Automatic riveting equipment for grenade firing body and firing pin

Abstract

The present invention relates to the field of packaging, and proposes an automatic riveting device for a firing pin body of a grenade. The present invention provides a V-shaped positioning hole on a positioning base of a positioning fixture so that the firing pin can be positioned upside down, and the firing pin plate is upside down on the firing pin. During riveting, no damage is caused to the riveting tooling, and at the same time, the requirements for the positioning fixture are low, thereby effectively simplifying the equipment, improving the riveting efficiency and the riveting quality. At the same time, the bottom surface of the firing pin plate in the present application needs to be painted, and a very thin paint layer is required, so a sponge is provided for coating, and before painting, the sponge is firstly dipped with paint, and when painting, only a light press is needed, the structure is simple, the painting efficiency is efficient, the painting quality is good, and its precision is greatly improved. At the same time, since the firing pin is loaded upside down, the bottom is conical at this time, so the firing pin loading groove is provided as a T-shaped groove, so that the firing pin is more stable during loading.

Description

Technical Field

[0001] The invention relates to the field of packaging, in particular to automatic riveting equipment for a grenade ignition body and firing pin body. Background Art

[0002] The firing pin body of a grenade consists of a firing pin and a firing pin plate. The top of the firing pin is conical, the middle is a blocking column with a larger diameter, and the bottom is a connecting column. Therefore, when the firing pin and the firing pin plate are riveted together, if the top of the firing pin is facing upward, it is easy to damage the riveting device, and the bottom of the firing pin needs to pass through a part of the firing pin plate, which places very high requirements on the positioning fixture and riveting tooling. Summary of the invention

[0003] The present invention proposes an automatic riveting device for a grenade ignition body and a firing pin body. By setting a V-shaped positioning hole on the positioning base of a positioning fixture, the firing pin can be positioned upside down, and the firing pin plate is turned upside down on the firing pin. The riveting tooling will not be damaged during riveting, and the positioning fixture has low requirements, which effectively simplifies the equipment and improves the riveting efficiency and riveting quality. At the same time, the bottom surface of the firing pin plate in the present application needs to be painted, and a very thin paint layer is required. Therefore, a sponge is provided for coating. Before painting, the sponge is first dipped in paint. When painting, only a light press is needed. The structure is simple, the painting is efficient, the painting quality is good, and its precision is greatly improved. At the same time, since the firing pin is loaded upside down, the bottom is conical at this time, so the firing pin loading groove is set as a T-shaped groove to ensure that the firing pin is more stable when loading.

[0004] The technical solution of the present invention is achieved in this way:

[0005] Automatic riveting equipment for grenade firing body and firing pin body,

[0006] The firing pin body includes a firing pin and a firing pin plate. The firing pin includes an integrally formed needle head, a connecting column and a rivet column. The diameter of the connecting column is larger than the maximum diameter of the needle head and the diameter of the rivet column. A rivet hole is provided on the firing pin plate. The firing pin is riveted to the rivet hole of the firing pin plate through the rivet column. The bottom end of the connecting column is snapped onto the firing pin plate. The bottom of the firing pin plate is painted.

[0007] The automatic riveting equipment for the firing pin body of the grenade ignition body comprises a frame and a firing pin plate feeding mechanism, a firing pin feeding mechanism, a positioning and moving mechanism, a riveting tool, a painting tool, a waste material recovery mechanism and a material receiving mechanism which are sequentially arranged on the frame according to the process;

[0008] The firing pin plate loading mechanism includes a firing pin plate material bin, a firing pin plate loading slot and a firing pin plate loading manipulator, the firing pin plate material bin is installed on the frame, the firing pin plate loading slot is connected to the firing pin plate material bin, the firing pin plate loading manipulator is installed on the frame, and the firing pin plate loading manipulator is docked with the firing pin plate loading slot and the positioning fixture;

