Electrical performance flexibility automatic testing device and method for initiating explosive device

Abstract

The invention relates to an electrical performance flexibility automatic testing device and method for initiating explosive devices, the device comprises a device control box and a feeding mechanism, a carrying mechanism, a visual mechanism and a testing mechanism which are arranged on the device control box, the mechanisms are electrically connected, and the feeding mechanism is used for stacking trays; the carrying mechanism moves to a grabbing point according to program setting, and parts are grabbed and rotated; the visual mechanism is used for reading two-dimensional codes or character information of the parts and can identify the number, distribution and angles of contact pins in the parts; the testing mechanism is used for testing the electrical performance of the initiating explosive device part. According to the invention, the whole process automation of the electrical performance test of the initiating explosive device part is realized, the automatic feeding and discharging can be realized, the product information can be efficiently and accurately identified, the electrical performance test can be performed, the labor cost can be saved, the process of the electrical performance test of the initiating explosive device is simplified, and the risks of manual missing detection, wrong detection and the like are reduced.

Description

Technical Field

[0001] The invention relates to a flexible automatic testing device and method for electrical properties of explosive devices, belonging to the technical field of automatic testing of electrical properties of explosive devices. Background Art

[0002] During the development and production of aerospace pyrotechnics, multiple electrical performance tests such as bridge resistance and insulation resistance should be carried out according to the requirements of GJB5309, and each electrical performance should be tested separately. The electrical performance tests of pyrotechnics mainly include bridge resistance, insulation resistance test and dielectric withstand voltage test, which are generally completed using DC resistance testers and insulation resistance testers.

[0003] Traditional electrical performance testing mainly relies on manual operation. Before the test, the test plug is selected manually according to the characteristics of the product; during the test, the test results on the resistance tester are manually observed to determine whether the electrical performance of the pyrotechnics is qualified; after the test, the test results are manually recorded; in the test process, the product must complete the test at the previous test station before being transferred to the next test station to complete the test. This traditional manual inspection method has low work efficiency, high labor costs, difficult record tracing, and risks such as missed detection. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to provide a flexible automatic testing device and method for the electrical properties of pyrotechnics, to realize the full process automation of electrical properties testing, to save labor costs, to simplify the process of electrical properties testing of pyrotechnics, and at the same time to reduce the risks of manual missed detection, wrong detection, etc.

[0005] The technical solution of the present invention is: a flexible automatic test device for electrical properties of explosives, comprising: a device control box and a feeding mechanism, a conveying mechanism, a visual mechanism and a testing mechanism installed on the device control box; the device control box, the feeding mechanism, the conveying mechanism, the visual mechanism and the testing mechanism are electrically connected;

[0006] The feeding mechanism is used for stacking and placing trays;

[0007] The transport mechanism is arranged on one side of the feeding mechanism, and when working, moves to the grabbing point according to the set program to grab the parts, moves the parts to the center of the visual mechanism and rotates to display the QR code or character information, and then moves the parts to the top of the testing mechanism and rotates to adjust the angle of the parts to insert into the testing mechanism;

[0008] The visual mechanism is arranged at the adjacent sides of the feeding mechanism and the transport mechanism, and is used to read the QR code or character information of the rotating parts and identify the number, distribution and angle of the pins in the parts;

[0009] The testing mechanism is arranged on adjacent sides of the visual mechanism and the transport mechanism, and completes the electrical performance test of the pyrotechnic parts according to the number, distribution and angle of the pins in the parts identified by the visual mechanism.

[0010] The feeding mechanism includes an NG product discharging mechanism, a material tray, a lifting mechanism, a fixing mechanism, a motor, a material tray translation mechanism, a material tray positioning mechanism, and a stacking tray positioning mechanism; the material tray is placed on the NG product discharging mechanism and the lifting mechanism; the NG product discharging mechanism is fixed to the device control box for placing NG products; the fixing mechanism is fixed to the device control box; the lifting mechanism is fixed to the fixing mechanism for stacking incoming material trays; the motor is fixed to the lower end of the fixing mechanism for driving the lifting mechanism to move up and down; the material tray translation mechanism is fixed to the device control box for translating the material tray stacked at the top on the lifting mechanism to the material tray translation mechanism, or for translating the material tray containing OK product parts to the lifting mechanism; the material tray positioning mechanism is fixed to the device control box for fixing the material tray on the material tray translation mechanism; the stacking tray positioning mechanism is fixed to the device control box for stacking material trays containing OK product parts.

[0011] The fixing mechanism is provided with a detection switch for detecting the position of the lifting mechanism.

[0012] The stacking tray positioning mechanism is provided with a detection switch for determining the position of the tray.

[0013] The conveying mechanism includes a robotic arm, a two-claw mechanism and a three-claw mechanism; the robotic arm is fixed on the device control box, and the two-claw mechanism and the three-claw mechanism are fixed on the execution end of the robotic arm, and can move under the drive of the robotic arm; the two-claw mechanism is used to grab the parts on the testing mechanism, and place the test NG products on the tray of the NG product discharging mechanism, and place the test OK products on the tray of the tray positioning mechanism; the three-claw mechanism is used to grab the parts on the tray positioning mechanism, and after moving to the preset position above the visual mechanism or the testing mechanism under the drive of the robotic arm, drive the parts to rotate.

[0014] The visual mechanism includes a bracket, a code reading mechanism, a code reading ring light source, a lower visual positioning mechanism, and a lower visual ring light source; the bracket is fixed on the device control box; the code reading mechanism, the code reading ring light source, the lower visual positioning mechanism, and the lower visual ring light source are all fixed on the bracket; the code reading ring light source is used to illuminate the two-dimensional code or characters on the side of the pyrotechnic parts; the code reading mechanism is evenly arranged around the code reading ring light source, and is used to read the two-dimensional code or character information on the side of the rotating parts; the lower visual ring light source is arranged in the center of the code reading ring light source, and the lower visual positioning mechanism is arranged below the lower visual ring light source, and is used to identify the number, distribution and angle of pins in the pyrotechnic parts.

