Detonator Demoulding and Strapping Equipment, Detonator Demoulding and Strapping Method

Abstract

The present application discloses a detonator demolding and bundling device and method. A jig is placed at the demolding station, and detonators are placed on the jig. The detonator gripping device grabs the detonators from the jig at the demolding station and transports the detonators to the bundling station. The flipping device receives the detonators conveyed by the detonator gripping device and flips the main body of the detonator towards the direction of the leg wires of the detonator, and flips the wire clips of the detonator towards the direction of the leg wires; the bundling device grabs the binding wires on the binding wire conveying device and drives the binding wires to bundle the detonators; so as to complete the separation of the detonators from the jig and bundle the detonators. Compared with manual demolding and bundling, the detonator demolding and bundling device and method of the embodiments of the present application can improve production efficiency and save labor force.

Description

Technical Field

[0001] This application relates to the technical field of blasting equipment production, and particularly relates to a detonator demoulding and bundling device and a detonator demoulding and bundling method. Background Art

[0002] An electronic detonator is a type of detonator that explodes under the action of electric energy. Compared with a fire detonator, an electronic detonator has functions such as controlling the initiation delay time and the initiation energy, has an embedded identity information code and an initiation password, can test its own functions, performance, and the electrical performance of the detonator ignition element, can be remotely ignited and can initiate a large number of explosive packages at one time, is safe to use and has high efficiency, and is widely used in blasting operations.

[0003] A detonator mainly includes three parts: a detonator body, leg wires, and a wire clip. The leg wires are coiled into a bundle. One end of the leg wires is connected to the plug of the detonator body, and the other end of the leg wires is installed in the wire clip. After the production and assembly of the detonator are completed, it needs to be separated from the jig, and this process is called demoulding. After demoulding, the detonator body and the wire clip at both ends of the leg wires need to be respectively received on the side of the coiled leg wires, and then multiple detonators are bundled and packaged. Currently, the demoulding and bundling of detonators are both completed manually, which is time-consuming and laborious, and the production efficiency is low. Summary of the Invention

[0004] This application aims to solve at least one of the technical problems existing in the prior art. For this purpose, this application provides a detonator demoulding and bundling device and a detonator demoulding and bundling method, which can separate the detonator from the jig and bundle the detonator, and can improve the production efficiency.

[0005] The first aspect embodiment of this application provides a detonator demoulding and bundling device, which is provided with:

[0006] A demoulding station for placing a jig; the jig has a detonator placed thereon;

[0007] A bundling station;

[0008] A detonator gripping device for gripping the detonator from the jig at the demoulding station and transporting the detonator to the bundling station;

[0009] A flipping device arranged at the bundling station, which is used to receive the detonator conveyed by the detonator gripping device, flip the body of the detonator towards the direction of the leg wires of the detonator, and is also used to flip the wire clip of the detonator towards the direction of the leg wires;

[0010] A wire tying wire conveying device arranged on one side of the bundling station, which is used to convey wire tying wires;

[0011] The bundling device is used to grab the binding wire on the binding wire conveying device and drive the binding wire to bundle the detonator.

[0012] The detonator demolding and bundling equipment according to the first aspect embodiment of the present application has at least the following beneficial effects: In the detonator demolding and bundling equipment of the embodiment of the present application, a jig is placed at the demolding station, and a detonator is placed on the jig. The detonator grabbing device grabs the detonator from the jig at the demolding station and transports the detonator to the bundling station. The flipping device receives the detonator conveyed by the detonator grabbing device and flips the main body of the detonator towards the leg wire of the detonator and flips the wire clip of the detonator towards the leg wire; the bundling device grabs the binding wire on the binding wire conveying device and drives the binding wire to bundle the detonator; so as to complete the separation of the detonator from the jig and bundle the detonator. Compared with manual demolding and bundling, the detonator demolding and bundling equipment of the embodiment of the present application can improve production efficiency and save labor.

[0013] The second aspect embodiment of the present application provides a detonator demolding and bundling method, which is applied to the detonator demolding and bundling equipment. The detonator demolding and bundling equipment is provided with a demolding station, a bundling station, a detonator grabbing device, a flipping device, a binding wire conveying device and a bundling device. The flipping device is arranged at the bundling station, and the binding wire conveying device is arranged on one side of the bundling station;

[0014] The method includes:

[0015] The detonator grabbing device grabs the detonator from the jig at the demolding station and transports the detonator to the flipping device located at the bundling station;

[0016] The flipping device receives the detonator conveyed by the detonator grabbing device;

[0017] The flipping device flips the main body of the detonator towards the leg wire of the detonator;

[0018] The flipping device flips the wire clip of the detonator towards the leg wire;

[0019] The binding wire conveying device conveys the binding wire;

[0020] The bundling device grabs the binding wire conveyed by the binding wire conveying device and drives the binding wire to bundle the detonator.

[0021] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present application. Description of the Drawings

[0022] Additional aspects and advantages of the present application will become apparent and be readily understood in conjunction with the description of the embodiments with reference to the following drawings, where:

[0023] Figure 1 is a schematic structural view of a detonator demoulding and bundling device according to some embodiments of the present application;

[0024] Figure 2 is Figure 1 a schematic structural view of the detonator demoulding and bundling device from another angle;

[0025] Figure 3 is Figure 1 a schematic partial structural view of the detonator demoulding and bundling device;

[0026] Figure 4 is Figure 1 a schematic structural view of the transportation device of the detonator demoulding and bundling device;

[0027] Figure 5 is Figure 4 a schematic structural view of the second transportation component of the transportation device;

[0028] Figure 6 is Figure 1 a schematic partial structural view of the detonator demoulding and bundling device;

[0029] Figure 7 is Figure 1 a schematic partial structural view of the detonator demoulding and bundling device;

[0030] Figure 8 is Figure 1 a schematic structural view of the first auxiliary grasping device of the detonator demoulding and bundling device;

[0031] Figure 9 is Figure 1 a schematic structural view of the wire clip sucking component of the detonator demoulding and bundling device;

[0032] Figure 10 is Figure 9 a schematic structural view of the wire clip sucking component from another angle;

[0033] Figure 11 is Figure 1 a schematic structural view of the main body grasping device of the detonator demoulding and bundling device;

[0034] Figure 12 is Figure 11 a schematic structural view of the main body grasping device from another angle;

[0035] Figure 13 is Figure 1 a schematic structural view of the leg wire grasping device of the detonator demoulding and bundling device;

[0036] Figure 14 is Figure 1 a partial structural schematic diagram of a detonator demolding and bundling device;

[0037] Figure 15 is Figure 1 a structural schematic diagram of a flipping device of a detonator demolding and bundling device;

[0038] Figure 16 is Figure 15 a partial structural schematic diagram of the flipping device;

[0039] Figure 17 is Figure 15 a structural schematic diagram of a main body storage component of the flipping device;

[0040] Figure 18 is Figure 15 a structural schematic diagram of a wire clip storage component of the flipping device;

[0041] Figure 19 is Figure 15 a structural schematic diagram of a leg wire storage component of the flipping device;

[0042] Figure 20 is Figure 1 a structural schematic diagram of a wire bundling component of a detonator demolding and bundling device;

[0043] Figure 21 is Figure 1 a structural schematic diagram of a binding wire conveying device of a detonator demolding and bundling device;

[0044] Figure 22 is Figure 1 a structural schematic diagram of a fixture of a detonator demolding and bundling device;

[0045] Figure 23 is Figure 22 a structural schematic diagram of a second side plate of the fixture;

[0046] Figure 24 is a step flow chart of a detonator demolding and bundling method according to some embodiments of the present application;

[0047] Figure 25 is a partial step flow chart of a detonator demolding and bundling method according to some embodiments of the present application. Detailed Description of the Embodiments

[0048] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present application and should not be construed as limiting the present application.

[0049] In the description of the present application, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0050] In the description of the present application, if the first and second are described only for the purpose of distinguishing technical features, it should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features or implicitly specifying the sequence relationship of the indicated technical features.

[0051] In the description of the present application, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above terms in the present application in combination with the specific content of the technical solution.