[0009] The firing pin plate feeding robot comprises a moving structure, a firing pin plate clamping cylinder, a firing pin plate clamping claw and a limit plate, wherein the moving structure is mounted on the frame, the firing pin plate clamping cylinder is mounted on the moving structure, the firing pin plate clamping claw is mounted on the end of the firing pin plate clamping claw controlling cylinder, and the limit plate is mounted on the firing pin plate clamping claw;

[0010] The firing pin plate loading robot also includes a firing pin plate positioning structure, which includes a connecting part, a buffer part, a buffer spring and a positioning pin, the connecting part is installed at the bottom of the firing pin plate clamp control cylinder, the buffer part is connected to the connecting part, a buffer channel with a thick top and a thin bottom is provided in the buffer part, the limit block is installed in the thick end of the buffer channel, one end of the spring is fixed to the top of the buffer block, and the other end is fixed to the connecting part, the top of the positioning pin is fixed to the bottom of the buffer block, the bottom end passes through the buffer channel and extends out of the buffer channel, and the positioning pin passes through the limit plate at the same time.

[0011] Further, the positioning and moving mechanism comprises a moving base, a circular guide rail, a positioning fixture, a first lateral moving module, a second lateral moving module, a first vertical moving cylinder and a second vertical moving cylinder, the moving base is mounted on the frame, the circular guide rail is arranged on the moving base, the positioning fixture is slidably mounted on the circular guide rail, the first lateral moving module and the second lateral moving module are mounted on the frame and are located outside the circular guide rail;

[0012] The first lateral moving module, the second lateral moving module, the first vertical moving cylinder and the second vertical moving cylinder are all connected with positioning fixture moving claws, and the positioning fixture moving claws are docked with multiple sets of positioning fixtures;

[0013] The firing pin feeding mechanism, firing pin plate feeding mechanism, riveting structure, painting structure, waste material recovery mechanism and material receiving mechanism are arranged on the outer periphery of the circular guide rail according to the process.

[0014] Furthermore, the positioning fixture includes a positioning base, a positioning hole is provided in the positioning base, the bottom of the positioning hole is a conical hole, and the top is a cylindrical hole, the shape of the positioning hole is the same as the shape of the firing pin, and the shape of the positioning base is the same as the shape of the firing pin plate when it is inverted, the firing pin is placed downward in the positioning hole, the firing pin plate is inverted on the positioning base, and the bottom end of the firing pin passes through the riveting hole of the firing pin plate.

[0015] Furthermore, the firing pin feeding mechanism includes a firing pin hopper, a firing pin feeding trough and a firing pin feeding robot. The firing pin hopper is installed on the frame, the firing pin feeding trough is connected to the firing pin hopper, and the feeding robot is connected to the firing pin feeding trough and the positioning fixture.

[0016] Furthermore, the painting tool includes a painting base, a painting cylinder, a sponge clip, a sponge and a paint can. The painting base is installed on the frame, the painting cylinder is installed on the painting base, the sponge clip is installed on the end of the painting cylinder, the sponge is detachably installed on the sponge clip, and the paint can is installed on the painting base, and all sponges are dipped in paint from the paint can.

[0017] Furthermore, the riveting tool includes a riveting base, a servo motor, a riveting plate and an elastic pin. The riveting base is installed on the frame, the servo motor is installed downward on the riveting base, the riveting plate and the elastic pin are both connected to the output shaft of the servo motor, and the elastic pin moves through the riveting plate.

[0018] Furthermore, the waste recovery mechanism includes a waste recovery channel and a waste recovery robot, and the waste recovery channel and the waste recovery robot are installed adjacent to each other on the frame and are located outside the circular channel.

[0019] Furthermore, the material receiving mechanism comprises a material receiving rack and a material receiving manipulator, the material receiving rack is mounted on the frame, and the material receiving manipulator is mounted on the material receiving rack;

[0020] The material receiving rack is provided with a plurality of material receiving trays;

[0021] The end of the material receiving robot is provided with an opening and closing clamping claw.

