Automatic detonator medicine feeding method

Abstract

The application belongs to the technical field of initiating explosive production, and particularly relates to an automatic medicine dispensing and conveying method for initiating explosive. Since the Y-direction lead screw guide assembly provides single-axis movement of the carrier plate, only an XZ double-axis movement module needs to be arranged on the rack away from the first fixed flow line to realize automatic medicine dispensing of multiple loading holes in the rectangular array on the carrier plate, and the structure is more stable and accurate. Since the medicine dispensing line is away from the first fixed flow line and the second fixed flow line during medicine dispensing, the medicine dispensing position is more open. By arranging a positioning hole plate and a lifting support on the medicine dispensing line, when the carrier plate flows to below the positioning hole plate, the carrier plate is lifted upward by controlling the lifting support, the first through hole of the positioning hole plate and the loading hole of the carrier plate are one-to-one corresponding, the upper edge of the initiating explosive shell is pressed against the lower part of the positioning hole plate to be fixed, so that the initiating explosive shell is prevented from shaking during medicine dispensing.

Description

Technical Field

[0001] This invention belongs to the field of pyrotechnics production technology, and particularly relates to an automatic ignition and delivery method for pyrotechnics. Background Technology

[0002] Ignition is a common process in pyrotechnics. Currently, ignition of pyrotechnics is mostly done manually. Glue is added to the agent to prepare a gel-like ignition powder, which is then manually applied to the ignition point of the pyrotechnic using a thin wooden stick. A major problem with this method is that the ignition point is inaccurate, the amount of ignition powder is not precisely controlled, and the performance of products processed by different people varies greatly. Defective products can only be eliminated through subsequent weighing and visual inspection, resulting in a low pass rate and unstable quality. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an automatic ignition and delivery method for pyrotechnics, which has the advantages of high ignition efficiency and accurate ignition position.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] An automatic pyrotechnic charging and conveying method, based on a support base, wherein the automatic pyrotechnic charging device includes:

[0006] frame;

[0007] A first fixed conveyor line is connected to the frame and is provided with a first conveyor belt in the X direction.

[0008] The second fixed conveyor line is connected to the frame and is provided with a second conveyor belt in the X direction. The second fixed conveyor line is located in the X direction of the first fixed conveyor line and there is a gap between the first fixed conveyor line and the second fixed conveyor line.

[0009] Y-axis lead screw guide rail assembly, wherein the Y-axis lead screw guide rail assembly is disposed between the first fixed flow line and the second fixed flow line;

[0010] The transfer line includes a movable seat, which is slidably connected to a Y-axis lead screw guide rail assembly; a lifting support seat is connected to the movable seat, and a positioning hole plate is fixedly connected to the movable seat. The positioning hole plate has multiple first through holes distributed in a rectangular array. The positioning plate is located directly above the lifting support seat, and a third conveyor belt with the X-axis conveying direction is provided on both sides of the lifting support seat.

[0011] The carrier plate is provided with loading holes that correspond one-to-one with the first through hole, and the loading holes are used to position and load the shell of the pyrotechnic item;

[0012] The XZ dual-axis moving module is located above the Y-axis lead screw guide assembly and is located on the Y-axis side of the first fixed flow line.

[0013] A camera, which is connected to the XZ dual-axis motion module, and the projection direction of the camera is vertically downward;

[0014] A dispensing device, comprising a dispensing cylinder connected to an XZ dual-axis moving module, wherein the lower part of the dispensing cylinder has a vertically downward dispensing port;

[0015] The automatic ignition and delivery method for pyrotechnic items includes the following steps:

[0016] S1: Control the moving seat of the transfer line to move to the position between the first fixed transfer line and the second fixed transfer line, so that a continuous conveying channel is formed between the first conveyor belt, the third conveyor belt and the second conveyor belt;

[0017] S2: The carrier plate with the pyrotechnic shell in the loading hole is placed on the first fixed transfer line, and the first fixed transfer line transfers the carrier plate to the conveyor belt of the transfer line;

[0018] S3: When the carrier plate moves to the position between the lifting support and the positioning hole plate, control the lifting support to move upward, so that the upper edge of the pyrotechnic shell on the carrier plate presses against the lower part of the positioning hole plate, so that the first through hole and the loading hole are aligned one by one.