[0052] Refer to Figures 1 to 20, in the first aspect of the embodiments of the present application, a detonator demoulding and bundling device is provided, which is provided with a demoulding station 100, a bundling station 200, a detonator grasping device 300, a flipping device 400, a binding wire conveying device 500 and a bundling device 600. The demoulding station 100 is used to place a jig 110; a detonator is placed on the jig 110; the detonator grasping device 300 is used to grasp the detonator from the jig 110 on the demoulding station 100 and transport the detonator to the bundling station 200; the flipping device 400 is arranged on the bundling station 200, and the flipping device 400 is used to receive the detonator conveyed by the detonator grasping device 300, flip the main body 114 of the detonator towards the leg wire (not shown in the figure) of the detonator, and is also used to flip the wire clip 115 of the detonator towards the leg wire; the binding wire conveying device 500 is arranged on one side of the bundling station 200, and the binding wire conveying device 500 is used to convey the binding wire; the bundling device 600 is used to grasp the binding wire on the binding wire conveying device 500 and drive the binding wire to bundle the detonator. In the detonator demoulding and bundling device of the embodiments of the present application, a jig 110 is placed on the demoulding station 100, a detonator is placed on the jig 110, the detonator grasping device 300 grasps the detonator from the jig 110 on the demoulding station 100 and transports the detonator to the bundling station 200, the flipping device 400 receives the detonator conveyed by the detonator grasping device 300, flips the main body 114 of the detonator towards the leg wire of the detonator, and flips the wire clip 115 of the detonator towards the leg wire; the bundling device 600 grasps the binding wire on the binding wire conveying device 500 and drives the binding wire to bundle the detonator; so as to complete the separation of the detonator from the jig 110 and bundle the detonator. Compared with manual demoulding and bundling, the detonator demoulding and bundling device of the embodiments of the present application can improve the production efficiency and save labor. In addition, detonators are dangerous goods. Compared with manual demoulding and bundling, demoulding and bundling the detonators through the detonator demoulding and bundling device can ensure the safety of people.

[0053] It can be understood that with reference to Figures 1 to 5, the detonator demoulding and bundling equipment is also provided with a transportation device 700. The transportation device 700 includes a first transportation component 710, a second transportation component 720, and a third transportation component 730. The second transportation component 720 is arranged at the demoulding station 100. The first transportation component 710 is used to transport the jig 110 with detonators placed thereon to the second transportation component 720; the second transportation component 720 is used to transport the jig 110 to the third transportation component 730; the third transportation component 730 is used to remove the jig 110. The first conveying component is located on one side of the second transportation component 720, and the third transportation component 730 is located below the first transportation component 710. The second transportation component 720 includes a first bracket 721 and a second driving member 7301. The second driving member 7301 is connected to the first bracket 721. The second driving member 7301 is used to drive the first bracket 721 to perform lifting movement so that the height of the first bracket 721 can be selected to correspond to the height of the first transportation component 710 or the height of the third transportation component 730, enabling the second transportation component 720 to receive the fixture 110 from the first transportation component 710 and transfer the fixture 110 to the third transportation component 730.

[0054] It can be understood that referring to Figures 4 to 5 , the second transportation component 720 further includes a first guide rail 723. The first bracket 721 is slidably installed on the first guide rail 723, and the first bracket 721 can perform lifting movement along the first guide rail 723. There are 2 second driving members 7301, which are respectively connected to the opposite side walls of the first bracket 721 and can drive the first bracket 721 to perform lifting movement along the first guide rail 723.

[0055] The second transportation component 720 further includes a locking component. The locking component includes a first bracket 721, a first driving member 724, a roller 725. The second driving member 7301 is connected to the first bracket 721. The second bracket 722 is installed on the first bracket 721. The second bracket 722 is used to place the jig 110. The roller 725 is arranged on the second bracket 722. The roller 725 is used to transport the jig 110; the first driving member 724 is arranged at the bottom of the second bracket 722 and is located between the first bracket 721 and the second bracket 722. The first driving member 724 is used to drive the first bracket 721 to perform lifting movement. A third driving member 728 and a hook member 729 are arranged on the side wall of the first bracket 721. The third driving member 728 is connected to the hook member 729. When the first driving member 724 drives the first bracket 721 to rise, the third driving member 728 drives the hook member 729 to approach or move away from the jig 110 placed on the second bracket 722 to fasten the jig 110. Referring to Figures 4 to 5 , the number of the third driving members 728 is two, and they are respectively arranged on the opposite side walls of the first bracket 721. Each third driving member 728 is respectively connected to two hook members 729.

[0056] A baffle 726 is provided on one side of the first bracket 721 , and the baffle 726 is used to block the fixture 110 on the roller 725 ; a first sensor 727 is provided on the baffle 726 , and the first sensor 727 is used to sense the position of the fixture 110 on the roller 725 .

[0057] It can be understood that when the transport device 700 of the embodiment of the present application is working, the first transport component 710 transports the jig 110 to the second transport component 720, and the roller 725 of the second transport component 720 drives the jig 110 to move, thereby transporting the jig 110 to the second bracket 722. The second bracket 722 is installed on the first bracket 721. The baffle 726 on the first bracket 721 can block the jig 110 and prevent the jig 110 from moving to the outside of the first bracket 721; when the first sensor 727 senses that the jig 110 has reached the baffle 726, the first driving member 724 can drive the first bracket 721 to move. The second bracket 722 is raised and lowered to lift the jig 110. After the jig 110 is lifted, the third driving member 728 drives the hook member 729 to approach the jig 110 and abut against the jig 110 to fasten the jig 110 to prevent the jig 110 from shaking during the demolding process, so that the detonator grasping device 300 can grasp the detonator from the jig 110 and complete the demolding process; after the demolding process is completed, the first bracket 721 is lowered along the first guide rail 723 and transports the jig 110 plate to the third transport assembly 730, and then the third transport assembly 730 moves the jig 110 away to the detonator demolding and bundling equipment.

[0058] It is understandable that, referring to Figures 6 to 7 The detonator catching device 300 includes a main body catching assembly 310, a wire clip suction assembly 330, and a leg wire catching assembly 320. The main body catching assembly 310 is used to catch the main body 114 of the detonator from the jig 110. The wire clip suction assembly 330 is arranged opposite the main body catching assembly 310 and is used to catch the wire clip 115 of the detonator from the jig 110. The leg wire catching assembly 320 is arranged between the main body catching assembly 310 and the wire clip suction assembly 330 and is used to catch the leg wire of the detonator from the jig 110.

[0059] The detonator grabbing device 300 is further provided with a first drive assembly 340 and a first connecting plate 341. The first drive assembly 340 includes a first screw rod 342 and a fourth drive member 343. The first connecting plate 341 is respectively connected to the main body grabbing assembly 310, the wire clip suction assembly 330, and the foot line grabbing assembly 320. The first connecting plate 341 is slidably mounted on the first screw rod 342. The fourth drive member 343 is used to drive the first connecting plate 341 to slide along the first screw rod 342, so that the detonator grabbing device 300 moves between the demolding station 100 and the bundling station 200. Figures 6 to 7, there are two first lead screws 342, which are respectively located on both sides of the first connecting plate 341. The fourth driving member 343 is connected to one of the first lead screws 342. The two first lead screws 342 are connected by a transmission belt 344. The first connecting plate 341 is connected to the first lead screw 342 through a slider 345, and the first lead screw 342 passes through the slider 345. When the fourth driving member 343 is started, the first connecting plate 341 slides along the first lead screw 342, so that the first connecting plate 341 can move between the demolding station 100 and the bundling station 200, enabling the main body grasping assembly 310, the wire clip sucking assembly 330, and the leg wire grasping assembly 320 to move from the demolding station 100 to the bundling station 200. The fourth driving member 343 is a driving motor. When the first connecting plate 341 is located at the demolding station 100, the second transportation assembly 720 is located below the first connecting plate 341, so that the detonator grasping device 300 can grasp the detonator of the jig 110 located on the second transportation assembly 720.