[0022] Furthermore, a visual detector is provided on the movable base, and the visual detector is located above the positioning fixture.

[0023] Furthermore, a displacement sensor is installed on the riveting tool, and the displacement sensor is installed on the riveting base.

[0024] The present invention provides a V-shaped positioning hole on the positioning base of the positioning fixture, so that the firing pin can be positioned upside down, and the firing pin plate is turned upside down on the firing pin. The riveting tooling will not be damaged during riveting, and the positioning fixture has low requirements, which effectively simplifies the equipment and improves the riveting efficiency and riveting quality. At the same time, the bottom surface of the firing pin plate in the present application needs to be painted, and a very thin paint layer is required. Therefore, a sponge is provided for coating. Before painting, the sponge is first dipped in paint, and when painting, only a light press is needed. The structure is simple, the painting efficiency is efficient, the painting quality is good, and its precision is greatly improved. At the same time, since the firing pin is loaded upside down, the bottom is conical at this time, so the firing pin loading trough is provided as a T-shaped slot to ensure that the firing pin is more stable when loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technical customers in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 It is a structural schematic diagram of a firing pin body in a specific embodiment of the present invention;

[0027] Figure 2 It is a structural schematic diagram of an automatic riveting device for a grenade ignition body and firing pin body in a specific embodiment of the present invention;

[0028] Figure 3 for Figure 2 A partial structural schematic diagram of an automatic riveting device for a grenade firing body and firing pin body shown in FIG.

[0029] Figure 4 for Figure 2 A partial structural schematic diagram of an automatic riveting device for a grenade firing body and firing pin body shown in FIG.

[0030] Figure 5 for Figure 2-Figure 4 The structural schematic diagram of the positioning and moving mechanism of the automatic riveting equipment for the firing pin body of the grenade shown;

[0031] Figure 6 for Figure 5 A structural schematic diagram of a positioning fixture of the positioning moving mechanism shown;

[0032] Figure 7 for Figure 2-Figure 4 The schematic diagram of the structure of the firing pin plate feeding manipulator of the automatic riveting equipment for the firing pin body of the grenade shown;

[0033] Figure 8 for Figure 7 An enlarged view of the structure at A of the firing pin plate feeding robot shown;

[0034] Fig. 9 for Figure 7 The structural schematic diagram of the firing pin plate positioning structure of the firing pin plate loading robot is shown. DETAILED DESCRIPTION

[0035] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In a specific embodiment of the present invention, see Figure 1-Figure 9 , automatic riveting equipment for grenade firing body and firing pin body;

[0037] See Figure 1 The firing pin body 9 includes a firing pin 91 and a firing pin plate 92. The firing pin 91 includes an integrally formed needle head 911, a connecting column 912 and a rivet column 913. The diameter of the connecting column 913 is larger than the maximum diameter of the needle head 911 and the diameter of the rivet column 913. The firing pin plate 92 is provided with a rivet hole 921. The firing pin 91 is riveted to the rivet hole 921 of the firing pin plate 92 through the rivet column 913. The bottom end of the connecting column 913 is snapped onto the firing pin plate 92. The bottom of the firing pin plate 92 is painted.

[0038] See Figure 2-9 The automatic riveting equipment for the firing pin body of the grenade ignition body comprises a frame 8 and a firing pin feeding mechanism 1, a firing pin plate feeding mechanism 2, a positioning and moving mechanism 7, a riveting tool 3, a painting tool 4, a waste recovery mechanism 5 and a material receiving mechanism 6 which are sequentially arranged on the frame 8 according to the process;

[0039] The firing pin loading mechanism 1 is used for placing the firing pin 91, the firing pin plate loading mechanism 2 is used for placing the firing pin plate 92, the positioning moving mechanism 7 is used to move the positioning fixture that carries the positioning firing pin and the firing pin plate, the riveting tool 3 is used to rivet the firing pin and the firing pin plate together, the painting tool 4 is used to paint the bottom surface of the firing pin plate, the waste recycling mechanism 5 transports away unqualified waste, and the material receiving mechanism 6 is used to place the riveted and painted firing pin.

