG. 3 is a schematic view of the lower housing detection mechanism;

FIG. 4 is a schematic diagram of the lower housing marking mechanism;

FIG. 5 is a schematic diagram of a cartridge press-fitting mechanism;

FIG. 6 is a schematic diagram of a filter screen loading and detection mechanism;

FIG. 7 is a schematic diagram of a press-fitting mechanism of a filter screen;

FIG. 8 is a schematic diagram of the height finding mechanism;

FIG. 9 is an enlarged view at A in FIG. 8;

FIG. 10 is a schematic view of a weighing mechanism;

FIG. 11 is a schematic diagram of the structure of the upper end cap feeding and detecting mechanism;

FIG. 12 is a schematic view of the structure of the upper end cap press-fitting mechanism;

fig. 13 is a schematic view of a transfer mechanism.

Marked in the figure as: bench 101, first turntable 102, first four-axis robot 103, transfer line 104, second turntable 105, lower housing 106, cartridge 107, filter screen 108, upper end cap 109, first pneumatic clamping jaw 110, lower housing and cartridge loading mechanism 200, second four-axis robot 201, second pneumatic clamping jaw 202, first analog magnetic switch 203, first vacuum chuck 204, proximity sensor 205, lower housing detection mechanism 300, driving mechanism three 301, transfer tool 302, first slide cylinder 303, first color sensor 304, lower housing marking mechanism 400, third four-axis robot 401, third pneumatic clamping jaw 402, light source 403, industrial camera 404, driving mechanism four 405, first movable seat 406, driving mechanism five 407, first clamping mechanism 408, laser marking machine 409, suction cap 410, second slide cylinder 411, cartridge press mechanism 500, first bracket 501, servo press 502, cartridge press 503, press support post 504, third press horizontal feeding rodless cylinder one 505, moving seat two 506, first stage lifting sliding table cylinder one 507, second stage lifting sliding table cylinder one 508, moving seat three 509, horizontal feeding sliding table cylinder one 510, medicine box feeding tool 511, filter screen feeding and detecting mechanism 600, four-axis robot four 601, pneumatic clamping jaw four 602, electronic scale one 603, driving mechanism eight 604, displacement sensor one 605, clamping mechanism two 606, driving mechanism six 607, driving mechanism seven 608, filter screen press fitting mechanism 700, bracket two 701, servo press machine two 702, filter screen press head 703, pneumatic clamping jaw five 704, press fitting support column two 705, horizontal feeding rodless cylinder two 706, moving seat five 509, first stage lifting sliding table cylinder two 708, second stage lifting sliding table cylinder two 709, moving seat six 710, horizontal feeding sliding table cylinder two 711, filter screen feeding tool 707, height measuring mechanism 800, rodless cylinder 801, lower shell press cap 802, sliding table cylinder three 803, and filter screen feeding tool, A moving seat seven 804, a displacement sensor two 805, a displacement sensor three 806, a medicine box pressing rod 807, a filter screen pressing rod 808, a filter screen pressing rod connecting plate 809, a weighing mechanism 900, a jacking cylinder 901, a guide sleeve 902, a jacking plate 903, a vibration isolation pad 904, an electronic scale fixing plate 905, an electronic scale two 906, a push rod 907, a guide rod 908, a buffer mounting plate 909, a hydraulic buffer 910, an upper end cover feeding and detecting mechanism 1000, a four-axis robot five 1001, a servo press three 1002, a pneumatic clamping jaw six 1003, an analog magnetic switch two 1004, a color sensor two 1005, an upper end cover pressing mechanism 1100, a support three 1101, a servo press three 1102, a press mounting support three 1103, a horizontal feeding rodless cylinder three 1104, a moving seat eight 1105, a first-stage lifting sliding table cylinder three 1106, a second-stage lifting sliding table three 1107, a moving seat nine 1108, a horizontal feeding sliding table cylinder three 1109, an upper end cover feeding worker 1110 and an upper end cover pressing head 1111.

Detailed Description

Example 1

As shown in fig. 1-7 and 11-13, the automatic press-fitting production equipment for the pyrotechnic gas generator comprises a controller, and a first driving mechanism and a second driving mechanism which are electrically connected with the controller. The first driving mechanism and the second driving mechanism are arranged on the rack 101, one side of the rack 101 is provided with a lower shell material rack, a medicine box material rack, a filter screen material rack and an upper end cover material rack, and the material racks can be automatically fed by an AGV.