[0015] The testing mechanism includes a testing turntable mechanism, a guide seat, and a parts testing mechanism; the testing turntable mechanism is fixed on the device control box; the testing mechanism adjusts the position of the guide seat by rotation; the guide seat is evenly arranged and fixed on the testing turntable mechanism, and there are through holes on the guide seat, and the number and distribution of the through holes match the number and distribution of pins in the pyrotechnic parts; during the operation of the automatic testing device, the conveying mechanism matches the pyrotechnic parts and inserts them into the guide seat according to the recognition of the pyrotechnic parts pins by the visual mechanism, and the guide seat plays a guiding and fixing role for the pyrotechnic parts; the parts testing mechanism is arranged around the testing turntable mechanism and fixed on the device control box, and is used for testing the electrical properties of pyrotechnic parts.

[0016] The part testing mechanism includes a fixed bracket, a lower lifting mechanism, a probe, an upper clamping mechanism, and a copper column; wherein the fixed bracket is fixed to the device control box, and the lower lifting mechanism is fixed to the fixed bracket; the probe is fixed to the lower lifting mechanism, and before the pyrotechnic part is powered on for electrical performance testing using a standard electrical performance testing instrument, the probe moves upward under the drive of the lower lifting mechanism and contacts with the pyrotechnic part pin in the guide seat; after the electrical performance test of the pyrotechnic part is completed, the probe moves downward under the drive of the lower lifting mechanism and separates from the pin in the pyrotechnic part; the upper clamping mechanism is fixed to the lower lifting mechanism. On the lifting mechanism, before and after the pyrotechnic parts are powered on for electrical performance testing using a standard electrical performance testing instrument, the upper clamping mechanism moves driven by the lower lifting mechanism; the upper clamping mechanism itself can move up and down and rotate; the copper column is fixed on the upper clamping mechanism, and before the pyrotechnic parts are powered on for electrical performance testing using a standard electrical performance testing instrument, the copper column moves above the pyrotechnic parts during the rotation of the upper clamping mechanism, and contacts the outer shell of the pyrotechnic parts in the guide seat during the downward movement of the upper clamping mechanism. After the electrical performance test of the pyrotechnic parts is completed, the copper column separates from the outer shell during the upward movement of the upper clamping mechanism.

[0017] A method for automatically testing the electrical performance of explosive devices using the device comprises:

[0018] (1) Place a multi-layer tray on the feeding mechanism, which moves the first layer of trays horizontally and fixes them. The transport mechanism grabs the parts on the first layer of trays and moves them to the center of the visual mechanism and rotates them. The visual mechanism reads the QR code or character information on the side of the parts.

[0019] (2) After the reading is completed, the reading result is obtained. When the reading result meets the requirements, the transport mechanism stops rotating, and the visual mechanism identifies the number, distribution and angle of the pins in the pyrotechnic parts; when the reading result does not meet the requirements, the transport mechanism moves the parts to the material tray of the NG product discharge mechanism;

[0020] (3) Determine whether the number and distribution of pins in the pyrotechnic parts meet the preset requirements. If they do not meet the preset requirements, the transport mechanism moves the parts to the material tray of the NG product discharge mechanism; if they meet the preset requirements, the transport mechanism moves the parts from the visual mechanism to the top of the testing mechanism, and rotates the parts according to the part angle recognized by the visual mechanism;

[0021] (4) The transport mechanism drives the part to rotate to the angle recognized by the visual mechanism and then stops rotating. The transport mechanism moves downward to match and insert the part into the guide seat of the testing mechanism. The part on the guide seat is fixed by the part testing mechanism on the testing mechanism, and the part is powered on to perform an electrical performance test using a standard electrical performance testing instrument to obtain the test results, and the test results are judged;

[0022] (5) Determine whether the electrical performance test results of the parts tested on the test mechanism meet the preset parameter requirements. If not, the transport mechanism places the parts on the tray of the NG product discharge mechanism. If yes, the transport mechanism grabs the parts back to the tray of the feeding mechanism;

[0023] (6) Repeat steps (1) to (5) until all parts in the first layer of the tray have been tested. The feeding mechanism retrieves the first layer of the tray and stacks it, and moves the second layer of the tray horizontally to fix it. The test continues until all parts in the stacked tray have been tested. The task is terminated. The device host computer interface displays the test results of the parts in sequence and stores them for subsequent use.

[0024] The feeding mechanism includes an NG product discharging mechanism, a material tray, a lifting mechanism, a fixing mechanism, a motor, a material tray translation mechanism, a material tray positioning mechanism, and a stacking tray positioning mechanism; the material tray is placed on the NG product discharging mechanism and the lifting mechanism; the NG product discharging mechanism is fixed to the device control box for placing NG products; the fixing mechanism is fixed to the device control box; the lifting mechanism is fixed to the fixing mechanism for stacking incoming material trays; the motor is fixed to the lower end of the fixing mechanism for driving the lifting mechanism to move up and down; the material tray translation mechanism is fixed to the device control box for translating the material tray stacked at the top on the lifting mechanism to the material tray translation mechanism, or for translating the material tray containing OK product parts to the lifting mechanism; the material tray positioning mechanism is fixed to the device control box for fixing the material tray on the material tray translation mechanism; the stacking tray positioning mechanism is fixed to the device control box for stacking the material trays containing OK product parts

[0025] The advantages of the present invention compared with the prior art are:

[0026] (1) The existing electrical performance test of pyrotechnic parts is completed manually. The present invention provides a flexible automatic testing device for the electrical performance of pyrotechnics, which adopts a fully automated test. Through the cooperation of the upper feeding mechanism, the conveying mechanism, the visual mechanism and the testing mechanism, the entire process of the electrical performance test of pyrotechnic parts is automated, saving labor costs and improving test efficiency.