[0040] In a specific embodiment of the present invention, see Figure 2-Figure 6The positioning and moving mechanism 7 includes a moving base 71, a return guide rail 72, a positioning fixture 73, a first lateral moving module 74, a second lateral moving module 76, a first vertical moving cylinder 75 and a second vertical moving cylinder 77. The moving base 71 is installed on the frame 8, the return guide rail 72 is arranged on the moving base 71, the positioning fixture 73 is slidably installed on the return guide rail 72, the first lateral moving module 74 and the second lateral moving module 75 are installed on the frame 8 and are located on the outside of the return guide rail 72;

[0041] The circular track 72 includes a first track 721, a second track 722, a third track 723 and a fourth track 724 connected end to end. The first transverse moving module 74 faces the first track 721, and the second transverse moving module 76 faces the third track 723.

[0042] The first vertical moving cylinder 75 and the second vertical moving cylinder 77 are symmetrically mounted on the frame 8 and are located on the outer sides of the opposite sides of the circular guide rail 72. Specifically, the first vertical moving cylinder 75 and the second vertical moving cylinder 77 are respectively arranged on the outer sides of the second rail 722 and the fourth rail 724;

[0043] The ends of the first lateral moving module 74, the second lateral moving module 76, the first vertical moving cylinder 75 and the second vertical moving cylinder 77 are all connected with positioning fixture moving claws, and the positioning fixture moving claws are docked with multiple sets of the positioning fixtures. Specifically, one positioning fixture moving claw can clamp up to 4 sets of positioning fixtures at a time, specifically:

[0044] The first horizontal moving module 74 and the second horizontal moving module 76 are respectively provided with a first positioning fixture moving claw 741 and a second positioning fixture moving claw 761. The first positioning fixture moving claw a drives the positioning fixture 73 to move along the first track 721, and transfers it from the firing pin loading station to the firing pin plate loading station, and then to the riveting station; the second positioning fixture moving claw b drives the positioning fixture to move along the third track 723 to transfer the positioning fixture to the receiving mechanism 6; the first vertical moving cylinder 75 and the second vertical moving cylinder 77 are respectively provided with a first positioning fixture moving claw 751 and a fourth positioning fixture moving claw 771; the third positioning fixture moving claw 751 drives the positioning fixture to move along the second track 722 to transfer the positioning fixture 73 to the painting station; the fourth positioning fixture moving claw 771 drives the positioning fixture 73 to move along the fourth track 724 to transfer the positioning fixture 73 back to the firing pin loading station;

[0045] The first transverse moving module 74, the second transverse moving module 76, the first vertical moving cylinder 75 and the second vertical moving cylinder 77 are provided in multiple sets according to the number of workstations, and each set is responsible for the movement of the tooling between two workstations;

[0046] The firing pin feeding mechanism 1, the firing pin plate feeding mechanism 2, the riveting structure 3, the painting structure 4, the waste recovery mechanism 5 and the receiving mechanism 6 are arranged on the outer periphery of the circular guide rail 72 according to the process. Specifically, the firing pin feeding mechanism 1, the firing pin plate feeding mechanism 2, and the riveting structure 3 are arranged on the outside of the first track 721, the painting structure 4 is arranged on the outside of the second track 722, and the waste recovery mechanism 5 and the receiving mechanism 6 are arranged on the outside of the third track 723.

[0047] In a specific embodiment of the present invention, see Figure 6 Since the top of the firing pin 91 is conical, if the needle head faces upward, it will be difficult to rivet and it is easy to cause accidental collisions. Therefore, the needle head of the firing pin 91 faces downward during riveting, so the positioning fixture 73 is set as follows: the positioning fixture 73 includes a positioning base 731, and a positioning hole 732 is provided in the positioning base 731. The bottom of the positioning hole 732 is a conical hole and the top is a cylindrical hole. The shape of the positioning hole 732 is the same as that of the firing pin. The shape of the positioning base 731 is the same as that of the firing pin plate 92 when it is inverted. The firing pin 91 is placed downward in the positioning hole 732, and the firing pin plate 92 is inverted on the positioning base 731. At the same time, the bottom end of the firing pin 91 passes through the riveting hole of the firing pin plate 92.