The first driving mechanism and the second driving mechanism respectively drive the first turntable 102 and the second turntable 105 which are arranged at intervals to rotate in a stepping way, and the first driving mechanism and the second driving mechanism can be used for selecting a stepping motor as a power source. By rotating the first turntable 102 and the second turntable 105 in steps, each processing mechanism is left with processing time. The first turntable 102 and the second turntable 105 are respectively and evenly provided with a first product storage table and a second product storage table in a ring shape, the first product storage table is used for storing the lower shell 106, and the medicine box 107 and the filter screen 108 are arranged in the lower shell 106 on the first product storage table. The lower housing 106 with the cartridge 107 and the screen 108 mounted thereon is transferred to the second product storage stage, and then the upper cap 109 is mounted on the lower housing 106.

A transfer mechanism is arranged between the first turntable 102 and the second turntable 105 and used for transferring a product from the product storage table to the second product storage table and discharging the product on the second product storage table, namely, the lower shell 106 provided with the medicine box 107 and the filter screen 108 is transferred to the second product storage table through the transfer mechanism, and after the upper end cover 109 and the lower shell 106 are installed, the product on the second product storage table is discharged through the transfer mechanism.

Specifically, the transfer mechanism includes a first four-axis robot 103 electrically connected to the controller, and a first pneumatic clamping jaw 110 is mounted on the first four-axis robot 103. The first four-axis robot 103 drives the first pneumatic clamping jaw 110 to clamp the product on the first product storage table, and then the product is placed on the second product storage table. After the products on the second turntable 105 complete the whole processing procedure, the first four-axis robot 103 drives the first pneumatic clamping jaw 110 to clamp the products on the second product storage table and place the products on the conveying line 104.

The medicine box feeding device further comprises a lower shell and medicine box feeding mechanism 200, a lower shell detection mechanism 300, a lower shell marking mechanism 400, a medicine box press-fitting mechanism 500, a filter screen feeding and detection mechanism 600, a filter screen press-fitting mechanism 700, an upper end cover feeding and detection mechanism 1000 and an upper end cover press-fitting mechanism 1100 which are electrically connected with the controller and are arranged on the rack 101.

The lower housing and cartridge loading mechanism 200 is configured to convey the lower housing 106 to the lower housing detection mechanism 300, and the lower housing detection mechanism 300 is configured to detect whether the lower housing 106 is acceptable. For the qualified lower shell 106, the lower shell marking mechanism 400 is used for marking the qualified lower shell 106 and conveying the marked lower shell 106 to the first product storage table of the first turntable 102; for products that are detected as being defective, the lower housing marking mechanism 400 removes them. The lower housing and cartridge loading mechanism 200 is also used to transport the cartridge 107 to the cartridge press 500, and the cartridge press 500 is used to mount the cartridge 107 into the lower housing 106 on the first product storage station. The filter screen feeding and detecting mechanism 600 is used for detecting the filter screen 108 and conveying the filter screen 108 which is qualified in detection to the filter screen pressing mechanism 700, and the filter screen pressing mechanism 700 is used for installing the filter screen 108 into the lower shell 106 on the first product storage table.

After the transferring mechanism transfers the lower shell 106 with the medicine box 107 and the filter screen 108 to the second product storage platform 105, the upper end cover 109 is detected by the upper end cover feeding and detecting mechanism 1100, and the upper end cover 109 qualified in detection is conveyed to the upper end cover pressing mechanism 1100, and the upper end cover pressing mechanism 1100 is used for installing the upper end cover 109 to the lower shell 106 on the second product storage platform. After the installation is completed, the discharging is realized by the transfer mechanism.

Specifically, the lower shell and medicine box feeding mechanism 200 comprises a four-axis robot two 201 electrically connected with the controller, and a pneumatic clamping jaw two 202 and a vacuum chuck one 204 are installed on the four-axis robot two 201. The first analog magnetic switch 203 for detecting the opening degree of the second pneumatic clamping jaw 202 and the proximity sensor 205 for detecting whether the second pneumatic clamping jaw 202 clamps the lower housing 106 are mounted on the second pneumatic clamping jaw 202.

In use, the lower housing 106 is supported from the inside of the lower housing 106 by the second pneumatic clamping jaw 202, thereby enabling access to the lower housing 106. By detecting the degree of opening of the second pneumatic clamping jaw 202, a measurement of the diameter of the inner wall of the lower housing 106 is achieved.

The lower housing detection mechanism 300 includes a third driving mechanism 301 electrically connected to the controller, where the third driving mechanism may use a sliding table cylinder as a power system of the power source. The third driving mechanism 301 is used for driving the transfer tool 302 to do transverse linear motion. A first color sensor 304 electrically connected to the controller is further disposed above the third driving mechanism 301. After the pneumatic clamping jaw two 202 places the lower shell 106 on the transfer tool 302, the driving mechanism three 301 drives the transfer tool 302 to move, so that the lower shell 106 passes under the first color sensor 304. The first color sensor 304 emits light to the lower case 106, and detects whether or not a white buffer surface is present in the lower case 106.