[0027] (2) The existing electrical performance test of pyrotechnic parts is done by manually identifying and recording the serial numbers of the parts. In the present invention, the serial numbers of pyrotechnic parts are automatically collected through the cooperation of the transport mechanism and the visual mechanism. The transport mechanism grabs the parts at the grabbing point, moves them to the center of the visual mechanism and rotates them to display the QR code or character information; the visual mechanism reads the QR code or character information of the rotating parts, and realizes the efficient and accurate acquisition of the serial numbers of multiple types of pyrotechnic parts, reducing the risk of missed detection and wrong detection.

[0028] (3) The existing electrical performance test of pyrotechnic parts uses different instruments for bridge resistance, insulation resistance test and dielectric withstand voltage test, which takes up a large test space and is cumbersome to produce. The present invention integrates different electrical performance test instruments to achieve simultaneous testing of bridge resistance, insulation resistance and dielectric withstand voltage test, which can simplify the process of electrical performance test of pyrotechnic parts, reduce the occupied test space and improve test efficiency.

[0029] (4) The feeding mechanism, visual mechanism, testing mechanism, and conveying mechanism of the flexible automatic testing device for electrical properties of pyrotechnics of the present invention are more versatile and flexible. By replacing the material tray in the feeding mechanism and the guide seat in the testing mechanism, different types of pyrotechnic parts can be compatible. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The present invention is a schematic diagram of the mechanism of a flexible automatic testing device for electrical properties of explosive devices.

[0031] Figure 2 The present invention is a top view of a flexible automatic testing device for electrical properties of explosive devices.

[0032] Figure 3 It is a top view of the feeding mechanism.

[0033] Figure 4 It is a structural diagram of the feeding mechanism.

[0034] Figure 5 It is a structural diagram of the transport structure.

[0035] Figure 6 It is a structural diagram of the visual mechanism.

[0036] Figure 7 It is a top view of the test structure.

[0037] Figure 8 It is a structural diagram of the parts testing mechanism.

[0038] Fig. 9 The present invention is a flow chart of a flexible automatic testing method for electrical properties of explosive devices. DETAILED DESCRIPTION

[0039] The present invention will be further described below in conjunction with the accompanying drawings.

[0040] In the prior art, the electrical performance test of pyrotechnics mainly includes bridge resistance test, insulation resistance test and dielectric withstand voltage test. The electrical performance of pyrotechnics such as bridge resistance, insulation resistance and dielectric withstand voltage of pyrotechnics can be automatically tested by a flexible automatic electrical performance test device for pyrotechnics in the present invention.

[0041] In one embodiment, Figure 1 and Figure 2As shown, a flexible automatic test device for the electrical properties of pyrotechnics is provided, comprising: a device control box 1 and a feeding mechanism 2, a conveying mechanism 3, a visual mechanism 4 and a testing mechanism 5 arranged on the device control box 1; the device control box 1, the feeding mechanism 2, the conveying mechanism 3, the visual mechanism 4 and the testing mechanism 5 are electrically connected; the feeding mechanism 2 is used for stacking and placing material trays; the conveying mechanism 3 is arranged on one side of the feeding mechanism 2, and moves to the grasping point to grasp the parts according to the program setting, can move the parts to the center of the visual mechanism 4 and rotate to display the two-dimensional code or character information, can move the parts to the top of the testing mechanism 5 and rotate to adjust the angle of the parts; the visual mechanism 4 is arranged on the adjacent sides of the feeding mechanism 2 and the conveying mechanism 3, can read the two-dimensional code or character information on the side of the rotating part, and can identify the number, distribution and angle of the pins in the part; the testing mechanism 5 is arranged on the adjacent sides of the visual mechanism 4 and the conveying mechanism 3, and is used to test the electrical properties of the pyrotechnic parts.

[0042] In this embodiment, through the device control box 1 and the feeding mechanism 2, conveying mechanism 3, visual mechanism 4 and testing mechanism 5 arranged on the device control box 1, and the above mechanisms are electrically connected; the feeding mechanism 2 is used for stacking and placing the material tray; the conveying mechanism 3 is arranged on one side of the feeding mechanism 2, and moves to the grasping point to grasp the parts according to the program setting, and can move the parts to the center of the visual mechanism 4 and rotate to display the QR code or character information, and can move the parts to the top of the testing mechanism 5 and rotate to adjust the angle of the parts; the visual mechanism 4 is arranged on the adjacent sides of the feeding mechanism 2 and the conveying mechanism 3, and can read the QR code or character information on the side of the rotating part, and can identify the number, distribution and angle of the pins in the part; the testing mechanism 5 is arranged on the adjacent sides of the visual mechanism 4 and the conveying mechanism 3, and is used to test the electrical properties of the pyrotechnic parts such as bridge resistance, insulation resistance and dielectric withstand voltage, and can realize the full process automation of the electrical performance test of the pyrotechnic parts, save labor costs, and improve test efficiency.

[0043] like Figure 3 and Figure 4As shown, the feeding mechanism 2 includes an NG product discharging mechanism 201, a material tray 202, a lifting mechanism 203, a fixing mechanism 204, a motor 205, a material tray translation mechanism 206, a material tray positioning mechanism 207, and a stacking tray positioning mechanism 208; the material tray 202 is placed on the NG product discharging mechanism 201 and the lifting mechanism 203; the NG product discharging mechanism 201 is fixed on the device control box 1, and is used for placing NG products; the fixing mechanism 204 is fixed on the device control box 1, and the lifting mechanism 203 is fixed on the fixing mechanism 204, and is used for stacking the incoming material tray 202; the motor 205 is fixed at the lower end of the fixing mechanism 204, and is used to drive the lifting mechanism 203 to move up and down; the fixing mechanism 204 is provided with a lower The descending detection switch 209 and the ascending detection switch 210 are used to detect the position of the lifting mechanism 203; the tray translation mechanism 206 is fixed on the device control box 1, and is used to translate the topmost tray 202 stacked on the lifting mechanism 203 to the tray translation mechanism 206, or to translate the tray 202 containing OK parts to the lifting mechanism 203; the tray positioning mechanism 207 is fixed on the device control box 1, and is used to fix the tray 202 on the tray translation mechanism 206; the stacking tray positioning mechanism 208 is fixed on the device control box 1, and is used to stack the trays 202 containing OK parts; the stacking tray positioning mechanism 208 is provided with a stacking tray detection switch 211, which is used to determine the position of the tray 202.