[0019] S4: Control the transfer line to move in the Y direction so that the axis of one row of unlit loading holes on the carrier plate is in the same vertical plane as the axis of the dispensing nozzle of the dispensing cartridge, and the vertical plane is perpendicular to the Y direction;

[0020] S5: The XZ dual-axis moving module sequentially moves the camera to above each loading hole in one row to obtain the dispensing position information. The XZ dual-axis moving module sequentially moves the dispensing device to dispense the medicine at the position where medicine needs to be dispensed in each loading hole in one row.

[0021] Repeat steps S4-S5 until every loading hole on the vehicle plate has been dotted with the drug;

[0022] S6: Control the transfer line to move in the opposite direction of the Y direction to the position between the first fixed transfer line and the second fixed transfer line, so that a continuous conveying channel is formed between the first conveyor belt, the third conveyor belt and the second conveyor belt.

[0023] S7: Control the lifting support to move downwards, so that the carrier plate moves downwards and is supported on the third conveyor belt;

[0024] S8: The transfer line transfers the lit carrier plate to the second conveyor belt of the second fixed transfer line via the third conveyor belt. At the same time, the carrier plate with the pyrotechnic shell in the loading hole is placed on the first fixed transfer line, and the first fixed transfer line transfers the carrier plate to the conveyor belt of the transfer line.

[0025] Repeat S3-S8.

[0026] Furthermore, in the above-mentioned automatic ignition and conveying method for pyrotechnic products, the automatic ignition equipment for pyrotechnic products has two first lifting limit posts arranged along the X direction on the upper part of the moving seat of the transfer line. The distance between the two first lifting limit posts is equal to the X-direction width of the carrier plate. When the first lifting limit post is in the rising state, and the X-direction end of the carrier plate abuts against the X-direction opposite side of the first lifting limit post, the X-direction opposite side of the carrier plate abuts against the X-direction side of the other first lifting limit post. The loading hole on the carrier plate is aligned with the first through hole of the positioning hole plate.

[0027] In the aforementioned automatic ignition and delivery method for pyrotechnic items, S3 specifically involves: controlling the first lifting limit post on the X-direction side to the raised state; when the carrier plate moves to the point where the X-direction end of the carrier plate abuts against the X-direction opposite side of the first lifting limit post, controlling the other first lifting limit post on the X-direction opposite side to rise, so that the carrier plate is limited between the two first lifting limit posts; controlling the lifting support seat to move upward, so that the upper edge of the pyrotechnic item shell on the carrier plate presses against the lower part of the positioning hole plate, so that the first through hole and the loading hole are aligned one by one;

[0028] S8 specifically involves: controlling the first lifting limit column to the lowered state, disengaging it from the carrier plate; the transfer line transferring the lit carrier plate to the second conveyor belt of the second fixed transfer line via the third conveyor belt; simultaneously, placing the carrier plate with the pyrotechnic shell in the loading hole on the first fixed transfer line; and the first fixed transfer line transferring the carrier plate to the conveyor belt of the transfer line.

[0029] Furthermore, in the above-mentioned automatic ignition and delivery method for pyrotechnic items, the upper part of the ignition cylinder is detachably connected to a sealing cover in the automatic ignition equipment for pyrotechnic items, the sealing cover is connected to a vent pipe, and the vent pipe is connected to a gas source.

[0030] The specific steps of the S5 step in the automatic ignition and delivery method for explosives are as follows: control the gas source to introduce a quantitative amount of gas into the ignition cylinder through the gas pipe, so that the liquid medicine in the ignition cylinder is ignited into the loading hole below through the outlet.

[0031] Furthermore, in the above-mentioned automatic ignition and conveying method for pyrotechnic items, the upper part of the first through hole in the automatic ignition equipment for pyrotechnic items has a chamfered edge.

[0032] Furthermore, in the above-mentioned automatic ignition and delivery method for pyrotechnics, in the automatic ignition equipment for pyrotechnics, the central axis of the projection direction of the camera and the central axis of the outlet of the ignition cylinder are located in the same vertical plane, and the vertical plane is perpendicular to the Y direction.

[0033] Furthermore, in the aforementioned automatic ignition and delivery method for pyrotechnic items, the XZ dual-axis moving module includes a portal frame, an X-axis lead screw guide assembly, a first slide, a Z-axis lead screw guide assembly, and a second slide. The portal frame is mounted on the machine frame and spans both sides of the Y-axis lead screw guide assembly. The X-axis lead screw guide assembly is connected to the portal frame. The first slide is slidably connected to the X-axis lead screw guide assembly. The Z-axis lead screw guide assembly is connected to the first slide. The second slide is slidably connected to the Z-axis lead screw guide assembly. The camera and the ignition cartridge are both connected to the second slide.