[0060] It can be understood that with reference to Figures 9 to 10 , the wire clip sucking assembly 330 includes a sucking sub-assembly 337, a second connecting plate 331, a first mounting plate 333, a second mounting plate 335, a fifth driving member 332, and a sixth driving member 334. The wire clip sucking assembly 330 is connected to the first connecting plate 341 through the second connecting plate 331. The fifth driving member 332 is arranged on the second connecting plate 331. The second connecting plate 331 is movably connected to the first mounting plate 333. The fifth driving member 332 is used to drive the first mounting plate 333 to move up and down relative to the second connecting plate 331. The first mounting plate 333 is provided with a second slide rail 3331. The second mounting plate 335 is slidably mounted on the second slide rail 3331. The second slide rail 3331 is horizontally arranged. A sixth driving member 334 is arranged between the first mounting plate 333 and the second mounting plate 335. The sixth driving member 334 can drive the second mounting plate 335 to slide along the second slide rail 3331. The second mounting plate 335 is provided with a third slide rail 3351. The third slide rail 3351 is horizontally arranged. A third mounting plate 336 is slidably mounted on the third slide rail 3351. One side of the third mounting plate 336 is provided with a sucking sub-assembly 337. The sucking sub-assembly 337 includes a suction cup 3372 and a seventh driving member 3371. The seventh driving member 3371 can drive the suction cup 3372 to move up and down relative to the third mounting plate 336. When the suction cup 3372 descends, it can suck the wire clip 115 on the jig 110. It can be understood that the wire clip sucking assembly 330 is also provided with a thirtieth driving member (not shown in the figure). The thirtieth driving member is a driving cylinder, and the thirtieth driving member is used to drive the third mounting plate 336 to slide along the third slide rail 3351.

[0061] The wire clip suction component 330 further includes a clamping sub-component 338. The clamping sub-component 338 is arranged on the side of the third mounting plate 336 opposite to the suction sub-component 337. The clamping component includes a wire foot movable clamping arm 3381, a wire foot fixed clamping arm 3382, and an eighth driving member 3383. The eighth driving member 3383 is used to drive the wire foot movable clamping arm 3381 to approach or move away from the wire foot fixed clamping arm 3382, so that the wire foot movable clamping arm 3381 and the wire foot fixed clamping arm 3382 clamp the corresponding wire foot of the wire clip 115.

[0062] It can be understood that, referring to Figures 9 to 10 , there are 5 suction sub-components 337 arranged on the third mounting plate 336. Each suction sub-component 337 includes 2 suction cups 3372 and 1 seventh driving member 3371. Both 2 suction cups 3372 are connected to the seventh driving member 3371; the number of clamping sub-components 338 is equal to the number of suction sub-components 337, and the clamping sub-components 338 and the suction sub-components 337 correspond one by one; each clamping sub-component 338 includes 2 wire foot movable clamping arms 3381, 1 wire foot fixed clamping arm 3382, and 1 eighth driving member 3383. The 2 wire foot movable clamping arms 3381 are respectively located on both sides of the wire foot fixed clamping arm 3382. The eighth driving member 3383 can drive the 2 wire foot movable clamping arms 3381 to approach or move away from the wire foot fixed clamping arm 3382. It should be noted that those skilled in the art can set the number of suction sub-components 337, the number of clamping sub-components 338, the number of suction cups 3372, the number of seventh driving members 3371, the number of wire foot fixed clamping arms 3382, the number of wire foot movable clamping arms 3381, and the number of eighth driving members 3383 according to the actual situation. The present application does not make any limitations on this.

[0063] The detonator demolding and bundling device further includes a frame 1000. The detonator grabbing device 300, the flipping device 400, the wire tying conveying device 500, the bundling device 600, and the transportation device 700 are all installed on the frame 1000.

[0064] It can be understood that, referring to Figures 11 to 12, the main body grasping component 310 includes a third connecting plate 311, a ninth driving member 312, a fourth mounting plate 313, and a grasping sub-component; the main body grasping component 310 is connected to the first connecting plate 341 through the third connecting plate 311, the ninth driving member 312 is arranged on the third connecting plate 311, the fourth mounting plate 313 is movably connected to the third connecting plate 311, and the ninth driving member 312 can drive the fourth mounting plate 313 to move up and down relative to the third connecting plate 311; the grasping sub-component is mounted on the fourth mounting plate 313. The grasping sub-component includes two main body movable clamping arms 314, one main body fixed clamping arm 315, a tenth driving member 316, an eleventh driving member 318, and a guiding member 317. The eleventh driving member 318 is respectively connected to the two main body movable clamping arms 314, the two main body movable clamping arms 314 are respectively located on both sides of the main body fixed clamping arm 315, the eleventh driving member 318 drives the two main body movable clamping arms 314 to move closer to or expand away from the main body fixed clamping arm 315, and when the main body movable clamping arms 314 move closer to the main body fixed clamping arm 315, the main body 114 of the detonator is clamped. The tenth driving member 316 is connected to the guiding member 317, the guiding member 317 is provided with a notch, when grasping the main body 114 of the detonator, the tenth driving member 316 can drive the guiding member 317 to move up and down, so that the guiding member 317 abuts against the jig 110, and the notch of the guiding member 317 is opposite to the main body 114 of the detonator. Those skilled in the art can set the number of the grasping sub-components according to actual needs, and the present application does not limit this.

[0065] It can be understood that, referring to Figure 6 and Figure 13 , the leg wire grasping component 320 includes a fourth connecting plate 322, a twenty-ninth driving member 321, a second lead screw 323, a third lead screw 324, a twenty-eighth driving member 325, a first movable clamping arm 326, and a second movable clamping arm 327; the twenty-ninth driving member 321 passes through the first connecting plate 341, the fourth connecting plate 322 is movably connected to the first connecting plate 341, and the twenty-ninth driving member 321 is used to drive the fourth connecting plate 322 to move up and down relative to the first connecting plate 341; a fifth mounting plate 328 is fixedly connected to the fourth connecting plate 322; the second lead screw 323 and the third lead screw 324 are respectively installed at opposite ends of the fifth mounting plate 328; a fourth slide rail 329 is arranged at the bottom of the fifth mounting plate 328; the first movable clamping arm 326 is slidably connected to the second lead screw 323 and is slidably installed on the fourth slide rail 329; the second movable clamping arm 327 is slidably connected to the third lead screw 324 and is slidably installed on the fourth slide rail 329; the twenty-eighth driving member 325 is respectively connected to the second lead screw 323 and the third lead screw 324; when the twenty-eighth driving member 325 is started, the first movable clamping arm 326 and the second movable clamping arm 327 slide along the fourth slide rail 329, so that the first movable clamping arms 326 approach or move away from each other.

[0066] When the wire grabbing assembly 320 of the embodiment of the present application works, the twenty-ninth driving member 321 drives the fourth connecting plate 322 to move downward relative to the first connecting plate 341, so that the wire grabbing assembly 320 corresponds to the position of the wire on the fixture 110. Then, the twenty-eighth driving member 325 is activated, and the first movable clamping arm 326 and the second movable clamping arm 327 slide along the fourth slide rail 329, and the first movable clamping arms 326 approach each other to clamp the wire on the fixture 110.

[0067] Refer to Figure 2 、 Figure 3 、 Figure 7 and Figure 8 In addition, the detonator demolding and bundling device is further provided with a first auxiliary grabbing device 800. The first auxiliary grabbing device 800 is arranged on one side of the demolding station 100. The first auxiliary grabbing device 800 includes a first pushing block 810 and a twenty-seventh driving member 830. The first pushing block 810 is connected to the twenty-seventh driving member 830. The twenty-seventh driving member 830 can drive the first pushing block 810 to move away from or close to the fixture 110, so that the first pushing block 810 pushes the suction sub-assembly 337, and the suction sub-assembly 337 moves along the position close to the detonator wire on the fixture 110, so that the wire clip 115 is separated from the fixture 110.