[0044] Specifically, the feeding mechanism 2 includes an NG product discharging mechanism 201 fixed on the device control box 1, a material tray 202 placed on the NG product discharging mechanism 201 and the lifting mechanism 203, a fixing mechanism 204 fixed on the device control box 1, a lifting mechanism 203 installed on the fixing mechanism 204, a motor 205 fixed at the lower end of the fixing mechanism 204, a material tray translation mechanism 206 fixed on the device control box 1, a material tray positioning mechanism 207 and a stacking tray positioning mechanism 208; a material tray 202 is placed above the NG product discharging mechanism 201 for placing NG products; the lifting mechanism 203 can be used for stacking the incoming material tray 202, so that the device can load multiple layers of material trays 202 at one time; the motor 205 can be used to drive the lifting mechanism 203 to move up and down, so that the material tray 202 stacked on the lifting mechanism 203 can also move up and down; the fixing mechanism 204 is provided with a descent detection switch 209 for detecting whether the lifting mechanism 203 is descending The fixing mechanism 204 is provided with an ascending detection switch 210, which is used to detect whether the uppermost material tray 202 stacked by the lifting mechanism 203 has risen to the position, so that the material tray translation mechanism 206 can judge whether to take or place the material tray 202; the material tray translation mechanism 206 is used to translate the uppermost material tray 202 stacked on the lifting mechanism 203 to the material tray translation mechanism 206, or to translate the material tray 202 with OK parts on the material tray translation mechanism 206 to the lifting mechanism 2 03; the tray positioning mechanism 207 is used to fix the tray 202 on the tray translation mechanism 206, further ensuring the accurate position of the tray 202 on the tray translation mechanism 206, and providing stable conditions for the subsequent grabbing of parts; the stacking tray positioning mechanism 208 is used to stack the trays 202 loaded with OK parts; the stacking tray positioning mechanism 208 is provided with a stacking tray detection switch 211, which is used to detect whether the trays 202 loaded with OK parts stacked by the lifting mechanism 203 have risen into place.

[0045] After the incoming material tray 202 is put in place, the device is started, the lifting mechanism 203 moves down, and after the descending detection switch 209 detects that the lifting mechanism 203 is in place, the lifting mechanism 203 moves up, and after the ascending detection switch 210 detects that the top material tray 202 stacked by the lifting mechanism 203 is in place, the lifting mechanism 203 stops, and the material tray translation mechanism 206 translates the top material tray 202 stacked on the lifting mechanism 203 onto the material tray translation mechanism 206, and the material tray positioning mechanism 207 fixes the material tray 202 on the material tray translation mechanism 206, and then the device performs a grabbing test on the parts on the material tray 202; after the test is completed, the parts on the material tray 202 are OK, and the material tray translation mechanism The structure 206 translates the material tray 202 loaded with OK product parts to the lifting mechanism 203 for stacking. The lifting mechanism 203 moves up, and the stacking detection switch 211 detects that the material tray 202 stacked on the lifting mechanism 203 has risen into place. The stacking positioning mechanism 208 clamps the material tray 202 with OK products on the top layer. At this point, the first layer of the material tray 202 completes the test; the lifting mechanism 203 moves down, and then the second layer of the material tray 202 is tested according to the above process; the material tray 202 can hold a variety of different sizes of pyrotechnic parts by changing the aperture on the tray, thereby improving the compatibility of the device; the feeding mechanism 2 realizes the automation of loading and unloading of stacking, saves labor costs, and improves test efficiency.

[0046] like Figure 5 As shown, the transport mechanism 3 includes a robot arm 301, a two-claw mechanism 302 and a three-claw mechanism 303; the robot arm 3 is fixed on the device control box 1, and the two-claw mechanism 302 and the three-claw mechanism 303 are fixed on the execution end of the robot arm 301, and can be moved under the drive of the robot arm; the two-claw mechanism 302 is used to grab the parts on the test mechanism 5, and place the test NG products on the tray 202 of the NG product discharging mechanism 201, and place the test OK products on the tray 202 fixed by the tray positioning mechanism 207; the three-claw mechanism 303 is used to grab the parts on the tray 202 fixed by the tray positioning mechanism 207, and after moving to the preset position above the visual mechanism 4 or the test mechanism 5 under the drive of the robot arm 301, drive the parts to rotate.

[0047] Specifically, the conveying mechanism 3 includes a robotic arm 301 fixed on the device control box 1 and a two-claw mechanism 302 and a three-claw mechanism 303 fixed on the robotic arm 301; the robotic arm 301 can drive the two-claw mechanism 302 and the three-claw mechanism 303 to move, so as to facilitate the visual identification and grasping of parts; the two-claw mechanism 302 and the three-claw mechanism 303 are arranged at the execution end of the robotic arm 301, and the two are side by side; the two-claw mechanism 302 is driven by the robotic arm 301 to move above the testing mechanism 5, and grasps the parts that have completed the test on the testing mechanism 5, and the two-claw mechanism 302 is driven by the robotic arm 301 to move, and the test NG products are placed on the tray 202 of the NG product discharging mechanism 201, and the test OK products are placed on the tray 202 fixed by the tray positioning mechanism 207, so as to realize the rapid grasping of pyrotechnic parts and the rapid classification of NG products and OK products.