[0034] Furthermore, in the above-mentioned automatic ignition and conveying method for pyrotechnic items, the second slide is provided with a limiting mounting seat for installing the ignition cartridge, and the limiting mounting seat is provided with a locking mechanism for locking the ignition cartridge.

[0035] Furthermore, in the above-mentioned automatic ignition and conveying method for pyrotechnic items, the first fixed transfer line and the second fixed transfer line have the same structure, and the first fixed transfer line is provided with limiting strips for the Y-direction side and the Y-direction reverse side of the carrier plate.

[0036] Furthermore, in the above-mentioned automatic ignition and conveying method for pyrotechnic items, the transfer line is provided with limiting strips for the Y-direction side and the Y-direction reverse side of the carrier plate.

[0037] The beneficial effects of this invention are as follows: Since the movable seat of the transfer line can move along the Y-axis screw guide assembly, the transfer line can switch between two states. In the first state, the movable seat of the transfer line moves to a position between the first and second fixed transfer lines, forming a continuous conveying channel between the first, third, and second conveyor belts, facilitating the assembly line flow of the carrier plate. In the second state, the movable seat of the transfer line moves along the Y-axis screw guide assembly to a position away from the first and second fixed transfer lines. Because the Y-axis screw guide assembly provides single-axis movement of the carrier plate, only an XZ dual-axis moving module needs to be set on the frame away from the first fixed transfer line to achieve automated dispensing of multiple loading holes in a rectangular array on the carrier plate. Compared to directly setting an XYZ three-axis moving module on the frame, the structure is more stable and the accuracy is higher. Since the transfer line is away from the first and second fixed transfer lines during dispensing, the dispensing position is more open, facilitating manual inspection of the dispensing process. By setting a positioning hole plate and a lifting support seat on the transfer line, when the carrier plate moves to the bottom of the positioning hole plate, the lifting support seat is controlled to lift the carrier plate upward, so that the first through hole of the positioning hole plate corresponds one-to-one with the loading hole of the carrier plate, and the upper edge of the pyrotechnic shell is pressed against the lower part of the positioning hole plate and fixed, thereby preventing the pyrotechnic shell from shaking when the pyrotechnic is lit; it has the advantages of high ignition efficiency and accurate ignition position. Attached Figure Description

[0038] Figure 1 This is a first-view structural diagram of an automatic pyrotechnic ignition device involved in an automatic pyrotechnic ignition and delivery method according to a specific embodiment of the present invention.

[0039] Figure 2 for Figure 1 Enlarged view of part A;

[0040] Figure 3 This is a second-view structural diagram of an automatic pyrotechnic ignition device involved in an automatic pyrotechnic ignition and delivery method according to a specific embodiment of the present invention.

[0041] Figure 4 for Figure 3 Enlarged view of part B;

[0042] Figure 5 for Figure 3 Enlarged view of part C;

[0043] Figure 6 A three-view structural diagram of an automatic pyrotechnic ignition device involved in an automatic pyrotechnic ignition and delivery method according to a specific embodiment of the present invention.

[0044] Figure 7 for Figure 6 Enlarged view of part D;

[0045] Figure 8 A schematic diagram of the ignition device structure of an automatic ignition equipment for pyrotechnics, which is a specific embodiment of the present invention, for an automatic ignition and delivery method for pyrotechnics.

[0046] Label Explanation:

[0047] 1. Rack;

[0048] 2. First fixed conveyor line; 21. First conveyor belt;

[0049] 3. Second fixed conveyor line; 31. Second conveyor belt;

[0050] 4. Y-axis lead screw guide rail assembly;

[0051] 5. Transfer line; 51. Moving seat; 52. Lifting support seat; 53. Positioning plate; 531. First through hole; 532. Chamfer; 54. Third conveyor belt; 55. First lifting limit post;

[0052] 6. Vehicle plate; 61. Loading hole;

[0053] 7. XZ dual-axis moving module; 71. Portal bracket; 72. X-axis lead screw guide rail assembly; 73. First slide; 74. Z-axis lead screw guide rail assembly; 75. Second slide; 751. Limiting mounting seat; 752. Locking mechanism;

[0054] 8. Camera;

[0055] 9. Dispensing device; 91. Dispensing cartridge; 92. Dispensing port; 93. Sealing cap; 94. Vent pipe;

[0056] 10. Limiting strip;