[0068] When the wire clip suction assembly 330 and the first auxiliary grabbing device 800 of the embodiment of the present application work, when the wire clip suction assembly 330 moves above the demolding station 100, the eighth driving member 3383 drives the wire movable clamping arm 3381 to move away from the wire fixed clamping arm 3382. The fifth driving member 332 drives the first mounting plate 333 to descend. The sixth driving member 334 drives the second mounting plate 335 to slide along the second slide rail 3331, so that the suction sub-assembly 337 is located above the wire clip 115 on the fixture 110. The wire movable clamping arm 3381 and the wire fixed clamping arm 3382 both abut against the fixture 110, and the wire corresponding to the wire clip 115 passes through between the wire movable clamping arm 3381 and the wire fixed clamping arm 3382. Then, the seventh driving member 3371 drives the suction cup 3372 to descend, so that the suction cup 3372 sucks the corresponding wire clip 115; the eighth driving member 3383 drives the wire movable clamping arm 3381 to approach the wire fixed clamping arm 3382 to clamp the wire corresponding to the wire clip 115; then, the twenty-seventh driving member 830 drives the first pushing block 810 to push the suction sub-assembly 337, and the suction sub-assembly 337 moves along the position of the wire on the fixture 110, so that the wire clip 115 is separated from the fixture 110.

[0069] It can be understood that, refer to Figure 1 、 Figure 4 and Figure 14, the demolding and bundling device of the embodiment of the present application is further provided with a second auxiliary grasping device 900. The second auxiliary grasping device 900 is located on one side of the demolding station 100. The second auxiliary grasping device 900 is arranged on the outer side wall of the first bracket 721, and the second auxiliary grasping device 900 is located below the fixture 110. The second auxiliary grasping device 900 includes a twenty-sixth driving member 901 and a first push plate 910. The twenty-sixth driving member 901 is connected to the first push plate 910. A rib 911 is arranged on the first push plate 910. The twenty-sixth driving member 901 is used to drive the first push plate 910 to move up and down, so that the rib 911 jacks up the plug 116 of the main body 114 of the detonator. The first push plate 910 is further provided with a support plate 912. A support groove is arranged on the support plate 912. The support groove is located on the side of the support plate 912 away from the fixture 110. The support grooves correspond to the ribs 911 one by one, and the height of the support groove is lower than the height of the corresponding rib 911. The support groove is used to support the main body 114 when the rib 911 jacks up the plug 116 of the main body 114 of the detonator. When the rib 911 jacks up the plug 116 of the main body 114 of the detonator, the support groove is located below the main body 114, and the main body 114 will automatically fall into the support groove under the action of gravity, and the support groove is used to support the main body 114.

[0070] When the second auxiliary grasping device 900 and the main body grasping assembly 310 of the embodiment of the present application work, the second auxiliary grasping device 900 is located below the detonator main body 114 in the fixture 110, and the rib 911 is located below the plug 116 of the detonator. The ninth driving member 312 of the main body grasping assembly 310 drives the fourth mounting plate 313 to move downward relative to the third connecting plate 311, so that the main body grasping assembly 310 is located above the detonator main body 114 and close to the detonator main body 114. The tenth driving member 316 can drive the guide member 317 to move up and down, so that the guide member 317 abuts against the fixture 110, and the notch of the guide member 317 faces the main body 114 of the detonator. The eleventh driving member 318 drives the two main body movable clamping arms 314 to expand towards the main body fixed clamping arm 315. Then, the twenty-sixth driving member 901 of the second auxiliary grasping device 900 drives the first push plate 910 to move upward, so that the rib 911 jacks up the plug 116 of the main body 114 of the detonator, so as to jack up the main body 114 of the detonator, so that the main body 114 of the detonator passes through the notch of the guide member 317. Then, the eleventh driving member 318 drives the two main body movable clamping arms 314 to move closer to the main body fixed clamping arm 315 to clamp the main body 114 of the detonator.

[0071] It can be understood that with reference to Figures 15 to 19, the flipping device 400 includes a leg wire storage component 420, a main body storage component 430, and a wire clip storage component 410. The leg wire storage component 420 is used to receive the leg wires conveyed by the leg wire grasping component 320; the main body storage component 430 is located on the first side of the leg wire storage component 420, and the main body storage component 430 is used to receive the main body 114 conveyed by the main body grasping component 310; the wire clip storage component 410 is located on the second side of the leg wire storage component 420, the first side and the second side are opposite, the leg wire storage component 420 is arranged between the main body storage component 430 and the wire clip storage component 410, and the wire clip storage component 410 is used to receive the wire clips 115 conveyed by the wire clip suction component 330; the leg wire storage component 420 is provided with a first storage member, and the first storage member is used to receive the leg wires conveyed by the leg wire grasping component 320; the main body storage component 430 includes a second storage member 435 and a second driving component. The second storage member 435 is used to receive and place the main body 114 conveyed by the main body grasping component 310, and the second driving component can drive the second storage member 435 to flip to the second side, so that the second storage member 435 flips to the second side. The wire clip storage component 410 includes a third storage member 415 and a third driving component. The third storage member 415 is used to receive and place the wire clips 115 conveyed by the wire clip suction component 410, and the third driving component can drive the third storage member 415 to flip to the first side, so that the third storage member 415 flips to the first side.

[0072] It can be understood that with reference to Figure 15 , Figure 16 and Figure 17, the second driving component of the main body storage component 430 includes a twelfth driving member 431, a fourth lead screw 438, a fifth slide rail 432, a thirteenth driving member 433, a first rotating rod 434, and a fourteenth driving member 436; the thirteenth driving member 433 is slidably mounted on the fifth slide rail 432 through a first connecting member 437, the fourth lead screw 438 is connected to the twelfth driving member 431, the fourth lead screw 438 is parallel to the fifth slide rail 432, and the fourth lead screw 438 and the fifth slide rail 432 are connected through a first connecting member 437. When the twelfth driving member 431 is activated, it can drive the thirteenth driving member 433 to slide along the fifth slide rail 432; the first rotating rod 434 is connected to the thirteenth driving member 433, and the thirteenth driving member 433 is used to drive the first rotating rod 434 to rotate. The first rotating rod 434 is also connected to the fourteenth driving member 436 and the second storage member 435. When the first rotating rod 434 rotates, the fourteenth driving member 436 and the second storage member 435 rotate along with the first rotating rod 434; when the thirteenth driving member 433 slides along the fifth slide rail 432, the first rotating rod 434, the fourteenth driving member 436, and the second storage member 435 all slide along with the thirteenth driving member 433. The second storage member 435 is used to place the main body 114 of the detonator. Two first grooves are provided on the second storage member 435, and each first groove can hold a plurality of main bodies 114. The fourteenth driving member 436 is used to drive the second storage member 435 to perform a lifting motion. When the fourteenth driving member 436 drives the second storage member 435 to descend, the second storage member 435 is separated from the main body 114 placed on the second storage member 435.

[0073] It can be understood that with reference to Figure 15 , Figure 16 and Figure 18, the third driving component of the wire clip storage component 410 includes a fifteenth driving member 411, a sixth slide rail 412, a sixteenth driving member 413, a second rotating rod 414, and a seventeenth driving member 416; the sixteenth driving member 413 is slidably connected to the sixth slide rail 412 through a second connecting member 417, a fifth lead screw 418 is connected to the fifteenth driving member 411, the fifth lead screw 418 is parallel to the sixth slide rail 412, and the fifth lead screw 418 and the sixth slide rail 412 are connected through a second connecting member 417. When the fifteenth driving member 411 is activated, it can drive the sixteenth driving member 413 to slide along the sixth slide rail 412; the second rotating rod 414 is connected to the sixteenth driving member 413, and the sixteenth driving member 413 is used to drive the second rotating rod 414 to rotate; the second rotating rod 414 is also connected to the seventeenth driving member 416 and the third storage member 415. When the second rotating rod 414 rotates, both the seventeenth driving member 416 and the third storage member 415 rotate along with the second rotating rod 414; when the sixteenth driving member 413 slides along the sixth slide rail 412, the second rotating rod 414, the seventeenth driving member 416, and the third storage member 415 all slide along with the sixteenth driving member 413. The third storage member 415 is used to place the wire clips 115 of detonators. Two second grooves are provided on the third storage member 415, and each second groove can hold multiple wire clips 115. The seventeenth driving member 416 is used to drive the third storage member 415 to perform a lifting motion. When the seventeenth driving member 416 drives the third storage member 415 to descend, the third storage member 415 is separated from the wire clips 115 placed on the third storage member 415.

