An automatic assembly device for initiating lead of a pyrotechnic product

Abstract

The application provides a device for automatically assembling ignition lead of initiating explosive, which comprises rotating positioning mechanism, lead pushing mechanism, body pushing mechanism and lead grabbing mechanism. The rotating positioning mechanism is used for placing initiating explosive cabin and rotating according to the set angle. The lead pushing mechanism comprises soft claws and soft claw support, and the soft claw support is circular ring structure. The parallel gas claws of the body pushing mechanism pass through the circular ring to clamp the body of initiating explosive and displace along the axial direction. The soft claws are distributed on the circumference of the soft claw support and can clamp the connector of the end of the lead of initiating explosive. The lead grabbing mechanism is installed at one end of the pull rod and is placed in the cabin of initiating explosive. The pull power source controls the up-down movement and positioning of the pull rod. The rubber gas claw of the lead grabbing mechanism passes through the through hole of the cabin wall and extends out of the cabin. The connector of the end of the lead is clamped and pulled into the cabin, and is lifted to the end surface of the cabin with the pull rod. The device can reliably protect the ignition lead in the automatic assembly link.

Description

Technical Field

[0001] This invention belongs to the field of automatic assembly of pyrotechnic products, and relates to an automatic assembly device for ignition leads of igniters in an automated assembly process. Background Technology

[0002] Devices containing pyrotechnics are typically complex products, requiring other equipment to be connected to them via cables. Because pyrotechnics are special products with a high risk of explosion, preventing accidental ignition is a crucial issue that must be addressed during their testing.

[0003] With the increasing orders for pyrotechnic products, traditional manual assembly methods can no longer meet production needs, posing significant risks and low efficiency. Various professional fields are researching automated assembly techniques. However, most pyrotechnic products include ignition leads of a certain length for electrical energy input during operation. Handling these leads in automated assembly is complex due to their irregular shape and flexibility, making them difficult to arrange systematically and posing considerable challenges. Currently, most products with ignition leads are assembled using a combination of human and machine methods. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides an automatic assembly device for pyrotechnic ignition leads. For pyrotechnic ignition leads, the device can reliably protect the ignition leads during the automatic assembly process, ensuring that the ignition leads are not damaged while achieving automatic assembly of threaded structural components.

[0005] The technical solution adopted by the present invention to solve its technical problem is: an automatic assembly device for ignition leads of pyrotechnic products, including a rotary positioning mechanism, a lead pushing mechanism, a body pushing mechanism and a lead gripping mechanism.

[0006] The rotary positioning mechanism is used to place the pyrotechnic chamber and rotate it at a set angle; the body pushing mechanism includes a parallel gas gripper and a shaft seat. The parallel gas gripper is mounted on the shaft seat and can clamp the pyrotechnic body under the drive of a gas source. The shaft seat pushes the parallel gas gripper to move axially along the pyrotechnic body through a cylinder; the lead wire pushing mechanism includes a flexible claw and a flexible claw support. The flexible claw support is a circular ring structure and can move axially under the drive of a pushing power source. The parallel gas gripper passes through the center of the ring and clamps the pyrotechnic body. The flexible claws are evenly distributed on... The flexible claw support is located on the circumference of the ring and can retract towards the central axis of the ring under the drive of the air source to clamp the connector at the end of the pyrotechnic wire. The wire gripping mechanism includes a wire pulling rod, a wire pulling power source, and a wire gripping rubber gas claw. The wire gripping rubber gas claw is installed at one end of the wire pulling rod and placed inside the pyrotechnic compartment. The wire pulling power source controls the up and down movement and positioning of the wire pulling rod. When the wire pushing mechanism pushes the wire to the vicinity of the compartment opening, the wire gripping rubber gas claw extends out of the compartment through the through hole in the compartment wall, clamps the electrical connector at the end of the wire, pulls it into the compartment, and is lifted to the outside of the compartment end face along with the wire pulling rod.

[0007] The rotary positioning mechanism includes an electric turntable and a positioning adapter; the electric turntable is a worm gear mechanism driven by a servo motor, with a worm gear at the output end. The servo motor precisely controls the rotation angle of the worm gear and achieves locking. The top of the worm gear turntable is threadedly connected to the positioning adapter, and the upper part of the positioning adapter mates with the outer cylindrical surface of the pyrotechnic chamber.