[0048] Driven by the robotic arm 301, the three-claw mechanism 303 moves to the top of the tray 202 fixed by the tray positioning mechanism 207, grabs the untested parts on the tray 202, and then moves driven by the robotic arm 301 to move the untested parts to the center of the visual mechanism 4. The three-claw mechanism 303 drives the parts to rotate and takes photos for identification to determine whether the part serial number and the number and distribution of pins are successfully identified. When the identification fails, the three-claw mechanism 303 moves driven by the robotic arm 301 to place the parts on the tray 202 of the NG product discharge mechanism 201. If the identification is successful, the three-claw mechanism 303 moves driven by the robotic arm 301 to insert the parts into the testing mechanism 5, thereby realizing the rapid grasping and precise insertion of pyrotechnic parts to facilitate the electrical performance testing of the parts.

[0049] like Figure 6 As shown, the visual mechanism 4 includes a bracket 401, a code reading mechanism 402, a code reading ring light source 403, a lower visual positioning mechanism 404, and a lower visual ring light source 405; the bracket 401 is fixed on the device control box 1, and the code reading mechanism 402, the code reading ring light source 403, the lower visual positioning mechanism 404, and the lower visual ring light source 405 are fixed on the bracket 401; the code reading ring light source 403 is used to illuminate the two-dimensional code or characters on the side of the pyrotechnic parts; the code reading mechanism 402 is evenly arranged around the code reading ring light source 403, and is used to read the two-dimensional code or character information on the side of the rotating parts; the lower visual ring light source 405 is arranged in the center of the code reading ring light source 403, and the lower visual positioning mechanism 404 is arranged below the lower visual ring light source 405, and is used to identify the number, distribution and angle of the pins in the pyrotechnic parts.

[0050] Specifically, the visual mechanism 4 includes a bracket 401 fixed on the device control box 1, a code reading mechanism 402 installed on the bracket 401, a code reading ring light source 403, a lower visual positioning mechanism 404 and a lower visual ring light source 405; the code reading ring light source 403 is used to illuminate the two-dimensional code or characters on the side of the pyrotechnic parts; the code reading mechanism 402 is evenly arranged around the code reading ring light source 403, and the two-dimensional code or characters on the side of the rotating parts are photographed and read. When the reading is unsuccessful, a prompt of "two-dimensional code or character recognition failed" is output. If the reading is successful, pin identification is performed; the lower visual ring light source 405 is arranged in the center of the code reading ring light source 403, and the lower visual positioning mechanism 404 is arranged below the lower visual ring light source 405, and the number, distribution and angle of the pins in the pyrotechnic parts are identified. When the identification is unsuccessful, a prompt of "pin identification failed" is output. If the identification is successful, the conveying mechanism 2 is moved to the testing mechanism 5 for testing, so as to realize automatic, efficient and accurate acquisition of two-dimensional code or character information of pyrotechnic parts of different sizes, and reduce the risk of missed detection and wrong detection.

[0051] like Figure 7 As shown, the test mechanism 5 includes a test turntable mechanism 501, a guide seat 502, and a part testing mechanism 503; the test turntable mechanism 501 is fixed on the device control box 1, and the test turntable mechanism 501 rotates to adjust the position of the guide seat 502 for testing; the guide seat 502 is evenly arranged and fixed on the test turntable mechanism 501, and there are through holes on the guide seat 502. The number and distribution of the through holes match the number and distribution of pins in the pyrotechnic parts. During the operation of the device, the conveying mechanism 3 matches the pyrotechnic parts and inserts them into the guide seat 502 according to the recognition of the pyrotechnic parts pins by the visual mechanism 4. The guide seat 502 plays a guiding and fixing role for the pyrotechnic parts; the part testing mechanism 503 is arranged around the test turntable mechanism 501 and fixed on the device control box 1, and is used for testing the electrical properties of pyrotechnic parts.

[0052] Specifically, the testing mechanism 5 includes a testing turntable mechanism 501 fixed on the device control box 1, a guide seat 502 fixed on the testing turntable mechanism 501, and a parts testing mechanism 503 fixed on the device control box 1; the testing turntable mechanism 501 adjusts the position of the guide seat 502 for testing by rotation; the guide seat 502 is evenly arranged on the testing turntable mechanism 501, and there are through holes on the guide seat 502. The number and distribution of the through holes match the number and distribution of pins in the pyrotechnic parts. During the operation of the device, the conveying mechanism 3 inserts the pyrotechnic parts into the guide seat 502 according to the recognition of the pins of the pyrotechnic parts by the visual mechanism 4. The guide seat 502 plays a guiding and fixing role for the pyrotechnic parts. By replacing the guide seat 502, the device can be compatible with pyrotechnic parts of various sizes, and meet the electrical performance tests of pyrotechnic parts of various diameters and heights.

[0053] The parts testing mechanism 503 is arranged around the test turntable mechanism 501 , and the parts testing mechanism 503 uses a standard electrical performance tester to energize the pyrotechnic parts on the guide seat 502 to perform electrical performance testing.

[0054] like Figure 8 As shown, the part testing mechanism 503 includes a fixed bracket 504, a lower lifting mechanism 505, a probe 506, an upper clamping mechanism 507, and a copper column 508; the fixed bracket 504 is fixed on the device control box, and the lower lifting mechanism 505 is fixed on the fixed bracket 504; the probe 506 is fixed on the lower lifting mechanism 505, and before the pyrotechnic part is powered on for electrical performance testing using a standard electrical performance testing instrument, the probe 506 is driven by the lower lifting mechanism 505 to move upward and contact the pyrotechnic part pin in the guide seat, and after the pyrotechnic part electrical performance test is completed, the probe 506 is driven by the lower lifting mechanism 505 to move downward and separate from the pin in the pyrotechnic part; the upper clamping mechanism 507 The upper clamping mechanism 507 is fixed on the lower lifting mechanism 505, and moves driven by the lower lifting mechanism 505 before and after the pyrotechnic parts are energized for electrical performance testing using a standard electrical performance testing instrument; the upper clamping mechanism 507 itself can move up and down and rotate; the copper column 508 is fixed on the upper clamping mechanism 507, and before the pyrotechnic parts are energized for electrical performance testing using a standard electrical performance testing instrument, the copper column 508 moves above the pyrotechnic parts during the rotation of the upper clamping mechanism 507, and contacts the outer shell of the pyrotechnic parts in the guide seat during the downward movement of the upper clamping mechanism 507; after the electrical performance test of the pyrotechnic parts is completed, the copper column 508 is separated from the outer shell during the upward movement of the upper clamping mechanism 507.