[0074] It can be understood that with reference to Figure 15 and Figure 19, the foot wire storage component 420 includes an eighteenth driving member 424. The first storage member includes a first gathering clip 421, a second gathering clip 423, and a first storage plate 422. The first storage plate 422 is used for placing foot wires. The first gathering clip 421 is connected to the first storage plate 422, and the first storage plate 422 is located between the first gathering clip 421 and the second gathering clip 423. The eighteenth driving member 424 is connected to the first gathering clip 421 and / or the second gathering clip 423. The eighteenth driving member 424 is used to drive the first gathering clip 421 and the second gathering clip 423 to approach or move away from each other. For example, if the eighteenth driving member 424 is connected to the first gathering clip 421, the eighteenth driving member 424 drives the first gathering clip 421 to approach or move away from the second gathering clip 423; or, if the eighteenth driving member 424 is connected to the second gathering clip 423, the eighteenth driving member 424 drives the second gathering clip 423 to approach or move away from the first gathering clip 421; or, if the eighteenth driving member 424 is respectively connected to the first gathering clip 421 and the second gathering clip 423, the eighteenth driving member 424 is used to drive the first gathering clip 421 and the second gathering clip 423 to approach or move away from each other. The foot wire storage component 420 is further provided with a sixth lead screw 425. Both the first gathering clip 421 and the second gathering clip 423 are slidably mounted on the sixth lead screw 425. When the eighteenth driving member 424 is activated, it can drive the first gathering clip 421 and the second gathering clip 423 to slide along the sixth lead screw 425, so that the first gathering clip 421 and the second gathering clip 423 approach or move away from each other;

[0075] The number of the first gathering clips 421 is equal to that of the second gathering clips 423, and the first gathering clips 421 and the second gathering clips 423 correspond to each other one by one. For example, referring to Figure 18 , there are two first gathering clips 421 and two second gathering clips 423. The first gathering clips 421 and the second gathering clips 423 correspond to each other one by one. Each first gathering clip 421 is provided with a first storage plate 422, and a part of the first storage plate 422 passes through the second gathering clip 423. There are two sixth lead screws 425. Each lead screw is connected to a first gathering clip 421 and a second gathering clip 423. Both of the two sixth lead screws 425 are connected to the eighteenth driving member 424.

[0076] It can be understood that referring to Figure 1 , Figure 2 and Figure 21, The tie wire conveying device 500 includes a tie wire shaft 510, a wire releasing member 520, a wire cutting assembly, and a second inductor 540; the tie wire shaft 510 is used to release tie wires (not shown in the figure); the wire releasing member 520 is arranged on one side of the tie wire shaft 510, and the wire releasing member 520 is provided with a wire releasing groove for placing the tie wires released by the tie wire shaft 510; the wire cutting assembly is located between the wire releasing member 520 and the tie wire shaft 510, and the second inductor 540 is arranged at one end of the wire releasing member 520 away from the tie wire shaft 510, and the second inductor 540 is used to sense the position of the tie wire. The wire cutting assembly includes a cutting knife 531 and a nineteenth driving member 532, and the wire cutting assembly is located below between the wire releasing member 520 and the tie wire shaft 510; the nineteenth driving member 532 can drive the cutting knife 531 to perform a lifting motion, and when the cutting knife 531 performs a rising motion, it can cut off the tie wire.

[0077] When the tie wire conveying device 500 of the embodiment of the present application works, the tie wire shaft 510 releases tie wires, conveys the tie wires to the wire releasing member 520, and makes the tie wires located in the wire releasing groove. When the second inductor 540 senses that the tie wires are located in the wire releasing groove, the nineteenth driving member 532 drives the cutting knife 531 to rise and cut off the tie wires. A twentieth driving member 550 is further arranged at the bottom of the wire releasing member 520, and the twentieth driving member 550 is used to drive the wire releasing member 520 to perform a lifting motion, which is convenient for the bundling device 600 to grab the tie wires on the wire releasing member 520 of the tie wire conveying device 500.

[0078] It can be understood that with reference to Figure 6 , Figure 15 , Figure 19 and Figure 20 , the bundling device 600 includes a wire bundling assembly 610 and a wire twisting assembly. The wire bundling assembly 610 is fixedly connected to the first connecting plate 341. When the fourth driving member 343 drives the first connecting plate 314 to slide along the first lead screw 342, the wire bundling assembly 610 can move between the bundling station 200 and above the tie wire conveying device 500; the wire twisting assembly is located on the bundling station 200 and is located between two sixth lead screws 425 of the foot wire storage assembly 420.

[0079] With reference to Figure 6 and Figure 20 , the wire bundling assembly 610 includes a first gripping arm, and the first gripping arm is used to respectively grab both ends of the tie wires on the wire releasing groove and drive the tie wires to bundle the detonators; the number of the first gripping arms is two. The wire bundling assembly 610 further includes a lifting frame and a twenty-first driving member 616. The twenty-first driving member 616 is connected to the lifting frame, and the twenty-first driving member 616 can drive the lifting frame to perform a lifting motion. One ends of the two first gripping arms are respectively rotatably installed on both sides of the bottom of the lifting frame, and the other ends of the two first gripping arms can both grab the tie wires. When the two first gripping arms rotate around the bottom of the lifting frame, they can make the two first gripping arms approach or move away from each other.

[0080] The lifting frame includes a third connecting member 617 and a fifth connecting member 618; the third connecting member 617 is connected to a twenty-first driving member 616, and the twenty-first driving member 616 can drive the third connecting member 617 to perform a lifting motion; the fifth connecting member 618 is fixedly connected to the third connecting member 617, the fifth connecting member 618 is located below the third connecting member 617, and when the third connecting member 617 performs a lifting motion, the fifth connecting member 618 moves along with the third connecting member 617. Two first gripper arms are respectively arranged at both ends of the third connecting member 617; each first gripper arm includes a twenty-second driving member 615, a twenty-third driving member 613, a connecting member, and two movable clamping blocks 614; one end of the twenty-second driving member 615 is connected to the third connecting member 617, and the other end of the twenty-second driving member 615 is connected to a fourth connecting member 611; the fourth connecting member 611 is rotatably connected to the fifth connecting member 618 through a rotating shaft 612, and when the twenty-second driving member 615 is activated, the fourth connecting member 611 can rotate around the rotating shaft 612; the fourth connecting member 611 is also connected to the twenty-third driving member 613, and one twenty-third driving member 613 is connected to the two movable clamping blocks 614, and the twenty-third driving member 613 is used to drive the two movable clamping blocks 614 to approach or move away from each other, so that the two movable clamping blocks 614 clamp the binding wire.

[0081] Refer to Figure 15 and Figure 19 As shown in FIGS. and, the wire twisting assembly includes a clip assembly, a twenty-fourth driving member 623, a twenty-fifth driving member 624, and a sixth connecting member 625. The twenty-fourth driving member 623 is used to drive the clip assembly to clamp both ends of the binding wire located on the first gripper arm. The twenty-fourth driving member 623 is installed on the sixth connecting member 625, the twenty-fifth driving member 624 is connected to the sixth connecting member 625, and the twenty-fifth driving member 624 is used to drive the sixth connecting member 625 to rotate; the clip assembly includes a first movable clip 621 and a second movable clip 622. One end of the first movable clip 621 and one end of the second movable clip 622 are both connected to the twenty-fourth driving member 623. The twenty-fourth driving member 623 is used to drive the other end of the first movable clip 621 and the other end of the second movable clip 622 to approach or move away from each other. When the other end of the first movable clip 621 and the other end of the second movable clip 622 approach each other, both ends of the binding wire after bundling are clamped, and then the twenty-fifth driving member 624 drives the sixth connecting member 625 to rotate, so that the first movable clip 621 and the second movable clip 622 rotate along with the sixth connecting member 625, so that both ends of the binding wire are spirally wound.