[0008] The electric turntable has graduations on its circumference, with a minimum division of 1°; the positioning and transfer tooling has a zero mark on the corresponding cabin positioning pin position.

[0009] The lead wire pushing mechanism includes a flexible claw, a flexible claw support, a pushing slider, and a pushing power source. The flexible claw is pneumatically driven and switches between a relaxed state and a clamping state. The flexible claw support is fixed to the pushing slider, which moves along the axial direction of the pyrotechnic device. The gap formed by the three flexible claws in the clamping state is larger than the lead wire diameter but smaller than the diameter of the lead wire end connector. The pushing power source pushes the flexible claw to straighten the lead wire to a horizontal state.

[0010] The body pushing mechanism includes a parallel pneumatic gripper, an adapter shaft, a bearing seat, and a tightening power source. The parallel pneumatic gripper has a two-lobed symmetrical structure, with opposing protrusions on opposite sides of the two lobes. After the protrusions enter the pyrotechnic body, the air source drives the pneumatic gripper to clamp through the air inlet valve, thereby fixing the pyrotechnic body. The bearing seat realizes the axial displacement of the pyrotechnic body through a cylinder. The adapter shaft connects the parallel pneumatic gripper and the tightening power source.

[0011] The lead wire gripping mechanism also includes a cylinder for pushing the gripping rubber claw to move along its own axis.

[0012] The beneficial effects of this invention are:

[0013] 1) The lead positioning claw slides on the track through the adapter, which can meet the assembly requirements of ignition leads of different lengths;

[0014] 2) After the gripper picks up the lead wire connector from inside the cabin, it lifts and fixes it on the lead wire placement fixture on the upper side of the cabin, providing effective protection for the assembled lead wire.

[0015] 3) The use of this invention can effectively solve the safety protection of ignition leads in the automatic assembly process of pyrotechnic products with ignition leads, which is a technical prerequisite for realizing the automatic assembly of such products. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of an automatic assembly device for ignition leads of pyrotechnic products, provided as an example of the present invention.

[0017] Figure 2 This is a schematic diagram of the body pushing mechanism and the lead wire pushing mechanism.

[0018] Figure 3 This is a schematic diagram of a rotary positioning fixture.

[0019] Figure 4 This is a schematic diagram of the lead wire pushing mechanism.

[0020] Figure 5 This is a schematic diagram of the main body pushing mechanism.

[0021] Figure 6 This is a schematic diagram of the lead wire gripping mechanism.

[0022] Figure 7 This is a flowchart for protecting the ignition lead wire.

[0023] In the diagram, 1-rotary positioning mechanism, 2-lead wire pushing mechanism, 3-body pushing mechanism, 4-lead wire gripping mechanism, 5-electric turntable, 6-positioning adapter fixture, 7-flexible gripper, 8-flexible gripper support, 9-pushing slider, 10-pushing power source, 11-parallel pneumatic gripper, 12-adapter shaft, 13-shaft seat, 14-tightening power source, 15-pull rod, 16-pull power source, 17-gripping rubber pneumatic gripper. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments. The present invention includes, but is not limited to, the following embodiments.

[0025] like Figure 1 As shown, the ignition lead protection device involved in this invention consists of a rotary positioning mechanism 1, a lead pushing mechanism 2, a body pushing mechanism 3, and a lead gripping mechanism 4.

[0026] like Figure 3 As shown, the rotary positioning mechanism 1 consists of an electric turntable 5 and a positioning and transfer fixture 6, which is used for the transfer and fixation of the pyrotechnic chamber. The pyrotechnic chamber is loaded manually or by equipment and then fixed in the fixture.

[0027] The electric turntable is a worm gear mechanism driven by a servo motor, with a worm gear at the output end. The servo motor can precisely control the rotation angle of the worm gear and achieve locking. The top of the worm gear turntable has a threaded mounting hole for connecting a positioning adapter. The circumferential surface of the worm gear turntable is engraved with a scale, with a minimum division of 1°. The bottom of the positioning adapter connects to the threaded mounting hole on the worm gear turntable, and the upper part of the adapter mates with the outer circular surface of the cabin. The zero position mark is engraved on the adapter corresponding to the cabin positioning pin position.