[0048] During operation, first, the firing pin 91 is installed with its needle head facing downward in the positioning hole 732 of the positioning fixture 73, and then the positioning fixture 73 is moved to the firing pin plate loading station driven by the first positioning fixture moving claw 741, and the firing pin plate loading mechanism 2 turns the firing pin plate 92 upside down on the positioning fixture 73, and at the same time, the rivet column 913 of the firing pin 91 passes through the rivet hole 921 at the bottom of the firing pin plate 92.

[0049] In a specific embodiment of the present invention, see Figure 2-Figure 4 The firing pin feeding mechanism 1 includes a firing pin silo 11, a firing pin feeding trough 12 and a firing pin feeding manipulator 13. The firing pin silo 11 is installed on the frame 8. The firing pin feeding trough 12 is connected to the firing pin silo 11. The feeding manipulator 13 is connected to the firing pin feeding trough 12 and the positioning fixture 73.

[0050] A vibration motor is installed at the bottom of the firing pin silo 11, and the firing pin is loaded by vibration. At the same time, in order to facilitate the installation of the firing pin, the firing pin is transported upside down, that is, it is upside down in the firing pin loading trough 12. Therefore, the firing pin loading trough 12 is set as a T-shaped groove to facilitate the transportation of the firing pin.

[0051] In a specific embodiment of the present invention, see Figure 2-Figure 4The firing pin plate loading mechanism 2 includes a firing pin plate material bin 21, a firing pin plate loading slot 22 and a firing pin plate loading manipulator 23. The firing pin plate material bin 21 is installed on the frame 8. The firing pin plate loading slot 22 is connected to the firing pin plate material bin 21. The firing pin plate loading manipulator 23 is installed on the frame 8. At the same time, the firing pin plate loading manipulator 23 is docked with the firing pin plate loading slot 22 and the positioning fixture 73.

[0052] Since the firing pin is mounted upside down on the positioning fixture 73, the firing pin plate is also mounted upside down on the positioning fixture 73. For the convenience of installation, the firing pin plate is also mounted upside down when loading. The firing pin plate loading manipulator 23 does not need to be turned over when loading. The firing pin plate is very stable when it is mounted upside down and will not tip over, and the loading is also smoother.

[0053] A vibration motor is provided at the bottom of the firing pin plate bin 21, and the firing pin plate is fed by vibration.

[0054] In a specific embodiment of the present invention, see Figure 7-Figure 9 The firing plate feeding manipulator 23 includes a moving structure 231, a firing plate clamping control cylinder 232, a firing plate clamping claw 233 and a limiting plate 234. The moving structure 231 is mounted on the frame 8, the firing plate clamping claw control cylinder 232 is mounted on the moving structure 231, the firing plate clamping claw 231 is mounted on the end of the firing plate clamping claw control cylinder 232, and the limiting plate 234 is mounted on the firing plate clamping claw 233;

[0055] The firing pin plate loading manipulator 23 also includes a firing pin plate positioning structure 235, and the firing pin plate positioning structure 235 includes a connecting portion 2351, a buffer portion 2352, a buffer spring 2354 and a positioning pin 2353. The connecting portion 2351 is installed at the bottom of the firing pin plate clamp control cylinder 232, and the buffer portion 2352 is connected to the connecting portion 2351. A buffer channel 2356 with a thick upper part and a thin lower part is provided in the buffer portion 2352. The limiting block 2355 is installed in the thick end of the buffer channel 2356. One end of the spring 2354 is fixed to the top of the buffer block 2355 and the other end is fixed to the connecting portion 2351. The top end of the positioning pin 2353 is fixed to the bottom of the buffer block 2355, and the bottom end passes through the buffer channel 2356 and extends out of the buffer channel 2356. The positioning pin 2353 also passes through the limiting plate 234.