[0082] Refer to Figure 22 and Figure 23, the jig 110 includes a first plate member 111, a first side plate 112 and a second side plate 113. The first side plate 112 and the second side plate 113 are respectively located on both sides of the first plate member 111. The first plate member 111 is used to place the leg wires of the detonator. The first side plate 112 is used to place the wire clips 115 of the detonator. The second side plate 113 is used to place the main body 114 of the detonator. The second side plate 113 is also provided with a through hole 117, and the through hole 117 is opposite to the plug 116 of the main body 114. When the twenty-sixth driving member 901 of the second auxiliary grasping device 900 drives the first push plate 910 to move upward, the convex strip 911 can pass through the through hole 117 to jack up the plug 116 of the main body 114 of the detonator, so as to jack up the main body 114 of the detonator.

[0083] It can be understood that the fourth driving member 343, the twelfth driving member 431, the fifteenth driving member 411, the eighteenth driving member 424, the twenty-fifth driving member 624, and the twenty-eighth driving member 325 are all driving motors. The first driving member 724, the second driving member 7301, the third driving member 728, the fifth driving member 332, the sixth driving member 334, the seventh driving member 3371, the eighth driving member 3383, the ninth driving member 312, the tenth driving member 316, the eleventh driving member 318, the thirteenth driving member 433, the fourteenth driving member 436, the sixteenth driving member 413, the seventeenth driving member 416, the nineteenth driving member 532, the twentieth driving member 550, the twenty-first driving member 616, the twenty-second driving member 615, the twenty-third driving member 613, the twenty-fourth driving member 623, the twenty-sixth driving member 901, the twenty-seventh driving member 830, and the twenty-ninth driving member 321 are all driving cylinders.

[0084] Refer to Figure 24 , the second aspect embodiment of the present application provides a method for demolding and bundling detonators, which can be applied to the detonator demolding and bundling equipment of the first aspect embodiment of the present application. The method includes but is not limited to step S1210, step S1220, step S1230, step S1240, step S1250, and step S1260.

[0085] Step S1210, the detonator grasping device grasps the detonator from the jig at the demolding station and transports the detonator to the flipping device located at the bundling station;

[0086] Step S1220, the flipping device receives the detonator transported by the detonator grasping device;

[0087] Step S1230, the flipping device flips the main body of the detonator towards the leg wires of the detonator;

[0088] Step S1240, the flipping device flips the wire clip of the detonator towards the leg wires;

[0089] Step S1250, the binding wire conveying device conveys the binding wire;

[0090] Step S1260, the bundling device grabs the binding wire conveyed by the binding wire conveying device and drives the binding wire to bundle the detonators.

[0091] It can be understood that step S1210 may include but is not limited to step 2010, step 2020, step 2030, step 2040, step 2050, step 2060 and step 2070.

[0092] Step 2010, the main body grabbing component grabs the main body of the detonator from the fixture;

[0093] Step 2020, the wire clip sucking component grabs the wire clip of the detonator from the fixture;

[0094] Step 2030, the leg wire grabbing component grabs the leg wire of the detonator from the fixture;

[0095] Step 2040, the main body grabbing component, the wire clip sucking component and the main body grabbing component move from the demolding station to the bundling station;

[0096] Step 2050, the main body grabbing component transfers the main body to the second storage part;

[0097] Step 2060, the wire clip sucking component transfers the wire clip to the third storage part;

[0098] Step 2070, the leg wire grabbing component transfers the leg wire to the first storage part.

[0099] It can be understood that step 1210 further includes:

[0100] The sucking sub-component sucks the wire clip;

[0101] The twenty-seventh driving part drives the first push block to push the sucking sub-component so that the wire clip is separated from the fixture.

[0102] The twenty-sixth driving part drives the first push plate to perform a lifting motion so that the convex strip jacks up the plug of the main body of the detonator.

[0103] It can be understood that step S1230 includes:

[0104] The second driving component drives the second storage part to turn over to the second side.

[0105] It can be understood that step S1240 includes:

[0106] The third driving component drives the third storage part to turn over to the second side.

[0107] The following refers to Figures 1 to 25, the specific working process when the detonator demoulding and bundling method in the second aspect embodiment of the present application is applied to the detonator demoulding and bundling equipment in the first aspect embodiment of the application is described in detail:

[0108] The first transportation component 710 transports the jig 110 to the second transportation component 720. The roller 725 of the second transportation component 720 drives the jig 110 to move, thereby transporting the jig 110 to the second bracket 722. The second bracket 722 is installed on the first bracket 721. The baffle 726 on the first bracket 721 can block the jig 110 to prevent the jig 110 from moving outside the first bracket 721. When the first sensor 727 senses that the jig 110 reaches the baffle 726, the first driving member 724 can drive the first bracket 721 to move up and down relative to the second bracket 722 to jack up the jig 110. After the jig 110 is jacked up, the third driving member 728 drives the hook member 729 to approach the jig 110, so that part of the hook member 729 abuts against the first side plate 112 of the jig 110, and part of the hook member 729 abuts against the second side plate 113 of the jig 110 to fasten the jig 110 and prevent the jig 110 from shaking during the demoulding process;

[0109] Then the wire clip suction component 330 moves above the demoulding station 100. The eighth driving member 3383 drives the wire clamp movable arm 3381 away from the wire clamp fixed arm 3382. The fifth driving member 332 drives the first mounting plate 333 to descend. The sixth driving member 334 drives the second mounting plate 335 to slide along the second slide rail 3331, so that the suction sub-component 337 is located above the wire clip 115 on the jig 110. The wire clamp movable arm 3381 and the wire clamp fixed arm 3382 both abut against the jig 110, and the wire corresponding to the wire clip 115 is passed through between the wire clamp movable arm 3381 and the wire clamp fixed arm 3382. Then the seventh driving member 3371 drives the suction cup 3372 to descend to suck the corresponding wire clip 115; the eighth driving member 3383 drives the wire clamp movable arm 3381 to approach the wire clamp fixed arm 3382 to clamp the wire corresponding to the wire clip 115; then the twenty-seventh driving member 830 drives the first push block 810 to push the suction sub-component 337, so that the suction sub-component 337 moves along the position of the wire in the jig 110 to separate the wire clip 115 from the jig 110.

[0110] Then, the ninth driving member 312 of the main body gripping assembly 310 drives the fourth mounting plate 313 to move downward relative to the third connecting plate 311, so that the main body gripping assembly 310 is located above the detonator main body 114 and close to the detonator main body 114. The tenth driving member 316 can drive the guiding member 317 to move up and down, so that the guiding member 317 abuts against the jig 110, and the notch of the guiding member 317 faces the main body 114 of the detonator. The eleventh driving member 318 drives the two main body movable clamping arms 314 to expand towards the main body fixed clamping arm 315. Then, the twenty-sixth driving member 901 of the second auxiliary gripping device 900 drives the first push plate 910 to move upward, so that the convex strip 911 passes through the through hole 117 of the second side plate 113 of the jig 110, and the convex strip 911 jacks up the plug 116 of the detonator main body 114 to jack up the detonator main body 114, so that the detonator main body 114 passes through the notch of the guiding member 317. Then, the eleventh driving member 318 drives the two main body movable clamping arms 314 to move closer to the main body fixed clamping arm 315 to clamp the detonator main body 114.

[0111] The twenty-ninth driving member 321 of the leg wire gripping assembly 320 drives the fourth connecting plate 322 to move downward relative to the first connecting plate 341, so that the leg wire gripping assembly 320 corresponds to the leg wire position on the jig 110. Then, the twenty-eighth driving member 325 is activated, and the first movable clamping arm 326 and the second movable clamping arm 327 slide along the fourth slide rail 329, and the first movable clamping arms 326 approach each other to clamp the leg wire on the jig 110.

[0112] The first bracket 721 moves downward along the first guide rail 723 and transports the jig 110 plate to the third transport assembly 730. Then, the third transport assembly 730 moves the jig 110 away from the detonator demolding and bundling equipment.