The transfer tool 302 is provided with a plurality of positions for placing the lower shell 106, so that lower shells 106 with different types can be placed, the first color sensor 304 can be connected with the first sliding table cylinder 303, and the first color sensor 304 can be switched between different positions, so that the lower shells 106 with different positions on the transfer tool 302 are detected.

Specifically, the lower housing marking mechanism 400 includes a four-axis robot three 401 electrically connected to the controller, and a pneumatic clamping jaw three 402 is mounted on the four-axis robot three 401. The lower housing marking mechanism 400 also includes a visual positioning mechanism for positioning the lower housing 106 gripped by the pneumatic clamping jaw three 402. The visual positioning mechanism includes a light source 403 and an industrial camera 404.

After the lower housing detection mechanism 300 detects the qualified lower housing 106, the third pneumatic clamping jaw 402 sends the lower housing 106 to the industrial camera 404 for photographing, and then the orientation of the lower housing 106 is adjusted. The reject lower housing 106 is gripped and removed by pneumatic jaw three 402.

The lower casing marking mechanism 400 further comprises a fourth driving mechanism 405 disposed at one side of the visual positioning mechanism and electrically connected to the controller, wherein the fourth driving mechanism 405 can use a pen-shaped cylinder as a power system of the power source. The fourth driving mechanism 405 is used for driving the first moving seat 406 to move linearly in a transverse direction. A driving mechanism five 407 for driving the material receiving platform to rotate is arranged on the first movable seat 406, and the driving mechanism five 407 can adopt a rotary cylinder as a power system of a power source. The receiving platform has mounted thereon a first clamping mechanism 408 for securing the lower housing 106. The first clamping mechanism 408 may be a pneumatic or electric clamping jaw.

The qualified lower shell 106 is clamped by the third pneumatic clamping jaw 402 and sent to the material receiving platform, the first clamping mechanism 408 clamps and fixes the lower shell 106, and then the driving mechanism five 407 drives the material receiving platform to rotate 180 degrees, so that the lower end of the lower shell 106 faces upwards.

The lower housing marking mechanism 400 also includes a laser marking machine 409 disposed above the fourth drive mechanism 405. The lower end of the laser lithography machine 409 is provided with an air extraction cover 410, and the air extraction cover 410 is connected with an air extractor. A light shield is installed in the air suction cover 410 in a vertically sliding manner, and a sliding table cylinder II 411 for driving the light shield to move up and down is installed on the side surface of the air suction cover 410.

When the driving mechanism IV 405 drives the lower shell 106 on the receiving platform to move below the laser engraving machine 409, the sliding table cylinder II 411 drives the light shield to cover the lower shell 106, and then the laser engraving machine 409 performs engraving on the lower end of the lower shell 106. And the air extractor pumps out smoke dust generated by the code. After the code is carved, the light shield is driven to move upwards to return, the driving mechanism IV 405 drives the lower shell 106 on the material receiving platform to return, the driving mechanism V drives the lower shell 106 to rotate 180 degrees to enable one end of an opening to face upwards, then the clamping mechanism I408 releases the lower shell 106, and the pneumatic clamping jaw III 402 transfers the lower shell 106 to the product storage platform I of the rotary table I102.

The medicine box press-fitting mechanism 500 comprises a first servo press 502 which is arranged on a first bracket 501 and is electrically connected with the controller, wherein the first servo press 502 is used for driving a medicine box pressing head 503 positioned above the first turntable 102 to do vertical linear motion, and a second vacuum chuck for sucking the medicine box 107 is arranged in the medicine box pressing head 503. The cartridge press-fit mechanism 500 further includes a cartridge transport mechanism for transporting the cartridge 107 on the cartridge feed tool 511 to be sucked up by the cartridge press head 503.

The four-axis robot II 201 drives the vacuum chuck I204 to suck the medicine box 107 on the material rack, and then the medicine box is sent to the medicine box conveying mechanism, the medicine box conveying mechanism sends the medicine box 107 to be sucked by the vacuum chuck II, and then the servo press I502 drives the medicine box pressing head 503 to move downwards, so that the medicine box 107 is pressed and assembled in the lower shell 106 on the lower product storage platform I.