[0057] 11. Casing of pyrotechnic products. Detailed Implementation

[0058] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0059] Please refer to Figures 1 to 8 The present invention relates to an automatic ignition and conveying method for pyrotechnics, based on an automatic pyrotechnics ignition device, the automatic pyrotechnics ignition device comprising:

[0060] Rack 1;

[0061] The first fixed conveyor line 2 is connected to the frame 1, and the first fixed conveyor line 2 is provided with a first conveyor belt 21 with the conveying direction in the X direction;

[0062] The second fixed conveyor line 3 is connected to the frame 1. The second fixed conveyor line 3 is provided with a second conveyor belt 31 in the X direction. The second fixed conveyor line 3 is located in the X direction of the first fixed conveyor line 2. There is a gap between the first fixed conveyor line 2 and the second fixed conveyor line 3.

[0063] Y-direction lead screw guide rail assembly 4, wherein the Y-direction lead screw guide rail assembly 4 is disposed between the first fixed flow line 2 and the second fixed flow line 3;

[0064] The transfer line 5 includes a movable seat 51, which is slidably connected to the Y-axis lead screw guide rail assembly 4; a lifting support seat 52 is connected to the movable seat 51, and a positioning hole plate 53 is fixedly connected to the movable seat 51. The positioning hole plate 53 has a plurality of first through holes 531 distributed in a rectangular array. The positioning plate is located directly above the lifting support seat 52. A third conveyor belt 54 with the conveying direction in the X direction is provided on both sides of the lifting support seat 52.

[0065] The carrier plate 6 is provided with loading holes 61 that correspond one-to-one with the first through hole 531. The loading holes 61 are used to position and load the pyrotechnic shell 11.

[0066] XZ dual-axis moving module 7, the XZ dual-axis moving module 7 is located above the Y-axis lead screw guide assembly 4, and the XZ dual-axis moving module 7 is located on the Y-axis side of the first fixed transfer line 2;

[0067] Camera 8, which is connected to the XZ dual-axis moving module 7, and the projection direction of camera 8 is vertically downward;

[0068] The dispensing device 9 includes a dispensing cylinder 91, which is connected to the XZ dual-axis moving module 7. The lower part of the dispensing cylinder 91 is provided with a vertically downward dispensing port 92.

[0069] The automatic ignition and delivery method for pyrotechnic items includes the following steps:

[0070] S1: Control the moving seat 51 of the transfer line 5 to move to the position between the first fixed transfer line 2 and the second fixed transfer line 3, so that a continuous conveying channel is formed between the first conveyor belt 21, the third conveyor belt 54 and the second conveyor belt 31.

[0071] S2: The carrier plate 6 with the pyrotechnic shell 11 installed in the loading hole 61 is placed on the first fixed transfer line 2, and the first fixed transfer line 2 transfers the carrier plate 6 to the conveyor belt of the transfer line 5.

[0072] S3: When the carrier plate 6 moves to the position between the lifting support seat 52 and the positioning hole plate 53, control the lifting support seat 52 to move upward, so that the upper edge of the pyrotechnic shell 11 on the carrier plate 6 presses against the lower part of the positioning hole plate 53, so that the first through hole 531 is aligned with the loading hole 61.

[0073] S4: Control the transfer line 5 to move in the Y direction so that the axis of one row of unlit loading holes 61 on the carrier plate 6 is in the same vertical plane as the axis of the dispensing port 92 of the dispensing cylinder 91, and the vertical plane is perpendicular to the Y direction.

[0074] S5: The XZ dual-axis moving module 7 sequentially moves the camera 8 to above each loading hole 61 in one row to obtain the dispensing position information. The XZ dual-axis moving module 7 sequentially moves the dispensing device 9 to dispense the medicine at the position where medicine needs to be dispensed in each loading hole 61 in one row.

[0075] Repeat steps S4-S5 until each loading hole 61 on the vehicle plate 6 has been ignited;

[0076] S6: Control the transfer line 5 to move in the opposite direction of Y, to the position between the first fixed transfer line 2 and the second fixed transfer line 3, so that a continuous conveying channel is formed between the first conveyor belt 21, the third conveyor belt 54 and the second conveyor belt 31.

[0077] S7: Control the lifting support seat 52 to move downward, so that the carrier plate 6 moves downward and is supported on the third conveyor belt 54;

[0078] S8: The transfer line 5 transfers the lit carrier plate 6 to the second conveyor belt 31 of the second fixed transfer line 3 via the third conveyor belt 54. At the same time, the carrier plate 6 with the pyrotechnic shell 11 in the loading hole 61 is placed on the first fixed transfer line 2. The first fixed transfer line 2 transfers the carrier plate 6 to the conveyor belt of the transfer line 5.