[0113] The fourth driving member 343 is activated, and the first connecting plate 341 slides along the first lead screw 342, so that the main body gripping assembly 310, the wire clip suction assembly 330, and the leg wire gripping assembly 320 move from above the demolding station 100 to above the bundling station 200, and the bundling assembly 610 is located above the wire tying conveying device 500.

[0114] When the main body gripping component 310, the wire clip suction component 330, and the leg wire gripping component 320 move above the bundling station, the seventh driving member 3371 drives the suction cup 3372 to place the wire clip 115 onto the third storage member 415; and, the fifteenth driving member 411 drives the sixteenth driving member 413 to slide along the sixth slide rail 412. When the sixteenth driving member 413 slides along the sixth slide rail 412, the second rotating rod 414, the seventeenth driving member 416, and the third storage member 415 all slide along with the sixteenth driving member 413, so that all the suction cups 3372 can place the wire clips 115 into the third storage member 415. Then, the eleventh driving member 318 of the gripping sub-component of the main body gripping component 310 drives the two main body movable clamping arms 314 to expand towards the main body fixed clamping arm 315, so that the main body 114 of the detonator on the gripping sub-component is placed into the second storage member 435 of the main body storage component 430, and the twelfth driving member 431 drives the thirteenth driving member 433 to slide along the fifth slide rail 432. The second storage member 435 slides along with the thirteenth driving member 433, so that all the gripping sub-components can place the main body 114 of the detonator onto the second storage member 435. Then, the twenty-eighth driving member 325 of the leg wire gripping component 320 is activated, and the first movable clamping arm 326 and the second movable clamping arm 327 slide along the fourth slide rail 329, and the first movable clamping arm 326 and the second movable clamping arm 327 move away from each other, so that the leg wires on the first movable clamping arm 326 and the second movable clamping arm 327 fall into the first storage plate 422 of the leg wire storage component 420; then, the eighteenth driving member 424 drives the first converging clamping piece 421 and the second converging clamping piece 423 to approach each other, so that the leg wires on the first storage plate 422 are converged.

[0115] The thirteenth driving member 433 drives the first rotating rod 434 to rotate 180 degrees around the thirteenth driving member 433, and the fourteenth driving member 436 and the second storage member 435 rotate along with the first rotating rod 434, so that the main body storage component 430 is flipped to the second side of the leg wire storage component 420; then, the thirteenth driving member 433 drives the first rotating rod 434 to rotate 180 degrees, and the fourteenth driving member 436 and the second storage member 435 rotate along with the first rotating rod 434, so that the wire clip storage component 410 is flipped to the first side of the leg wire storage component 420. Then, the fourteenth driving member 436 drives the second storage member 435 to descend, so that the second storage member 435 is separated from the main body 114 placed on the second storage member 435; then, the seventeenth driving member 416 drives the third storage member 415 to descend, so that the third storage member 415 is separated from the wire clips 115 placed on the third storage member 415.

[0116] The tying wire spool 510 releases the tying wire and conveys the tying wire to the wire releasing member 520, such that the tying wire is located in the wire releasing groove. When the second inductor 540 senses that the tying wire is located in the wire releasing groove, the nineteenth driving member 532 drives the cutter 531 to rise to cut the tying wire. The twentieth driving member 550 drives the wire releasing member 520 to rise; the wire tying assembly 610 is located above the tying wire conveying device 500. Then, the twenty-first driving member 616 drives the third connecting member 617 to perform a lifting motion. The twenty-second driving member 615 of the first gripping arm is activated, such that the fourth connecting member 611 rotates 90 degrees around the rotating shaft 612, so that the fourth connecting member 611 is flush with the fifth connecting member 618. Then, the twenty-third driving member 613 is used to drive the two movable clamping blocks 614 to approach or move away from each other, so that the two movable clamping blocks 614 clamp the tying wire on the wire releasing member 520. Thus, the first gripping arm grabs the tying wire on the wire releasing member. Then, the fourth driving member 343 is activated, and the first connecting plate 341 slides along the first lead screw 342, such that the main body gripping assembly 310, the wire clip suction assembly 330, and the foot wire gripping assembly 320 move from above the bundling station 200 to above the demolding station 100, and the wire tying assembly 610 moves to above the bundling station 200. Then, the twenty-first driving member 616 drives the third connecting member 617 to perform a lifting motion, such that the two first gripping arms are respectively located on both sides of the wire twisting assembly, and the foot wire is located between the two first gripping arms; then, the twenty-second driving member 615 of the first gripping arm is activated, such that the fourth connecting member 611 rotates around the rotating shaft 612, so that the fourth connecting member 611 is perpendicular to the fifth connecting member 618, and the fourth connecting member 611 is located below the fifth connecting member 618. At this time, the two first clamping arms approach each other. Then, the first movable clip piece 621 and the second movable clip piece 622 of the wire twisting assembly are both connected to the twenty-fourth driving member 623. The twenty-fourth driving member 623 is used to drive the other end of the first movable clip piece 621 and the other end of the second movable clip piece 622 to approach or move away from each other. The twenty-fourth driving member 623 drives the other end of the first movable clip piece 621 and the other end of the second movable clip piece 622 to approach each other to clamp both ends of the tying wire; then, the twenty-fifth driving member 624 drives the sixth connecting member 625 to rotate, such that the first movable clip piece 621 and the second movable clip piece 622 rotate along with the sixth connecting member 625, so that both ends of the tying wire are spirally wound. Thus, the bundling process is completed.

[0117] The embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the spirit of the present application.

Claims

1. A detonator demoulding and bundling device, characterized in that There is provided with: A demolding station for placing a jig; a detonator is placed on the jig; A bundling station; A detonator gripping device for gripping the detonator from the jig on the demolding station and transporting the detonator to the bundling station; A turning device provided at the bundling station for receiving the detonator conveyed by the detonator gripping device, turning the main body of the detonator towards the legwire direction, and also turning the wire clip of the detonator towards the legwire direction; A binding wire conveying device provided on one side of the bundling station for conveying binding wire; A bundling device for gripping the binding wire on the binding wire conveying device and driving the binding wire to bundle the detonator; The detonator gripping device includes: A main body gripping component for gripping the main body of the detonator from the jig; A wire clip sucking component oppositely arranged with the main body gripping component for gripping the wire clip of the detonator from the jig; A legwire gripping component arranged between the main body gripping component and the wire clip sucking component for gripping the legwire of the detonator from the jig; The turning device includes: A legwire storage component provided with a first storage member for receiving the legwire conveyed by the legwire gripping component; A main body storage component located on the first side of the legwire storage component, the main body storage component is provided with a second storage member and a second driving component, the second storage member is for receiving the main body conveyed by the main body gripping component; A wire clip storage component located on the second side of the legwire storage component, the first side and the second side are opposite to each other, the legwire storage component is arranged between the main body storage component and the wire clip storage component, the wire clip storage component is provided with a third storage member and a third driving component, the third storage member is for receiving the wire clip conveyed by the wire clip sucking component; the second driving component is for driving the second storage member to turn towards the second side; the third driving component is for driving the third storage member to turn towards the first side; The legwire storage component includes an eighteenth driving member, the first storage member includes a first storage plate, a first gathering clip and a second gathering clip, the first gathering clip is connected to the first storage plate, the first storage plate is for placing the legwire, the first storage plate is located between the first gathering clip and the second gathering clip; the eighteenth driving member connects the first gathering clip and / or the second gathering clip, and the eighteenth driving member is for driving the first gathering clip and the second gathering clip to approach or move away from each other; The detonator grasping device is further provided with a first driving assembly and a first connecting plate, and the first connecting plate is respectively connected to the main body grasping assembly, the wire clip sucking assembly, and the leg wire grasping assembly; the first driving assembly is used to drive the first connecting plate to move between the demolding station and the bundling station; The wire clip sucking assembly includes a sucking sub-assembly, and the sucking sub-assembly is used to suck the wire clip; The detonator demolding and bundling device is further provided with a first auxiliary grasping device, and the first auxiliary grasping device is arranged on one side of the demolding station. The first auxiliary grasping device includes a first pushing block and a twenty-seventh driving member, and the first pushing block is connected to the twenty-seventh driving member. After the sucking sub-assembly sucks the wire clip, the twenty-seventh driving member is used to drive the first pushing block to push the sucking sub-assembly, so that the wire clip is separated from the jig.