Specifically, the medicine box conveying mechanism comprises a horizontal feeding rodless cylinder I505 arranged on one side of the first bracket 501, and the horizontal feeding rodless cylinder I505 is used for driving the second movable seat 506 to do horizontal linear motion along the direction approaching to or separating from the first turntable 102. The first stage lifting sliding table cylinder I507 and the second stage lifting sliding table cylinder I508 which is driven by the first stage lifting sliding table cylinder I507 to do vertical linear motion are installed on the second moving seat 506. The first cylinder 508 of the second lifting sliding table is used for driving the third movable seat 509 to do vertical linear motion. The third movable seat 509 is provided with a first horizontal feeding sliding table cylinder 510, and the first horizontal feeding sliding table cylinder 510 is used for driving the medicine box feeding tool 511 to perform horizontal linear motion along the direction approaching or separating from the first turntable 102.

The four-axis robot two 201 drives the vacuum chuck one 204 to suck the medicine box 107 on the material rack, and then sends the medicine box to the medicine box feeding tool 511. First, the first stage lifting sliding table cylinder 507 is lifted firstly, and then the horizontal feeding rodless cylinder 505 and the horizontal feeding sliding table cylinder 510 act together to convey the medicine box 107 to the position right below the medicine box pressing head 503. The first cylinder 508 of the second lifting sliding table is lifted up again to convey the medicine box 107 into the medicine box pressing head 503, and the second vacuum chuck sucks the medicine box 107, so that the transfer of the medicine box 107 is realized.

A first press-fit support column 504 corresponding to the medicine box pressing head 503 is also arranged below the first turntable 102, and the first turntable 102 and the first product storage table are both provided with coaxial through holes. After the lower housing 106 is placed on the first product storage stage, the lower end of the lower housing 106 passes through the through hole so as to protrude slightly beyond the lower end of the first turntable 102. When the cartridge 107 is pressed, the first press-fit support column 504 contacts the lower end of the lower case 106, thereby supporting the lower case 106.

Specifically, the filter screen feeding and detecting mechanism 600 includes a four-axis robot four 601 electrically connected to the controller, and a pneumatic clamping jaw four 602 is installed on the four-axis robot four 601. And a driving mechanism six 607 for driving the moving seat four to do vertical linear motion is arranged on the side of the four-axis robot four 601, and the driving mechanism six 607 can select a guide rod cylinder as a power system of a power source. And a driving mechanism seven 608 for driving the detection platform to rotate is arranged on the moving seat four, and the driving mechanism seven 608 can adopt a power system with a rotary cylinder as a power source. The second clamping mechanism 606 for fixing the filter screen 108 is installed on the detection platform. The second clamping mechanism 606 may be a pneumatic or electric clamping jaw.

And a driving mechanism eight 604 for driving the first displacement sensor 605 to do vertical linear motion is arranged on the side of the driving mechanism six 607. The driving mechanism eight 604 can select a cylinder as a power system of a power source.

The filter screen feeding and detecting mechanism 600 further comprises an electronic scale one 603.

After the four-axis robot IV 601 drives the pneumatic clamping jaw IV 602 to clamp the filter screen 108, the filter screen 108 is firstly placed on the electronic scale I603 for weighing, then is placed on the detection platform, and is fixed by the clamping mechanism II 606. The first displacement sensor 605 changes the height under the action of the eighth driving mechanism 604, so as to detect the outer diameter of the upper part and the outer diameter of the lower part of the filter screen 108, and judge the positive and negative directions of the direction of the filter screen according to the difference value of the upper outer diameter and the lower outer diameter. If the direction of the filter screen 108 is correct, the four-axis robot IV 601 drives the pneumatic clamping jaw IV 602 to convey the filter screen 108 to the filter screen press mechanism 700; if the direction of the filter screen 108 is wrong, the six 607 driving mechanism drives the detection platform to move downwards, the seventh 608 driving mechanism drives the detection platform to rotate 180 degrees to change the up-down direction of the filter screen 108, the sixth 607 driving mechanism drives the detection platform to move upwards, and the fourth 601 driving four-axis robot drives the fourth 602 driving jaw to convey the filter screen 108 to the filter screen press mechanism 700.

Specifically, the filter press mechanism 700 includes a second servo press 702 mounted on the second bracket 701 and electrically connected to the controller, where the second servo press 702 is configured to drive the filter press 703 located above the first turntable 102 to perform a vertical linear motion. A five-jaw pneumatic grip 704 is disposed within the screen ram 703. The screen press mechanism 700 further includes a screen conveying mechanism for conveying the screen 108 on the screen feeding tool 712 to be held by the pneumatic holding jaw five 704.

The four-axis robot four 601 drives the pneumatic clamping jaw four 602 to convey the filter screen 108 to the filter screen conveying mechanism, and the filter screen conveying mechanism conveys the filter screen to be clamped by the pneumatic clamping jaw five 704. When the first turntable 102 drives the lower housing 106 with the cartridge 107 already mounted to move below the screen ram 703, the second servo press 702 drives the screen ram 703 downward, thereby press fitting the screen 108 into the lower housing 106.