[0028] like Figure 4 As shown, the lead wire pushing mechanism 2 consists of a flexible claw 7, a flexible claw support 8, a pushing slider 9, and a pushing power source 10, and is used to push leads of different specifications. During pushing, the pyrotechnic product body remains stationary.

[0029] The flexible claw is pneumatically driven and has two states: a relaxed state and a clamped state. The flexible claw support is fixed to the push slider, which moves axially along the workpiece (which can be simplified to a cylindrical shape). The gap formed by the three clamped states of the flexible claw is larger than the diameter of the lead wire but smaller than the diameter of the connector at the end of the lead wire. The push power source pushes the flexible claw to straighten the lead wire to a horizontal state until the flexible claw reaches the connector at the end of the lead wire and the push stops.

[0030] like Figure 5 As shown, the main body pushing mechanism 3 consists of a parallel pneumatic gripper 11, a connecting shaft 12, a bearing seat 13, and a tightening power source 14.

[0031] The parallel gripper has a two-lobed symmetrical structure. After the parallel gripper protrusion enters the pyrotechnic body, the air source drives the gripper to clamp through the air inlet valve, thereby fixing the pyrotechnic body. The shaft seat can realize the axial displacement of the pyrotechnic body through the cylinder. The adapter shaft connects the parallel gripper and the tightening power source.

[0032] like Figure 6 As shown, the lead wire gripping mechanism 4 consists of a pull rod 15, a pull power source 16, and a gripping rubber gripper 17. The gripping rubber gripper uses a separate air source to clamp and release the wire. The pull power source (usually a servo motor) controls the up-and-down movement and positioning of the pull rod. When the lead wire pushing mechanism pushes the lead wire to the vicinity of the cabin opening, the gripping rubber gripper opens to clamp the electrical connector at the end of the lead wire and pulls it into the cabin, where it is then pulled out by the pull rod.

[0033] The aforementioned pulling action refers to the pulling and moving action of the wire, and the grabbing action refers to the grabbing action of the wire, which is used to grab the lead wire delivered by the lead wire pushing mechanism and pull it into the pyrotechnic chamber.

[0034] The electric turntable of the rotary positioning mechanism can achieve fixed-angle rotation via a servo motor. The positioning adapter has a turntable connection hole and a cabin connection hole, which can realize 360° rotation and locking of the cabin.

[0035] After the chamber is positioned, the workpiece with the lead wire is manually placed at the end of the parallel pneumatic gripper of the pyrotechnic product body pushing mechanism. The parallel pneumatic gripper clamps and fixes the body. When the pushing power source pushes the flexible gripper to slide to the lead wire end, the flexible gripper is pneumatically controlled to switch to a retracted state. The gap formed by the three flexible grippers is larger than the lead wire diameter but smaller than the diameter of the connector at the end of the lead wire. After the three flexible grippers grasp the lead wire under the control of the flexible gripper air inlet valve, the pushing power source drives the flexible gripper support to continue pushing towards the opening in the chamber, straightening the lead wire to a horizontal straight state to the end of the lead wire. At this time, the pyrotechnic product body remains stationary.

[0036] The power source drives the pull rod and the gripping rubber gripper to move to the corresponding hole in the cabin. After the gripping rubber gripper extends out of the hole (there is also a small cylinder here for horizontal displacement), the air source controls it to open, clamping the end of the lead wire pushed by the lead wire pushing mechanism and bringing it into the cabin. After the gripping rubber gripper grabs the lead wire and enters the cabin, the power source drives the pull rod to move upward, pulling the connector at the end of the lead wire to the top of the cabin.

[0037] Taking a certain cabin as an example, the outer diameter of the cabin is 200mm, and more than 100 small pyrotechnic devices (with ignition fuses) need to be installed on its outer surface. Through the use of this invention, effective protection of the ignition fuses can be achieved. The implementation process is as follows:

[0038] 1) First, install the cabin in the rotary positioning fixture. The servo motor drives the cabin mounted on the electric turntable, and controls the rotation angle of the servo motor to achieve cabin positioning.

[0039] 2) The workpiece is mounted on a parallel pneumatic gripper and clamped and fixed by the action of a cylinder;

[0040] 3) After the product is reliably positioned, the flexible claw slides to the vicinity of the product. The flexible claw grabs the ignition wire and moves it towards the chamber under the action of the wire pushing mechanism until the wire is straightened. At this time, the pyrotechnic product body does not move.