[0056] The travel and movement of the positioning pin are set in advance in the control system. When the firing pin plate is placed on the positioning fixture, the axis of the rivet hole of the firing pin plate needs to be aligned with the axis of the firing pin, and then the firing pin plate is installed on the rivet column of the firing pin. Therefore, a firing pin plate positioning structure 235 is set, and the positioning pin 2353 is used as a reference. When grabbing, the axis of the positioning pin 2353 is coaxial with the rivet hole of the firing pin plate, so that the firing pin plate is positioned when the firing pin plate is clamped, ensuring more accurate placement of the firing pin plate;

[0057] At the same time, in order to facilitate the riveting work of the riveting tool, the firing pin plate needs to be initially riveted when it is placed. During riveting, the positioning pin 2353 does not move and the limit plate 234 moves downward, so a spring 2354 is provided. When the limit plate 234 rivets the firing pin plate downward, the spring 2354 is compressed to achieve the riveting of the firing pin plate and the firing pin.

[0058] When grabbing the firing pin plate, first the firing pin plate clamp controls the cylinder 232 to drive the positioning pin 2353 to insert into the firing pin plate to position the firing pin plate, and at the same time the firing pin plate is limited by the limiting plate 234, and then the firing pin plate clamp 233 grabs the firing pin plate;

[0059] When placing the firing pin plate, first align the axis of the positioning pin 234 with the axis of the firing pin, then the firing pin plate clamping claw control cylinder 232 drives the positioning pin 2353 to move downward, when the positioning pin 2353 contacts the rivet column of the firing pin, the positioning pin 2353 is limited, and the firing pin plate clamping claw control cylinder 232 continues to drive the firing pin plate clamping claw 233 to move downward, the relative distance between the bottom surface of the positioning pin 2353 and the firing pin plate clamping claw 232 becomes smaller, and the spring 2354 is compressed until the firing pin plate is initially riveted to the firing pin;

[0060] By providing spring 2354, the firing pin plate can be positioned and installed at the same time, so that one structure has two functions, which greatly simplifies the equipment. At the same time, by providing the spring, damage to the firing pin is avoided.

[0061] In a specific embodiment of the present invention, see Figure 2-Figure 4 The riveting tool 3 includes a riveting base 31, a servo motor 32, a riveting plate 33 and an elastic needle 34. The riveting base 31 is installed on the frame 8, and the servo motor 32 is installed downward on the riveting base 31. The riveting plate 33 and the elastic needle 34 are both connected to the output shaft of the servo motor 32, and the elastic needle 34 moves through the riveting plate 33;

[0062] Because the firing pin plate is very thin, special care must be taken when riveting the firing pin and the firing pin plate. Excessive force will damage the firing pin plate. Based on this, a servo motor is used to drive the riveting components for riveting. A more recent method is to use an elastic pin for riveting. The servo motor slowly rivets the firing pin plate onto the firing pin within a relatively short period of time, which will not cause damage to the firing pin plate and firing pin.

[0063] The elastic needle is connected to the output shaft of the servo motor through an elastic component. After the elastic component is set, only the firing pin plate is pressed when pressed, ensuring that the firing pin plate is completely pressed onto the firing pin.

[0064] In a specific embodiment of the present invention, see Figure 2-Figure 4 The waste recovery mechanism 5 includes a waste recovery channel 51 and a waste recovery robot 52, and the waste recovery channel 51 and the waste recovery robot 52 are adjacently installed on the frame 8 and are located outside the circular channel 72;

[0065] After the unqualified products are detected by the visual detector, their information is stored in the control system. When the positioning fixture reaches the vicinity of the waste recycling robot 52, the waste recycling robot picks up the firing pin body and puts it into the waste recycling channel 51.