[0055] Specifically, the part testing mechanism 503 includes a fixed bracket 504 fixed on the device control box 1, a lower lifting mechanism 505 fixed on the fixed bracket 504, a probe 506 installed on the lower lifting mechanism 505, an upper clamping mechanism 507 fixed on the lower lifting mechanism 505, and a copper column 508 installed on the upper clamping mechanism 507; before the pyrotechnic part is energized for electrical performance testing using a standard electrical performance testing instrument, the probe 506 moves upward under the drive of the lower lifting mechanism 505 and contacts the pyrotechnic part pin in the guide seat 502; after the pyrotechnic part electrical performance test is completed, the probe 506 moves downward under the drive of the lower lifting mechanism 505 and contacts the pin in the pyrotechnic part. The needle is separated; the upper clamping mechanism 507 moves under the drive of the lower lifting mechanism 505; the upper clamping mechanism 507 itself can move up and down and rotate; before using a standard electrical performance testing instrument to energize the pyrotechnic parts for electrical performance testing, the upper clamping mechanism 507 moves upward under the drive of the lower lifting mechanism 505, stops moving after moving into position, and then the upper clamping mechanism 507 rotates to drive the copper column 508 to move above the pyrotechnic parts on the guide seat 502, and the copper column 508 moves downward under the drive of the upper clamping mechanism 507, and contacts the outer shell of the pyrotechnic parts in the guide seat 502. After the electrical performance test of the pyrotechnic parts is completed, the copper column 508 is separated from the outer shell during the upward movement of the upper clamping mechanism 507. Through software system settings, after the pyrotechnic parts on the guide seat 502 are in reliable contact with the probe 506 and the copper pillar 508, the pyrotechnic parts are energized through the probe 506 and the copper pillar 508 using a standard electrical performance tester, so that electrical performance tests such as the bridge resistance test between the pins of the pyrotechnic parts, the insulation resistance test between the pins, the insulation resistance test between the pins and the shell, and the dielectric withstand voltage test between the pins and the shell can be realized, thereby reducing the flow of parts between different electrical performance testing processes, simplifying the electrical performance testing process, and improving testing efficiency.

[0056] In one embodiment, Fig. 9 As shown, a method for automatically testing the electrical properties of explosive devices is provided, which uses an automatic testing device for automatically testing the electrical properties of explosive devices as described above, and includes the following steps:

[0057] Step S1, manually place the multi-layer tray on the feeding mechanism, the feeding mechanism translates one layer of tray to fix it, grabs the parts on the first layer of tray through the conveying mechanism, moves them to the center of the visual mechanism and rotates them, and the visual mechanism reads the QR code or character information on the side of the parts.

[0058] Specifically, after the device is powered on, all components are automatically powered on, the host computer software is opened, and the device is started through the software operation interface, and the lifting mechanism, tray translation mechanism, robotic arm, test turntable, and motor all return to the origin.

[0059] Select the corresponding parameter table on the host computer according to the part model, and then manually place the multi-layer tray stack on the feeding mechanism to complete the loading.

[0060] The device starts, the feeding mechanism moves horizontally out of the first layer of the tray, the transport mechanism grabs the parts on the tray and moves them to the center of the visual mechanism and rotates the parts, requesting the camera to take a picture to read the QR code or character information on the side of the part.

[0061] Step S2, after the reading is completed, the reading result is obtained. When the reading result does not meet the requirements, the conveying mechanism moves the parts to the material tray of the NG product discharge mechanism; when the reading result meets the requirements, the conveying mechanism stops rotating, and the visual mechanism identifies the number, distribution and angle of the pins in the pyrotechnic parts.

[0062] Specifically, the QR code or characters on the side of the rotating part are obtained by taking a photo with a camera. The QR code or character information of the part is preset in the software. If the reading result is not within the preset range, the part output result is "QR code or character recognition failed", and the conveying mechanism places the part on the NG material tray. If the reading result is within the preset range, the part stops rotating and requests a camera photo for pin identification.

[0063] Step S3, determine whether the number and distribution of pins in the pyrotechnic parts meet the preset requirements. If they do not meet the preset requirements, the conveying mechanism moves the parts to the material tray of the NG product discharging mechanism; if they meet the preset requirements, the conveying mechanism is used to move the parts from the visual mechanism to the top of the testing mechanism, and the conveying mechanism rotates the parts according to the part angle recognized by the visual mechanism.

[0064] Specifically, the number and distribution of pins of pyrotechnic parts are obtained by taking photos with a camera, and it is determined whether the two meet the requirements set in the software system. If not, "pin recognition failed" is output, and the transport mechanism places the parts on the tray of the NG product discharging mechanism. If it meets the requirements set in the software system, the visual mechanism records the pin angle, and then the transport mechanism moves the parts from the visual mechanism to the top of the testing mechanism, and rotates the parts according to the angle recognized by the visual mechanism.

[0065] Step S4, the transporting mechanism drives the part to rotate to the angle recognized by the visual mechanism and then stops rotating, and the transporting mechanism moves downward to match the part and insert it into the guide seat of the testing mechanism; the part on the guide seat is fixed by the part testing mechanism on the testing mechanism, and the part is powered on for electrical performance testing using a standard electrical performance testing instrument to obtain the test results, and the test results are judged.