[0079] Repeat S3-S8.

[0080] In the above embodiments, it should be noted that the lifting support 52 includes a lifting plate, which is connected to the upper part of the movable seat 51 in a lifting manner through multiple hydraulic cylinders. The lifting and lowering of the lifting plate is controlled by the lifting and lowering of the hydraulic cylinders.

[0081] In the above embodiments, since the movable seat 51 of the transfer line 5 can move along the Y-direction screw guide assembly 4, the transfer line 5 can switch between two states. In the first state, the movable seat 51 of the transfer line 5 moves to a position between the first fixed transfer line 2 and the second fixed transfer line 3, so that a continuous conveying channel is formed between the first conveyor belt 21, the third conveyor belt 54 and the second conveyor belt 31, which facilitates the assembly line flow of the carrier plate 6. In the second state, the movable seat 51 of the transfer line 5 moves along the Y-direction screw guide assembly 4 to a position away from the first fixed transfer line 2 and the second fixed transfer line 3. Since the Y-axis lead screw guide assembly 4 provides single-axis movement of the carrier plate 6, the XZ dual-axis movement module 7 only needs to be set on the frame 1 at a position away from the first fixed transfer line 2 to realize the automated dispensing operation of multiple loading holes 61 in the rectangular array on the carrier plate 6. Compared with the method of directly setting the XYZ three-axis movement module on the frame 1, the structure is more stable and the accuracy is higher. Since the transfer line 5 is away from the first fixed transfer line 2 and the second fixed transfer line 3 during the dispensing process, the dispensing position is more open, which makes it easier for manual inspection of the dispensing situation.

[0082] In the above embodiments, the pyrotechnic shell 11 is a cylindrical shell with an open top. When it is installed in the loading hole 61 of the carrier plate 6, the upper edge of the pyrotechnic shell 11 will be higher than the loading hole 61. If the upper edge of the pyrotechnic shell 11 is not fixed during the ignition process, the ignition position may be deviated due to the shaking of the pyrotechnic shell 11. By setting a positioning hole plate 53 and a lifting support seat 52 on the transfer line 5, when the carrier plate 6 moves to the bottom of the positioning hole plate 53, the lifting support seat 52 is controlled to lift the carrier plate 6 upward, so that the first through hole 531 of the positioning hole plate 53 and the loading hole 61 of the carrier plate 6 correspond one-to-one, so that the upper edge of the pyrotechnic shell 11 is pressed against the lower part of the positioning hole plate 53 and fixed, thereby preventing the pyrotechnic shell 11 from shaking during the ignition process.

[0083] In the above embodiments, the camera 8 is connected to the visual positioning system, which is linked with the XZ dual-axis moving module 7 and the Y-axis lead screw guide assembly 4. When the transfer line 5 moves to position S5, the XZ dual-axis moving module 7 is controlled to move the camera 8 to one of the loading holes 61, and the camera takes pictures one by one to identify the position where the pyrotechnic shell 11 needs to be lit. By controlling the XZ dual-axis moving module 7 and the Y-axis lead screw guide assembly 4, the outlet 92 of the lit cartridge 91 is moved to the accurate lit position. The accuracy of the lit position can reach within 0.03mm, with precise position, high stability, and good consistency.

[0084] In a preferred embodiment, in the automatic pyrotechnics ignition equipment, the upper part of the movable seat 51 of the transfer line 5 is also provided with two first lifting limit posts 55 arranged along the X direction. The distance between the two first lifting limit posts 55 is equal to the X-direction width of the carrier plate 6. When the first lifting limit post 55 is in the rising state, and the X-direction end of the carrier plate 6 abuts against the X-direction opposite side of the first lifting limit post 55, the X-direction opposite side of the carrier plate 6 abuts against the X-direction side of the other first lifting limit post 55. The loading hole 61 on the carrier plate 6 is aligned with the first through hole 531 of the positioning hole plate 53.