[0066] In a specific embodiment of the present invention, see Figure 2-Figure 4 The material receiving mechanism 6 includes a material receiving frame 61 and a material receiving manipulator 62. The material receiving frame 61 is mounted on the frame 8, and the material receiving manipulator 62 is mounted on the material receiving frame 61;

[0067] The material receiving rack 61 is provided with a plurality of material receiving trays;

[0068] An opening and closing clamp 621 is disposed at the end of the material receiving robot 62 .

[0069] In a specific embodiment of the present invention, see Figure 2-Figure 4 The painting tool 4 includes a painting base 41, a painting cylinder 42, a sponge clip 43, a sponge 44 and a paint can. The painting base 41 is installed on the frame 8, the painting cylinder 42 is installed on the painting base 41, the sponge clip 43 is installed on the end of the painting cylinder 42, the sponge 44 is detachably installed on the sponge clip 43, the paint can is installed on the painting base 41, and all sponges 44 are dipped in paint from the paint can;

[0070] Ordinary paint coating will form a thick layer after application, which cannot meet the needs of firing pin painting, and the coating is uneven. Therefore, a sponge is used for coating. Before coating, the paint cylinder drives the sponge to dip the paint from the paint can, and then gently press it on the bottom of the firing pin plate. Since the sponge dips a small amount, it will form a very thin layer after coating, and the coating is very even, without uneven thickness.

[0071] In a specific embodiment of the present invention, see Figure 2-Figure 4 A visual detector 78 is provided on the movable base 71 , and the visual detector 78 is located above the positioning fixture 73 .

[0072] In a specific embodiment of the present invention, see Figure 1-Figure 4 , a displacement sensor is installed on the riveting tool 3, and the displacement sensor is installed on the riveting base 31;

[0073] The relative height from the bottom of the firing pin to the bottom of the firing pin plate after riveting is completed is measured by a displacement sensor and compared with the standard height difference input into the control system. If it is within the standard range, the riveting is in place and the product is qualified. If it is outside the standard range, it is a defective product and is transported away through the waste channel.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic riveting device for a firing pin body of a hand grenade, the firing pin body comprising a firing pin and a firing pin plate, the firing pin comprising an integrally formed needle head, a connecting column and a rivet column, the diameter of the connecting column being larger than the maximum diameter of the needle head and the diameter of the rivet column, a rivet hole being arranged on the firing pin plate, the firing pin being riveted to the rivet hole of the firing pin plate through the rivet column, the bottom end of the connecting column being snapped onto the firing pin plate, and the bottom of the firing pin plate being painted; Features: The automatic riveting equipment for the firing pin body of the grenade ignition body comprises a frame and a firing pin plate feeding mechanism, a firing pin feeding mechanism, a positioning and moving mechanism, a riveting tool, a painting tool, a waste recovery mechanism and a receiving mechanism which are sequentially arranged on the frame according to the process; the positioning and moving mechanism comprises a moving base, a circular guide rail, a positioning fixture, a first horizontal moving module, a second horizontal moving module, a first vertical moving cylinder and a second vertical moving cylinder, the moving base is mounted on the frame, the circular guide rail is arranged on the moving base, the positioning fixture is slidably mounted on the circular guide rail, the first horizontal moving module and the second horizontal moving module are mounted on the frame and are located outside the circular guide rail; The first lateral moving module, the second lateral moving module, the first vertical moving cylinder and the second vertical moving cylinder are all connected with positioning fixture moving claws, and the positioning fixture moving claws are docked with multiple sets of positioning fixtures; The firing pin feeding mechanism, firing pin plate feeding mechanism, riveting structure, painting structure, waste material recovery mechanism and material receiving mechanism are arranged on the outer periphery of the circular guide rail according to the process; The firing pin plate loading mechanism includes a firing pin plate material bin, a firing pin plate loading slot and a firing pin plate loading manipulator, the firing pin plate material bin is installed on the frame, the firing pin plate loading slot is connected to the firing pin plate material bin, the firing pin plate loading manipulator is installed on the frame, and the firing pin plate loading manipulator is docked with the firing pin plate loading slot and the positioning fixture; The firing pin plate feeding robot comprises a moving structure, a firing pin plate clamping cylinder, a firing pin plate clamping claw and a limit plate, wherein the moving structure is mounted on the frame, the firing pin plate clamping cylinder is mounted on the moving structure, the firing pin plate clamping claw is mounted on the end of the firing pin plate clamping claw controlling cylinder, and the limit plate is mounted on the firing pin plate clamping claw; The firing pin plate feeding robot also includes a firing pin plate positioning structure, which includes a connecting part, a buffer part, a buffer spring and a positioning pin, the connecting part is installed at the bottom of the firing pin plate clamp control cylinder, the buffer part is connected to the connecting part, a buffer channel with a thick top and a thin bottom is arranged in the buffer part, a buffer block is installed in the thick end of the buffer channel, one end of the buffer spring is fixed to the top of the buffer block, and the other end is fixed to the connecting part, the top end of the positioning pin is fixed to the bottom of the buffer block, the bottom end passes through the buffer channel and extends out of the buffer channel, and the positioning pin passes through the limit plate at the same time; The riveting tool includes a riveting base, a servo motor, a riveting plate and an elastic needle. The riveting base is installed on the frame, the servo motor is installed downward on the riveting base, the riveting plate and the elastic needle are both connected to the output shaft of the servo motor, and the elastic needle moves through the riveting plate.