[0066] Specifically, the transporting mechanism drives the part to rotate to the angle recognized by the visual mechanism and then stops rotating. At this time, the part pin corresponds to the through hole of the guide seat of the testing mechanism, and the transporting mechanism moves downward to match the part and insert it into the guide seat of the testing mechanism; the part on the testing mechanism is fixed and reliably contacts the part on the guide seat, and the standard electrical performance testing instrument is used to energize the part to perform electrical performance testing to obtain test results, and the software system is requested to judge the test results.

[0067] Step S5, determine whether the electrical performance test results of the parts tested on the testing mechanism meet the preset parameter requirements. If not, the transport mechanism places the parts on the material tray of the NG product discharge mechanism. If yes, the transport mechanism grabs the parts back to the material tray of the feeding mechanism.

[0068] Step S6, repeat the electrical performance test from grabbing and loading in step S1 to S5, until all parts in the first layer of the tray are tested, the feeding mechanism takes back the first layer of the tray and stacks it, and moves the second layer of the tray horizontally to fix it, and continues testing until all parts in the stacked tray are tested and the task is ended. The device host computer interface displays the test results of the parts in sequence and stores them in the software for subsequent use.

[0069] In the present invention, after manually placing a multi-layer material tray on the feeding mechanism, the feeding mechanism translates a layer of material tray to be fixed, the conveying mechanism grabs the parts on the material tray and moves them to the center of the visual mechanism for identification of the QR code or characters, the number and distribution of pins, and when both meet the preset requirements, the conveying mechanism moves the parts from the visual mechanism to the testing mechanism and inserts them into the guide seat, the testing mechanism fixes and reliably contacts the parts on the guide seat, the device performs an electrical performance test on the parts, and when the test results meet the preset requirements, the conveying mechanism grabs the parts back to the feeding mechanism, thereby realizing efficient and accurate acquisition of the serial numbers of pyrotechnic parts, realizing the full process automation of the electrical performance test of pyrotechnic parts, simplifying the process of electrical performance test of pyrotechnic parts, saving labor costs, and improving test efficiency.

[0070] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A flexible automatic testing device for electrical properties of explosive devices, characterized in that: include: A device control box and a feeding mechanism, a conveying mechanism, a visual mechanism and a testing mechanism installed on the device control box; the device control box, the feeding mechanism, the conveying mechanism, the visual mechanism and the testing mechanism are electrically connected; The feeding mechanism is used for stacking and placing trays; The transport mechanism is arranged on one side of the feeding mechanism, and when working, moves to the grabbing point according to the set program to grab the parts, moves the parts to the center of the visual mechanism and rotates to display the QR code or character information, and then moves the parts to the top of the testing mechanism and rotates to adjust the angle of the parts to insert into the testing mechanism; The visual mechanism is arranged at the adjacent sides of the feeding mechanism and the transport mechanism, and is used to read the QR code or character information of the rotating parts and identify the number, distribution and angle of the pins in the parts; The testing mechanism is arranged on adjacent sides of the visual mechanism and the transport mechanism, and completes the electrical performance test of the pyrotechnic parts according to the number, distribution and angle of the pins in the parts identified by the visual mechanism.

2. The flexible automatic testing device for electrical properties of explosive devices according to claim 1, characterized in that: The feeding mechanism includes an NG product discharging mechanism, a material tray, a lifting mechanism, a fixing mechanism, a motor, a material tray translation mechanism, a material tray positioning mechanism, and a stacking tray positioning mechanism; the material tray is placed on the NG product discharging mechanism and the lifting mechanism; the NG product discharging mechanism is fixed to the device control box for placing NG products; the fixing mechanism is fixed to the device control box; the lifting mechanism is fixed to the fixing mechanism for stacking incoming material trays; the motor is fixed to the lower end of the fixing mechanism for driving the lifting mechanism to move up and down; the material tray translation mechanism is fixed to the device control box for translating the material tray stacked at the top on the lifting mechanism to the material tray translation mechanism, or for translating the material tray containing OK product parts to the lifting mechanism; the material tray positioning mechanism is fixed to the device control box for fixing the material tray on the material tray translation mechanism; the stacking tray positioning mechanism is fixed to the device control box for stacking material trays containing OK product parts.

3. The flexible automatic testing device for electrical properties of explosive devices according to claim 2, characterized in that: The fixing mechanism is provided with a detection switch for detecting the position of the lifting mechanism.

4. The flexible automatic testing device for electrical properties of explosive devices according to claim 2, characterized in that: The stacking tray positioning mechanism is provided with a detection switch for determining the position of the tray.

5. The flexible automatic testing device for electrical properties of explosive devices according to claim 1, characterized in that: The conveying mechanism includes a robotic arm, a two-claw mechanism and a three-claw mechanism; the robotic arm is fixed on the device control box, and the two-claw mechanism and the three-claw mechanism are fixed on the execution end of the robotic arm, and can move under the drive of the robotic arm; the two-claw mechanism is used to grab the parts on the testing mechanism, and place the test NG products on the tray of the NG product discharging mechanism, and place the test OK products on the tray of the tray positioning mechanism; the three-claw mechanism is used to grab the parts on the tray positioning mechanism, and after moving to the preset position above the visual mechanism or the testing mechanism under the drive of the robotic arm, drive the parts to rotate.

6. The flexible automatic testing device for electrical properties of explosive devices according to claim 1, characterized in that: The visual mechanism includes a bracket, a code reading mechanism, a code reading ring light source, a lower visual positioning mechanism, and a lower visual ring light source; the bracket is fixed on the device control box; the code reading mechanism, the code reading ring light source, the lower visual positioning mechanism, and the lower visual ring light source are all fixed on the bracket; the code reading ring light source is used to illuminate the two-dimensional code or characters on the side of the pyrotechnic parts; the code reading mechanism is evenly arranged around the code reading ring light source, and is used to read the two-dimensional code or character information on the side of the rotating parts; the lower visual ring light source is arranged in the center of the code reading ring light source, and the lower visual positioning mechanism is arranged below the lower visual ring light source, and is used to identify the number, distribution and angle of pins in the pyrotechnic parts.