[0085] In the aforementioned automatic ignition and delivery method for pyrotechnic items, S3 specifically involves: controlling the first lifting limit post 55 on the X-direction side to the raised state; when the carrier plate 6 moves to the point where the X-direction end of the carrier plate 6 abuts against the X-direction opposite side of the first lifting limit post 55, controlling the other first lifting limit post 55 on the X-direction opposite side to rise, so that the carrier plate 6 is limited between the two first lifting limit posts 55; controlling the lifting support seat 52 to move upward, so that the upper edge of the pyrotechnic item housing 11 on the carrier plate 6 presses against the lower part of the positioning hole plate 53, so that the first through hole 531 is aligned with the loading hole 61 one by one;

[0086] S8 specifically involves controlling the first lifting limit post 55 to the lowered state, disengaging it from the carrier plate 6, and the transfer line 5 transferring the lit carrier plate 6 to the second conveyor belt 31 of the second fixed transfer line 3 via the third conveyor belt 54. At the same time, the carrier plate 6 with the pyrotechnic shell 11 installed in the loading hole 61 is placed on the first fixed transfer line 2, and the first fixed transfer line 2 transfers the carrier plate 6 to the conveyor belt of the transfer line 5.

[0087] In the above embodiments, before the lifting support 52 lifts the carrier plate 6 upward, the carrier plate 6 is positioned by two first lifting limit columns 55 to ensure that the first through hole 531 and the loading hole 61 correspond one-to-one.

[0088] In a preferred embodiment, in the automatic pyrotechnic ignition equipment, a sealing cover 93 is detachably connected to the upper part of the ignition cylinder 91, the sealing cover 93 is connected to a vent pipe 94, and the vent pipe 94 is connected to a gas source.

[0089] The specific step of the ignition step in S5 of the automatic ignition and delivery method for explosives is as follows: control the gas source to introduce a quantitative amount of gas into the ignition cylinder 91 through the gas pipe 94, so that the liquid medicine in the ignition cylinder 91 is ignited into the loading hole 61 below through the outlet 92.

[0090] In the above implementation method, the prepared ignition agent is first loaded into the ignition cartridge 91, connected to the gas source, and the gas volume and ventilation time are adjusted to control the amount of drug dispensed. The amount of drug dispensed each time is 0.5-0.6mg. During the adjustment process, it is first adjusted to manual control to dispense 5 products, and the accuracy of the dispensing amount is measured until it meets the drug dosage requirements. The technical parameters are fixed in the software, and the dispensing of the ignition cartridge 91 is controlled by air pressure. There is no hard object in contact with the dispensing agent, so the safety is high.

[0091] In a preferred embodiment, the upper part of the first through hole 531 is provided with a chamfered edge 532.

[0092] In a preferred embodiment, in the automatic pyrotechnic ignition device, the projection axis of the camera 8 and the central axis of the outlet 92 of the ignition cylinder 91 are located in the same vertical plane, and the vertical plane is perpendicular to the Y direction.

[0093] Furthermore, in the above-mentioned automatic ignition and delivery method for pyrotechnic items, the XZ dual-axis moving module 7 includes a portal frame 71, an X-axis lead screw guide assembly 72, a first slide block 73, a Z-axis lead screw guide assembly 74, and a second slide block 75. The portal frame 71 is mounted on the frame 1 and spans across both sides of the Y-axis lead screw guide assembly 4. The X-axis lead screw guide assembly 72 is connected to the portal frame 71. The first slide block 73 is slidably connected to the X-axis lead screw guide assembly 72. The Z-axis lead screw guide assembly 74 is connected to the first slide block 73. The second slide block 75 is slidably connected to the Z-axis lead screw guide assembly 74. The camera 8 and the ignition cartridge 91 are both connected to the second slide block 75.

[0094] In a preferred embodiment, the second slide 75 is provided with a limiting mounting seat 751 for mounting the cartridge 91 at the mounting point, and the limiting mounting seat 751 is provided with a locking mechanism 752 for locking the cartridge 91 at the mounting point.

[0095] In the above embodiments, the dispensing cartridge 91 can be a small, disposable item for easy replacement, and a detachable connection is achieved through the locking mechanism 752, such as... Figure 8 As shown, the locking mechanism 752 includes a limit sleeve and a locking bolt, which facilitates disassembly and replacement, and the amount of drug used online is small, avoiding the safety hazards caused by a large amount of highly sensitive drugs;

[0096] In a preferred embodiment, the first fixed transfer line 2 and the second fixed transfer line 3 have the same structure. The first fixed transfer line 2 is provided with limiting strips 10 for the Y-direction side and the Y-direction reverse side of the carrier plate 6.

[0097] In a preferred embodiment, the transfer line 5 is provided with limiting strips 10 for the Y-direction side and the Y-direction reverse side of the carrier plate 6.