2. The automatic riveting equipment for the firing pin of a grenade as claimed in claim 1, characterized in that: The positioning fixture includes a positioning base, a positioning hole is provided in the positioning base, the bottom of the positioning hole is a conical hole, and the top is a cylindrical hole, the shape of the positioning hole is the same as the shape of the firing pin, and the shape of the positioning base is the same as the shape of the firing pin plate when it is inverted, the firing pin is placed downward in the positioning hole, the firing pin plate is inverted on the positioning base, and the bottom end of the firing pin passes through the riveting hole of the firing pin plate.

3. The automatic riveting device for the firing pin of a grenade as claimed in claim 1, characterized in that: The firing pin feeding mechanism includes a firing pin hopper, a firing pin feeding trough and a firing pin feeding robot. The firing pin hopper is installed on the frame, the firing pin feeding trough is connected to the firing pin hopper, and the feeding robot is connected to the firing pin feeding trough and the positioning fixture.

4. The automatic riveting equipment for the firing pin of a grenade as claimed in claim 1, characterized in that: The painting tool includes a painting base, a painting cylinder, a sponge clip, a sponge and a paint can. The painting base is installed on the frame, the painting cylinder is installed on the painting base, the sponge clip is installed on the end of the painting cylinder, the sponge is detachably installed on the sponge clip, the paint can is installed on the painting base, and all sponges are dipped in paint from the paint can.

5. The automatic riveting equipment for the firing pin of a grenade as claimed in claim 1, characterized in that: The waste recovery mechanism comprises a waste recovery channel and a waste recovery robot, and the waste recovery channel and the waste recovery robot are installed adjacent to each other on the frame and are located outside the circular guide rail.

6. The automatic riveting equipment for the firing pin of a grenade as claimed in claim 1, characterized in that: The material receiving mechanism comprises a material receiving frame and a material receiving manipulator, wherein the material receiving frame is mounted on the frame, and the material receiving manipulator is mounted on the material receiving frame; The material receiving rack is provided with a plurality of material receiving trays; The end of the material receiving robot is provided with an opening and closing clamping claw.

7. The automatic riveting equipment for the firing pin of a grenade as claimed in claim 1, characterized in that: A visual detector is arranged on the movable base, and the visual detector is located above the positioning fixture.

8. The automatic riveting equipment for the firing pin of a grenade as claimed in claim 1, characterized in that: A displacement sensor is installed on the riveting base.

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