Specifically, the filter screen conveying mechanism includes a second horizontal feeding rodless cylinder 706 disposed on one side of the second bracket 701, and the second horizontal feeding rodless cylinder 706 is used to drive the fifth moving seat 707 to perform horizontal linear motion along a direction approaching or separating from the first turntable 102. And a first-stage lifting sliding table cylinder II 708 and a second-stage lifting sliding table cylinder II 709 which is driven by the first-stage lifting sliding table cylinder II 708 to do vertical linear motion are installed on the moving seat V707. The second stage lifting sliding table cylinder II 709 is used for driving the movable seat VI 710 to do vertical linear motion. And a second horizontal feeding sliding table cylinder 711 is arranged on the sixth moving seat 710, and the second horizontal feeding sliding table cylinder 711 is used for driving the filter screen feeding tool 712 to do horizontal linear motion along the direction approaching or separating from the first turntable 102.

After the four-axis robot IV 601 drives the pneumatic clamping jaw IV 602 to convey the filter screen 108 to the filter screen feeding tool 712, firstly the first-stage lifting sliding table cylinder II 708 is lifted, then the horizontal feeding rodless cylinder II 706 and the horizontal feeding sliding table cylinder II 711 act together to convey the filter screen 108 to the position right below the filter screen pressure head 703. The second stage lifting sliding table cylinder II 709 is lifted again to convey the filter screen 108 into the filter screen pressure head 703, and the five pneumatic clamping jaws 704 clamp the filter screen 108, so that the transfer of the filter screen 108 is realized.

A second press-fit support column 705 corresponding to the screen ram 703 is also provided below the first turntable 102. When the filter screen 108 is press-fitted, the second press-fitting support column 705 contacts the lower end of the lower housing 106, thereby supporting the lower housing 106.

After the medicine box 107 and the filter screen 108 are mounted on the lower case 106, they are transferred to the second product storage stage 105 of the second turntable 105 by the transfer mechanism.

Specifically, the upper end cover feeding and detecting mechanism 1000 comprises a four-axis robot five 1001, and a vacuum chuck three 1002 is installed on the four-axis robot five 1001. The upper end cover feeding and detecting mechanism 1000 further comprises a pneumatic clamping jaw six 1003 arranged on the side of the four-axis robot five 1001 and an analog magnetic switch two 1004 for detecting the opening degree of the pneumatic clamping jaw six 1003. A second color sensor 1005 is also arranged below the sixth pneumatic clamping jaw 1003 and electrically connected with the controller.

The four-axis robot five 1001 drives the vacuum chuck three 1002 to suck the upper end of the upper end cover 109, and then the upper end cover 109 is clamped and fixed by the pneumatic clamping jaw six 1003. The diameter of the upper end cover is judged by detecting the opening degree of the pneumatic clamping jaw six 1003. The color sensor two 1005 mounted below detects whether or not a white buffer surface is present on the inner side of the upper cover 109. When the diameter and the buffer surface are detected to be qualified, the four-axis robot five 1001 drives the vacuum chuck three 1002 to move the upper end cover to the upper end cover press-fitting mechanism 1100.

Specifically, the upper end cover press-fitting mechanism 1100 includes a third servo press 1102 mounted on the third bracket 1101 and electrically connected to the controller, the third servo press 1102 is configured to drive an upper end cover press 1111 located above the second turntable 105 to perform a vertical linear motion, and a fourth vacuum chuck is mounted in the upper end cover press 1111. The upper end cap press mechanism 1100 further includes an upper end cap conveying mechanism for conveying the upper end cap 109 on the upper end cap feeding tool 1110 to be sucked by the upper end cap pressing head 1111.

The four-axis robot five 1001 drives the vacuum chuck three 1002 to move the upper end cap to the upper end cap transfer mechanism, which transfers the upper end cap 109 to be sucked by the vacuum chuck four in the upper end cap ram 1111. The third servo press 1102 then drives the upper end cap ram 1111 downwardly to press the upper end cap 109 against the lower housing 106 on the second product storage station below.