2. The detonator demoulding and bundling device according to claim 1, characterized in that, A transportation device is further provided, and the transportation device includes a first transportation assembly, a second transportation assembly, and a third transportation assembly. The second transportation assembly is arranged on the demolding station, and when the first connecting plate is located at the demolding station, the second transportation assembly is located below the first connecting plate; the first transportation assembly is used to transport the jig with detonators placed thereon to the second transportation assembly; the second transportation assembly is used to transport the jig to the third transportation assembly; the third transportation assembly is used to remove the jig.

3. The detonator demolding and bundling device according to claim 2, characterized in that, The third transportation assembly is located below the first transportation assembly. The second transportation assembly includes a first bracket and a second driving member, and the second driving member is connected to the first bracket. The second driving member is used to drive the first bracket to perform a lifting movement, so that the height of the first bracket can be selected to correspond to the height of the first transportation assembly or the height of the third transportation assembly.

4. The detonator demoulding and bundling device according to claim 3, wherein, The second transportation assembly further includes a roller. A baffle is arranged on one side of the first bracket, and the baffle is used to block the jig on the roller; a first sensor is arranged on the baffle, and the first sensor is used to sense the position of the jig on the roller.

5. The detonator demoulding and bundling device according to claim 4, wherein, The second transportation assembly is provided with a locking assembly, and the locking assembly includes a second bracket, a hook member, a third driving member, and a first driving member. The second bracket is installed on the first bracket, and the first driving member is arranged at the bottom of the second bracket and is located between the first bracket and the second bracket. The first driving member is used to drive the first bracket to perform a lifting movement; The third driving member and the hook member are arranged on the side wall of the first bracket, and the third driving member is connected to the hook member. When the first driving member drives the first bracket to rise, the third driving member is used to drive the hook member to approach or move away from the jig placed on the second bracket to fasten the jig.

6. The detonator demoulding and bundling device according to claim 2, characterized in that, A second auxiliary grasping device is also provided. The second auxiliary grasping device is arranged on the outer side wall of the first bracket, and the second auxiliary grasping device is located below the fixture. The second auxiliary grasping device includes a twenty-sixth driving member and a first pushing plate. The twenty-sixth driving member is connected to the first pushing plate. A rib is arranged on the first pushing plate. The twenty-sixth driving member is used to drive the first pushing plate to move up and down, so that the rib jacks up the plug of the main body of the detonator.

7. The detonator demoulding and bundling device according to claim 6, characterized in that, The first pushing plate is further provided with a support plate. A support groove is arranged on the support plate. The support grooves correspond to the ribs one by one. The support grooves are used to support the main body when the ribs jack up the plug of the main body of the detonator.

8. The detonator demoulding and bundling device according to claim 1, characterized in that, The binding wire conveying device includes a binding wire material shaft, a wire releasing member, a wire cutting assembly and a second inductor; the binding wire material shaft is used to release the binding wire; the wire releasing member is arranged on one side of the binding wire material shaft. The wire releasing member is provided with a wire releasing groove for placing the binding wire released by the binding wire material shaft; the wire cutting assembly is located between the wire releasing member and the binding wire material shaft. The second inductor is arranged at one end of the wire releasing member away from the binding wire material shaft. The second inductor is used to sense the binding wire.

9. The detonator demolding and bundling device according to claim 8, wherein, The detonator grasping device is further provided with a first driving assembly and a first connecting plate. The first driving assembly includes a first lead screw and a fourth driving member; the first connecting plate is respectively connected to the main body grasping assembly, the wire clip sucking assembly and the leg wire grasping assembly; the first connecting plate is slidably installed on the first lead screw. The fourth driving member is used to drive the first connecting plate to slide along the first lead screw; The bundling device includes a bundling wire assembly. The bundling device is connected to the first connecting plate. When the fourth driving member drives the first connecting plate to slide, the bundling wire assembly can move between the bundling station and the binding wire conveying device. The bundling wire assembly includes a first grasping arm for grasping the binding wire on the wire releasing groove and driving the binding wire to bundle the detonator.

10. The detonator demoulding and bundling device according to claim 9, characterized in that, The bundling device further includes a wire twisting assembly located at the bundling station; the wire twisting assembly includes a clip assembly, a twenty-fourth driving member, a twenty-fifth driving member and a sixth connecting member. The twenty-fourth driving member is installed on the sixth connecting member. The twenty-fifth driving member is connected to the sixth connecting member. The twenty-fifth driving member is used to drive the sixth connecting member to rotate; the twenty-fourth driving member is used to drive the clip assembly to clamp both ends of the binding wire located on the first grasping arm.

11. A method for demolding and bundling detonators, characterized in that, Applied to the detonator demoulding and bundling equipment according to any one of claims 1 to 10; The method includes: The detonator grasping device grasps the detonator from the fixture at the demoulding station and conveys the detonator to the flipping device located at the bundling station; The flipping device receives the detonator conveyed by the detonator grasping device; The flipping device flips the main body of the detonator towards the leg wire of the detonator; The flipping device flips the wire clip of the detonator towards the leg wire; The binding wire conveying device conveys binding wires; The bundling device grabs the binding wires conveyed by the binding wire conveying device and drives the binding wires to bundle the detonators; The detonator grabbing device includes a main body grabbing component, a wire clip sucking component and a leg wire grabbing component. The wire clip sucking component is disposed opposite to the main body grabbing component, and the leg wire grabbing component is disposed between the main body grabbing component and the wire clip sucking component; The flipping device includes a leg wire storage component, a main body storage component and a wire clip storage component. The leg wire storage component is provided with a first storage member. The main body storage component is located on the first side of the leg wire storage component. The main body storage component is provided with a second storage member and a second driving component; the wire clip storage component is located on the second side of the leg wire storage component. The first side and the second side are opposite to each other. The leg wire storage component is disposed between the main body storage component and the wire clip storage component. The wire clip storage component is provided with a third storage member and a third driving component; The leg wire storage component includes an eighteenth driving member. The first storage member includes a first storage plate, a first gathering clip and a second gathering clip. The first gathering clip is connected to the first storage plate. The first storage plate is used for placing the leg wires. The first storage plate is located between the first gathering clip and the second gathering clip; the eighteenth driving member is connected to the first gathering clip and / or the second gathering clip. The eighteenth driving member is used for driving the first gathering clip and the second gathering clip to approach or separate from each other; The detonator grabbing device grabs the detonators from the fixture at the demolding station and conveys the detonators to the flipping device located at the bundling station, including: The main body grabbing component grabs the main body of the detonator from the fixture; The wire clip sucking component grabs the wire clips of the detonator from the fixture; The leg wire grabbing component grabs the leg wires of the detonator from the fixture; The main body grabbing component, the wire clip sucking component and the main body grabbing component move from the demolding station to the bundling station; The main body grabbing component transfers the main body to the second storage member; The wire clip sucking component transfers the wire clips to the third storage member; The leg wire grabbing component transfers the leg wires to the first storage member.

12. The detonator demolding and bundling method according to claim 11, characterized in that The detonator grabbing device grabs the detonators from the fixture at the demolding station and conveys the detonators to the flipping device located at the bundling station, and further includes: The sucking sub-component sucks the wire clips; The twenty-seventh driving member drives the first push block to push the sucking sub-component, so that the wire clips are separated from the fixture.

13. The detonator demolding and bundling method according to claim 11, characterized in that The detonator grabbing device grabs the detonators from the fixture at the demolding station and conveys the detonators to the flipping device located at the bundling station, and further includes: The twenty-sixth driving member drives the first push plate to perform a lifting motion, so that the convex strip jacks up the plug of the main body of the detonator.

14. The detonator demoulding and bundling method according to claim 11, characterized in that, The flipping device flips the main body of the detonator towards the detonator leg wire and includes: The second driving component drives the second storage member to flip towards the second side; The flipping device flips the wire clip of the detonator towards the detonator leg wire and includes: The third driving component drives the third storage member to flip towards the first side.

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