[0041] 4) Inside the cabin, the rubber gripper waits for the ignition lead in the corresponding empty space. When the end of the lead approaches the corresponding empty space, the gripper extends and grabs the lead connector. After retracting into the cabin, it is lifted to the top of the cabin. At the same time, the small pyrotechnic device moves into the cabin to complete the assembly of the thread with the cabin.

[0042] 5) After the lead wire connector reaches the upper end of the cabin, insert the lead wire connector into the corresponding slot of the lead wire placement fixture to complete the assembly of a workpiece with a lead wire and the protection of the lead wire.

[0043] 6) After one piece is installed, the electric turntable rotates the cabin at a certain angle to assemble the next product.

Claims

1. An automatic assembly device for ignition leads of pyrotechnic products, comprising a rotary positioning mechanism, a lead pushing mechanism, a body pushing mechanism, and a lead gripping mechanism, characterized in that, The rotary positioning mechanism is used to place the pyrotechnic chamber and rotate it at a set angle; the body pushing mechanism includes a parallel gas gripper and a shaft seat. The parallel gas gripper is mounted on the shaft seat and can clamp the pyrotechnic body under the drive of a gas source. The shaft seat pushes the parallel gas gripper to move axially along the pyrotechnic body through a cylinder; the lead wire pushing mechanism includes a flexible claw and a flexible claw support. The flexible claw support is a ring structure and can move axially along its own axis under the drive of a pushing power source. The parallel gas gripper passes through the center of the ring and clamps the pyrotechnic body. The flexible claws are evenly distributed on the circumference of the flexible claw support and can retract towards the central axis of the ring under the drive of the air source to clamp the lead end connector of the pyrotechnic device; the lead pushing mechanism also includes a pushing slider and a pushing power source, the flexible claws are air-driven and switch between a relaxed state and a clamping state; the flexible claw support is fixed to the pushing slider, and the pushing slider moves along the axial direction of the pyrotechnic device; the gap formed by the three flexible claws in the clamping state is larger than the lead diameter and smaller than the lead end connector diameter; the pushing power source pushes the flexible claws to straighten the lead to a horizontal state; The lead wire gripping mechanism includes a pull rod, a pull power source, and a gripping rubber gripper. The gripping rubber gripper is installed at one end of the pull rod and placed inside the pyrotechnic chamber. The pull power source controls the up-and-down movement and positioning of the pull rod. When the lead wire pushing mechanism pushes the lead wire to the vicinity of the chamber opening, the gripping rubber gripper extends out of the chamber through the chamber wall through-hole, clamps the electrical connector at the end of the lead wire, pulls it into the chamber, and is then lifted out of the chamber end face along with the pull rod.

2. The automatic assembly device for ignition leads of pyrotechnic products according to claim 1, characterized in that, The rotary positioning mechanism includes an electric turntable and a positioning adapter; the electric turntable is a worm gear mechanism driven by a servo motor, with a worm gear at the output end. The servo motor precisely controls the rotation angle of the worm gear and achieves locking. The top of the worm gear turntable is threadedly connected to the positioning adapter, and the upper part of the positioning adapter mates with the outer cylindrical surface of the pyrotechnic chamber.

3. The automatic assembly device for ignition leads of pyrotechnic products according to claim 2, characterized in that, The electric turntable has graduations on its circumference, with a minimum division of 1°; the positioning and transfer tooling has a zero mark on the corresponding cabin positioning pin position.

4. The automatic assembly device for ignition leads of pyrotechnic products according to claim 1, characterized in that, The body pushing mechanism includes a parallel pneumatic gripper, an adapter shaft, a bearing seat, and a tightening power source. The parallel pneumatic gripper has a two-lobed symmetrical structure, with opposing protrusions on opposite sides of the two lobes. After the protrusions enter the pyrotechnic body, the air source drives the pneumatic gripper to clamp through the air inlet valve, thereby fixing the pyrotechnic body. The bearing seat realizes the axial displacement of the pyrotechnic body through a cylinder. The adapter shaft connects the parallel pneumatic gripper and the tightening power source.

5. The automatic assembly device for ignition leads of pyrotechnic products according to claim 1, characterized in that, The lead wire gripping mechanism also includes a cylinder for pushing the gripping rubber claw along its own axial direction.

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