Specifically, the upper end cover conveying mechanism comprises a horizontal feeding rodless cylinder III 1104 arranged on one side of a bracket III 1101, and the horizontal feeding rodless cylinder III 1104 is used for driving the movable seat eight 1105 to do horizontal linear motion along the direction approaching to or far from the turntable II 105. And a first-stage lifting sliding table cylinder III 1106 and a second-stage lifting sliding table cylinder III 1107 which is driven by the first-stage lifting sliding table cylinder III 1106 to do vertical linear motion are arranged on the movable seat eight 1105. The third 1107 of the second-stage lifting sliding table is used for driving the nine 1108 of the movable seat to do vertical linear motion. The movable seat nine 1108 is provided with a horizontal feeding sliding table cylinder III 1109, and the horizontal feeding sliding table cylinder III 1109 is used for driving the upper end cover feeding tool 1110 to do horizontal linear motion along the direction approaching to or far from the turntable two 105.

After the four-axis robot five 1001 drives the vacuum chuck three 1002 to move the upper end cover to the upper end cover feeding tool 1110, the first-stage lifting sliding table cylinder three 1106 is firstly lifted, and then the horizontal feeding rodless cylinder three 1104 and the horizontal feeding sliding table cylinder three 1109 act together to send the upper end cover 109 to the position right below the upper end cover pressure head 1111. The third 1107 of the second-stage lifting sliding table cylinder is lifted again, and the upper end cover 109 is sent to be sucked by the fourth vacuum chuck in the upper end cover pressure head 1111, so that the upper end cover 109 is transferred.

And a third press-fit support column 1103 corresponding to the upper end cover pressure head 1111 is also arranged below the second turntable 105. The second turntable 105 and the second product storage table are both provided with coaxial through holes. After the lower housing 106 is placed on the second product storage platform, the lower end of the lower housing 106 protrudes from the lower end of the second turntable 105 through the through hole. When the upper end cover 109 is pressed, the third pressing support post 1103 contacts the lower end of the lower casing 106, thereby providing a supporting function.

Example two

Further, as shown in fig. 8-9, the height measuring device 800 is electrically connected to the controller and disposed above the first turntable 102, and the height measuring device 800 is used for detecting whether the height of the filter screen 108 and the medicine box 107 of the product on the first product storage table is acceptable.

Specifically, the height measurement mechanism 800 includes a third sliding table cylinder 803 for driving the moving seat seven 804 to perform a vertical linear motion, and a second displacement sensor 805 and a third displacement sensor 806 electrically connected to the controller are installed on the moving seat seven 804. The lower end of the movable seat seven 804 is fixedly connected with a lower shell press cap 802.

A medicine box pressing rod 807 corresponding to the second displacement sensor 805 and a filter screen pressing rod 808 corresponding to the third displacement sensor 806 are vertically slidably inserted on the seventh moving seat 804 below the second displacement sensor 805 and the third displacement sensor 806. The number of the filter screen compression bars 808 is multiple, and the upper ends of the filter screen compression bars 808 are fixedly connected with the filter screen compression bar connecting plates 809.

When the product needs to be measured, the sliding table cylinder III 803 drives the moving seat seven 804 to move downwards, the lower shell body pressing cap 802 presses the lower shell body 106 on the first product storage table, the medicine box pressing rod 807 pushes up the medicine box 107 in the lower shell body 106 and then moves upwards, and the displacement sensor II 805 detects the height of the medicine box pressing rod 807 moving upwards, so that the height of the medicine box 107 is calculated. The screen plunger 808 moves upward after pushing up on the screen 108, and the displacement sensor three 806 detects the upward height of the screen plunger web 809, thereby calculating the height of the screen 108.

The qualified products are transferred to the second rotary table 105 by the transfer mechanism, and the unqualified products are removed by the transfer mechanism.

The height measurement mechanism 800 further comprises a rodless cylinder 801 for driving the sliding table cylinder III 803 to do transverse linear motion, so that the moving seat seven 804 can be removed, and the interference of the moving seat seven 804 on the blanking of the transfer mechanism is avoided.

Example III

Further, as shown in fig. 10, the weighing device further comprises a weighing mechanism 900 disposed below the second turntable 105, the weighing mechanism 900 comprises a driving system for driving the second electronic scale 906 to perform vertical linear motion, the second electronic scale 906 is fixedly connected with a top rod 907, and the second turntable 105 and the second product storage table are provided with coaxial through holes.

When the product is required to be weighed, the driving system drives the second electronic scale 906 to ascend, so that the ejector rod 907 is inserted into the through hole upwards, and the lower shell 106 is jacked up to realize weighing.

Specifically, the driving system includes a jacking cylinder 901 fixedly connected to the gantry 101, and the jacking cylinder 901 is used for driving the jacking plate 903 to perform vertical linear motion. The jacking plate 903 is connected with an electronic scale fixing plate 905 through a vibration isolator 904, and an electronic scale II 906 is connected with the electronic scale fixing plate 905. The vibration isolator 904 can isolate external vibrations, thereby avoiding vibrations from being transmitted to the second electronic scale 906 to affect weighing accuracy.