7. The flexible automatic testing device for electrical properties of explosive devices according to claim 1, characterized in that: The testing mechanism includes a testing turntable mechanism, a guide seat, and a parts testing mechanism; the testing turntable mechanism is fixed on the device control box; the testing mechanism adjusts the position of the guide seat by rotation; the guide seat is evenly arranged and fixed on the testing turntable mechanism, and there are through holes on the guide seat, and the number and distribution of the through holes match the number and distribution of pins in the pyrotechnic parts; during the operation of the automatic testing device, the conveying mechanism matches the pyrotechnic parts and inserts them into the guide seat according to the recognition of the pyrotechnic parts pins by the visual mechanism, and the guide seat plays a guiding and fixing role for the pyrotechnic parts; the parts testing mechanism is arranged around the testing turntable mechanism and fixed on the device control box, and is used for testing the electrical properties of pyrotechnic parts.

8. The flexible automatic testing device for electrical properties of explosive devices according to claim 7, characterized in that: The part testing mechanism includes a fixed bracket, a lower lifting mechanism, a probe, an upper clamping mechanism, and a copper column; wherein the fixed bracket is fixed to the device control box, and the lower lifting mechanism is fixed to the fixed bracket; the probe is fixed to the lower lifting mechanism, and before the pyrotechnic part is powered on for electrical performance testing using a standard electrical performance testing instrument, the probe moves upward under the drive of the lower lifting mechanism and contacts with the pyrotechnic part pin in the guide seat; after the electrical performance test of the pyrotechnic part is completed, the probe moves downward under the drive of the lower lifting mechanism and separates from the pin in the pyrotechnic part; the upper clamping mechanism is fixed to the lower lifting mechanism. On the lifting mechanism, before and after the pyrotechnic parts are powered on for electrical performance testing using a standard electrical performance testing instrument, the upper clamping mechanism moves driven by the lower lifting mechanism; the upper clamping mechanism itself can move up and down and rotate; the copper column is fixed on the upper clamping mechanism, and before the pyrotechnic parts are powered on for electrical performance testing using a standard electrical performance testing instrument, the copper column moves above the pyrotechnic parts during the rotation of the upper clamping mechanism, and contacts the outer shell of the pyrotechnic parts in the guide seat during the downward movement of the upper clamping mechanism. After the electrical performance test of the pyrotechnic parts is completed, the copper column separates from the outer shell during the upward movement of the upper clamping mechanism.

9. A method for automatically testing the electrical properties of explosive devices using the device of claim 1, characterized in that: include: (1) Place a multi-layer tray on the feeding mechanism, which moves the first layer of trays horizontally and fixes them. The transport mechanism grabs the parts on the first layer of trays and moves them to the center of the visual mechanism and rotates them. The visual mechanism reads the QR code or character information on the side of the parts. (2) After the reading is completed, the reading result is obtained. When the reading result meets the requirements, the transport mechanism stops rotating, and the visual mechanism identifies the number, distribution and angle of the pins in the pyrotechnic parts; when the reading result does not meet the requirements, the transport mechanism moves the parts to the material tray of the NG product discharge mechanism; (3) Determine whether the number and distribution of pins in the pyrotechnic parts meet the preset requirements. If they do not meet the preset requirements, the transport mechanism moves the parts to the material tray of the NG product discharge mechanism; if they meet the preset requirements, the transport mechanism moves the parts from the visual mechanism to the top of the testing mechanism, and rotates the parts according to the part angle recognized by the visual mechanism; (4) The transport mechanism drives the part to rotate to the angle recognized by the visual mechanism and then stops rotating. The transport mechanism moves downward to match and insert the part into the guide seat of the testing mechanism. The part on the guide seat is fixed by the part testing mechanism on the testing mechanism, and the part is powered on to perform an electrical performance test using a standard electrical performance testing instrument to obtain the test results, and the test results are judged; (5) Determine whether the electrical performance test results of the parts tested on the test mechanism meet the preset parameter requirements. If not, the transport mechanism places the parts on the tray of the NG product discharge mechanism. If yes, the transport mechanism grabs the parts back to the tray of the feeding mechanism; (6) Repeat steps (1) to (5) until all parts in the first layer of the tray have been tested. The feeding mechanism retrieves the first layer of the tray and stacks it, and moves the second layer of the tray horizontally to fix it. The test continues until all parts in the stacked tray have been tested. The task is terminated. The device host computer interface displays the test results of the parts in sequence and stores them for subsequent use.

10. The method according to claim 9, characterized in that The feeding mechanism includes an NG product discharging mechanism, a material tray, a lifting mechanism, a fixing mechanism, a motor, a material tray translation mechanism, a material tray positioning mechanism, and a stacking tray positioning mechanism; the material tray is placed on the NG product discharging mechanism and the lifting mechanism; the NG product discharging mechanism is fixed to the device control box for placing NG products; the fixing mechanism is fixed to the device control box; the lifting mechanism is fixed to the fixing mechanism for stacking incoming material trays; the motor is fixed to the lower end of the fixing mechanism for driving the lifting mechanism to move up and down; the material tray translation mechanism is fixed to the device control box for translating the material tray stacked at the top on the lifting mechanism to the material tray translation mechanism, or for translating the material tray containing OK product parts to the lifting mechanism; the material tray positioning mechanism is fixed to the device control box for fixing the material tray on the material tray translation mechanism; the stacking tray positioning mechanism is fixed to the device control box for stacking material trays containing OK product parts.

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