[0098] In the above embodiments, the limiting strip 10 is used for lateral limiting of the carrier plate 6 during the transfer process, so that when the lifting support seat 52 lifts the carrier plate 6 upward, the loading hole 61 of the carrier plate 6 and the first through hole 531 of the positioning hole plate 53 can accurately correspond one-to-one.

[0099] In summary, this invention only requires setting an XZ dual-axis moving module on the frame at a position away from the first fixed transfer line to achieve automated dispensing of multiple loading holes in a rectangular array on the carrier plate. The structure is more stable and the accuracy is higher. Because the transfer line is away from the first and second fixed transfer lines during dispensing, the dispensing position is more open. By setting a positioning hole plate and a lifting support on the transfer line, when the carrier plate moves to below the positioning hole plate, the lifting support is controlled to lift the carrier plate upwards, so that the first through hole of the positioning hole plate corresponds one-to-one with the loading hole of the carrier plate. This allows the upper edge of the pyrotechnic shell to be pressed against the lower part of the positioning hole plate and fixed, thereby preventing the pyrotechnic shell from shaking during dispensing.

[0100] In the automatic pyrotechnics dispensing equipment, a sealing cover is detachably connected to the upper part of the dispensing cylinder. The sealing cover is connected to a vent pipe, which is connected to an air source. The dispensing of the cylinder is controlled by air pressure. Compared with the traditional dispensing method that directly uses a piston to squeeze the dispensing agent, this solution does not have a hard object in contact with the dispensing agent, thus ensuring high safety.

[0101] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An automatic ignition and delivery method for pyrotechnic items, characterized in that, The automatic pyrotechnic ignition device includes: frame; A first fixed conveyor line is connected to the frame and is provided with a first conveyor belt in the X direction. The second fixed conveyor line is connected to the frame and is provided with a second conveyor belt in the X direction. The second fixed conveyor line is located in the X direction of the first fixed conveyor line and there is a gap between the first fixed conveyor line and the second fixed conveyor line. Y-axis lead screw guide rail assembly, wherein the Y-axis lead screw guide rail assembly is disposed between the first fixed flow line and the second fixed flow line; The transfer line includes a movable seat, which is slidably connected to a Y-axis lead screw guide assembly; a lifting support seat is connected to the movable seat, and a positioning hole plate is fixedly connected to the movable seat. The positioning hole plate has multiple first through holes distributed in a rectangular array. The positioning hole plate is located directly above the lifting support seat, and a third conveyor belt with the conveying direction in the X direction is provided on both sides of the lifting support seat. The carrier plate is provided with loading holes that correspond one-to-one with the first through hole, and the loading holes are used to position and load the shell of the pyrotechnic item; The XZ dual-axis moving module is located above the Y-axis lead screw guide assembly and is located on the Y-axis side of the first fixed flow line. A camera, which is connected to the XZ dual-axis motion module, and the projection direction of the camera is vertically downward; A dispensing device, comprising a dispensing cylinder connected to an XZ dual-axis moving module, wherein the lower part of the dispensing cylinder has a vertically downward dispensing port; The automatic ignition and delivery method for pyrotechnic items includes the following steps: S1: Control the moving seat of the transfer line to move to the position between the first fixed transfer line and the second fixed transfer line, so that a continuous conveying channel is formed between the first conveyor belt, the third conveyor belt and the second conveyor belt; S2: The carrier plate with the pyrotechnic shell in the loading hole is placed on the first fixed transfer line, and the first fixed transfer line transfers the carrier plate to the conveyor belt of the transfer line; S3: When the carrier plate moves to the position between the lifting support and the positioning hole plate, control the lifting support to move upward, so that the upper edge of the pyrotechnic shell on the carrier plate presses against the lower part of the positioning hole plate, so that the first through hole and the loading hole are aligned one by one. S4: Control the transfer line to move in the Y direction so that the axis of one row of unlit loading holes on the carrier plate is in the same vertical plane as the axis of the dispensing nozzle of the dispensing cartridge, and the vertical plane is perpendicular to the Y direction; S5: The XZ dual-axis moving module sequentially moves the camera to above each loading hole in one row to obtain the dispensing position information. The XZ dual-axis moving module sequentially moves the dispensing device to dispense the medicine at the position where medicine needs to be dispensed in each loading hole in one row. Repeat steps S4-S5 until every loading hole on the vehicle plate has been dotted with the drug; S6: Control the transfer line to move in the opposite direction of the Y direction to the position between the first fixed transfer line and the second fixed transfer line, so that a continuous conveying channel is formed between the first conveyor belt, the third conveyor belt and the second conveyor belt. S7: Control the lifting support to move downwards, so that the carrier plate moves downwards and is supported on the third conveyor belt; S8: The transfer line transfers the lit carrier plate to the second conveyor belt of the second fixed transfer line via the third conveyor belt. At the same time, the carrier plate with the pyrotechnic shell in the loading hole is placed on the first fixed transfer line, and the first fixed transfer line transfers the carrier plate to the conveyor belt of the transfer line. Repeat S3-S8.