The four corners of the lower end of the jacking plate 903 are provided with guide rods 908, and the guide rods 908 are inserted into guide sleeves 902 arranged on the rack 101. The lower end of the guide rod 908 is fixedly connected with a buffer mounting plate 909, and a hydraulic buffer 910 is mounted on the buffer mounting plate 909. The hydraulic buffer 910 can slow down and buffer the end of the whole lifting process, so as to reduce the vibration of the electronic scale two 906 in the lifting process.

The foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An automatic press-fitting production device of a pyrotechnic gas generator comprises a controller, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism and the second driving mechanism are electrically connected with the controller and respectively drive a first turntable (102) and a second turntable (105) which are arranged at intervals to rotate in a stepping manner; the first turntable (102) and the second turntable (105) are respectively and uniformly provided with a first product storage table and a second product storage table in a ring shape; a transfer mechanism is arranged between the first turntable (102) and the second turntable (105) and is used for transferring products from the product storage table to the second product storage table and discharging the products on the second product storage table;

the method is characterized in that: the device also comprises a lower shell and medicine box feeding mechanism (200), a lower shell detection mechanism (300), a lower shell marking mechanism (400), a medicine box press-fitting mechanism (500), a filter screen feeding and detection mechanism (600), a filter screen press-fitting mechanism (700), an upper end cover feeding and detection mechanism (1000) and an upper end cover press-fitting mechanism (1100) which are electrically connected with the controller;

the lower shell and medicine box feeding mechanism (200) is used for conveying the lower shell (106) to the lower shell detection mechanism (300) or conveying the medicine box (107) to the medicine box press-fitting mechanism (500);

the lower shell detection mechanism (300) is used for detecting whether the lower shell (106) is qualified or not;

The lower shell marking mechanism (400) is used for marking the lower shell (106) which is qualified in detection and conveying the marked lower shell (106) to a first product storage table of the first turntable (102);

the medicine box press-fitting mechanism (500) is used for installing the medicine box (107) into a lower shell (106) on the first product storage table;

the filter screen feeding and detecting mechanism (600) is used for detecting the filter screen (108) and conveying the filter screen (108) which is qualified in detection to the filter screen press-fitting mechanism (700);

the filter screen pressing mechanism (700) is used for installing the filter screen (108) into the lower shell (106) on the first product storage table;

the upper end cover feeding and detecting mechanism (1100) is used for detecting the upper end cover (109) and conveying the upper end cover (109) which is qualified in detection to the upper end cover pressing mechanism (1100);

the upper end cover press-fitting mechanism (1100) is used for installing the upper end cover (109) on the lower shell (106) on the second product storage table.

2. The automated press-fit production apparatus of a pyrotechnic gas generator of claim 1, wherein: the lower shell and medicine box feeding mechanism (200) comprises a four-axis robot II (201) electrically connected with the controller, and a pneumatic clamping jaw II (202) and a vacuum chuck I (204) are arranged on the four-axis robot II (201); the pneumatic clamping jaw II (202) is provided with an analog magnetic switch I (203) for detecting the opening degree of the pneumatic clamping jaw II (202) and a proximity sensor (205) for detecting whether the pneumatic clamping jaw II (202) clamps the lower shell (106);

The lower shell detection mechanism (300) comprises a driving mechanism III (301) electrically connected with the controller, and the driving mechanism III (301) is used for driving the transfer tool (302) to do transverse linear motion; and a first color sensor (304) electrically connected with the controller is arranged above the third driving mechanism (301).

3. The automated press-fit production apparatus of a pyrotechnic gas generator of claim 1, wherein: the lower shell marking mechanism (400) comprises a four-axis robot III (401) electrically connected with the controller, and a pneumatic clamping jaw III (402) is arranged on the four-axis robot III (401);

the lower shell marking mechanism (400) further comprises a visual positioning mechanism for positioning the lower shell (106) clamped by the pneumatic clamping jaw III (402);

the lower shell marking mechanism (400) further comprises a driving mechanism IV (405) which is arranged on one side of the visual positioning mechanism and is electrically connected with the controller, and the driving mechanism IV (405) is used for driving the movable seat I (406) to do transverse linear motion; a fifth driving mechanism (407) for driving the material receiving platform to rotate is arranged on the first moving seat (406), and a first clamping mechanism (408) for fixing the lower shell (106) is arranged on the material receiving platform;

the lower shell marking mechanism (400) further comprises a laser marking machine (409) arranged above the driving mechanism IV (405).