2. The automatic ignition and delivery method for pyrotechnic items according to claim 1, characterized in that, In the automatic pyrotechnics lighting equipment, the upper part of the transfer line's moving seat is also provided with two first lifting limit posts arranged along the X direction. The distance between the two first lifting limit posts is equal to the X-direction width of the carrier plate. When the first lifting limit post is in the rising state, the X-direction end of the carrier plate abuts against the X-direction opposite side of the first lifting limit post, and the X-direction opposite side of the carrier plate abuts against the X-direction side of the other first lifting limit post. The loading holes on the carrier plate are aligned with the first through holes of the positioning hole plate. In the aforementioned automatic ignition and delivery method for pyrotechnic items, S3 specifically involves: controlling the first lifting limit post on the X-direction side to the raised state; when the carrier plate moves to the point where the X-direction end of the carrier plate abuts against the X-direction opposite side of the first lifting limit post, controlling the other first lifting limit post on the X-direction opposite side to rise, so that the carrier plate is limited between the two first lifting limit posts; controlling the lifting support seat to move upward, so that the upper edge of the pyrotechnic item shell on the carrier plate presses against the lower part of the positioning hole plate, so that the first through hole and the loading hole are aligned one by one; S8 specifically involves: controlling the first lifting limit column to the lowered state, disengaging it from the carrier plate; the transfer line transferring the lit carrier plate to the second conveyor belt of the second fixed transfer line via the third conveyor belt; simultaneously, placing the carrier plate with the pyrotechnic shell in the loading hole on the first fixed transfer line; and the first fixed transfer line transferring the carrier plate to the conveyor belt of the transfer line.

3. The automatic ignition and delivery method for pyrotechnic items according to claim 1, characterized in that, In the automatic ignition equipment for explosives, a sealing cover is detachably connected to the upper part of the ignition cylinder, the sealing cover is connected to a vent pipe, and the vent pipe is connected to a gas source. The specific steps of the S5 step in the automatic ignition and delivery method for explosives are as follows: control the gas source to introduce a quantitative amount of gas into the ignition cylinder through the gas pipe, so that the liquid medicine in the ignition cylinder is ignited into the loading hole below through the outlet.

4. The automatic ignition and delivery method for pyrotechnic items according to claim 1, characterized in that, In the automatic pyrotechnics ignition equipment, the upper part of the first through hole has a chamfered edge.

5. The automatic ignition and delivery method for pyrotechnic items according to claim 1, characterized in that, In the automatic pyrotechnic ignition equipment, the projection axis of the camera and the outlet axis of the ignition cartridge are located in the same vertical plane, and the vertical plane is perpendicular to the Y direction.

6. The automatic ignition and delivery method for pyrotechnic items according to claim 1, characterized in that, The XZ dual-axis moving module includes a portal frame, an X-axis lead screw guide assembly, a first slide, a Z-axis lead screw guide assembly, and a second slide. The portal frame is mounted on the machine frame and spans both sides of the Y-axis lead screw guide assembly. The X-axis lead screw guide assembly is connected to the portal frame. The first slide is slidably connected to the X-axis lead screw guide assembly. The Z-axis lead screw guide assembly is connected to the first slide. The second slide is slidably connected to the Z-axis lead screw guide assembly. The camera and the dispensing cartridge are both connected to the second slide.

7. The automatic ignition and delivery method for pyrotechnic items according to claim 6, characterized in that, The second slide is provided with a limiting mounting seat for mounting the cartridge, and the limiting mounting seat is provided with a locking mechanism for locking the cartridge.

8. The automatic ignition and delivery method for pyrotechnic items according to claim 1, characterized in that, The first fixed conveyor line and the second fixed conveyor line have the same structure. The first fixed conveyor line is provided with limiting strips for the Y-direction side and the Y-direction reverse side of the carrier plate.

9. The automatic ignition and delivery method for pyrotechnic items according to claim 1, characterized in that, The transfer line is provided with limiting strips for the Y-direction side and the Y-direction reverse side of the carrier plate.

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