4. The automated press-fit production apparatus of a pyrotechnic gas generator of claim 1, wherein: the medicine box press-fitting mechanism (500) comprises a first servo press (502) which is arranged on a first bracket (501) and is electrically connected with the controller, wherein the first servo press (502) is used for driving a medicine box press head (503) above the first turntable (102) to do vertical linear motion; a second vacuum chuck for sucking the medicine box (107) is arranged in the medicine box pressing head (503);

the medicine box press-fitting mechanism (500) further comprises a medicine box conveying mechanism for conveying the medicine boxes (107) on the medicine box feeding tool (511) to be sucked by the medicine box pressing head (503).

5. The automated press-fit production apparatus of a pyrotechnic gas generator of claim 1, wherein: the filter screen feeding and detecting mechanism (600) comprises a four-axis robot IV (601) electrically connected with the controller, and a pneumatic clamping jaw IV (602) is arranged on the four-axis robot IV (601);

a driving mechanism six (607) for driving the moving seat four to do vertical linear motion is arranged on the side of the four-axis robot four (601), a driving mechanism seven (608) for driving the detection platform to rotate is arranged on the moving seat four, and a clamping mechanism two (606) for fixing the filter screen (108) is arranged on the detection platform;

A driving mechanism eight (604) for driving the displacement sensor one (605) to do vertical linear motion is arranged on the side of the driving mechanism six (607);

the filter screen feeding and detecting mechanism (600) further comprises an electronic scale I (603).

6. The automated press-fit production apparatus of a pyrotechnic gas generator of claim 1, wherein: the filter screen press mechanism (700) comprises a second servo press (702) which is arranged on a second bracket (701) and is electrically connected with the controller, wherein the second servo press (702) is used for driving a filter screen press head (703) above the first turntable (102) to do vertical linear motion; a pneumatic clamping jaw five (704) is arranged in the filter screen pressure head (703);

the filter screen press mechanism (700) further comprises a filter screen conveying mechanism for conveying the filter screen (108) on the filter screen feeding tool (712) to be clamped by the pneumatic clamping jaw five (704).

7. The automated press-fit production apparatus of a pyrotechnic gas generator of claim 1, wherein: the height measuring mechanism (800) is electrically connected with the controller and arranged above the first turntable (102), and the height measuring mechanism (800) is used for detecting whether the heights of the filter screen (108) and the medicine box (107) of the first product on the product storage table are qualified or not;

the height measurement mechanism (800) comprises a sliding table cylinder III (803) for driving a movable seat seven (804) to do vertical linear motion, and a displacement sensor II (805) and a displacement sensor III (806) which are electrically connected with the controller are arranged on the movable seat seven (804); the lower end of the movable seat seven (804) is fixedly connected with a lower shell pressing cap (802);

A medicine box pressing rod (807) corresponding to the second displacement sensor (805) and a filter screen pressing rod (808) corresponding to the third displacement sensor (806) are vertically and slidably inserted on the movable seat seven (804) below the second displacement sensor (805) and the third displacement sensor (806).

8. The automated press-fit production apparatus of a pyrotechnic gas generator of claim 1, wherein: the weighing mechanism (900) is arranged below the second turntable (105); the weighing mechanism (900) comprises a driving system for driving the second electronic scale (906) to do vertical linear motion, an ejector rod (907) is fixedly connected to the second electronic scale (906), and the second turntable (105) and the second product storage table are provided with coaxial through holes.

9. The automated press-fit production apparatus of a pyrotechnic gas generator of claim 1, wherein: the upper end cover feeding and detecting mechanism (1000) comprises a four-axis robot five (1001), and a vacuum chuck three (1002) is arranged on the four-axis robot five (1001);

the upper end cover feeding and detecting mechanism (1000) further comprises a pneumatic clamping jaw six (1003) arranged on the side of the four-axis robot five (1001), and an analog magnetic switch two (1004) for detecting the opening degree of the pneumatic clamping jaw six (1003); and a second color sensor (1005) which is electrically connected with the controller is arranged below the pneumatic clamping jaw six (1003).

10. The automated press-fit production apparatus of a pyrotechnic gas generator of claim 1, wherein: the upper end cover press-fitting mechanism (1100) comprises a servo press III (1102) which is arranged on a bracket III (1101) and is electrically connected with the controller, and the servo press III (1102) is used for driving an upper end cover press head (1111) above the turntable II (105) to do vertical linear motion; a vacuum chuck IV is arranged in the upper end cover pressure head (1111);

the upper end cover press-fitting mechanism (1100) further comprises an upper end cover conveying mechanism for conveying the upper end cover (109) on the upper end cover feeding tool (1110) to be sucked by the upper end cover pressing head (1111).