Assembly method and system of initiating explosive device, electronic equipment and storage medium

Abstract

The invention provides an initiating explosive device assembling method and system, electronic equipment and a storage medium. The method comprises the following steps: receiving an assembly request of an initiating explosive device, and controlling a robot to load a grain into a shell according to a preset grabbing torque and a preset grabbing speed; an updated press-fitting torque is determined according to a preset press-fitting torque and an actual press-fitting torque through a PID controller, press-fitting is conducted on the grain in the shell according to the updated press-fitting torque through a press-fitting module, and it is determined that the grain is assembled; the robot is controlled to place the top cover on the shell according to the preset grabbing torque and the preset grabbing speed; and an updated tightening torque is determined according to a preset tightening torque and an actual tightening torque through a PID controller, the top cover and the shell are tightened according to the updated tightening torque through a tightening module, and it is determined that assembly of the top cover is completed. In this way, automatic, remotely controllable and safe redundant initiating explosive device assembly is achieved, and the stability, reliability and safety of assembly in a dangerous environment are guaranteed.

Description

Technical Field

[0001] The present disclosure relates to the field of machine control technology, and in particular to an assembly method, system, electronic device and storage medium of an explosive device. Background Art

[0002] Most military enterprises need to assemble explosive devices. However, when workers manually assemble explosive devices, there will be high safety risks due to the large number of workers on site assembling explosive devices, and the safety of the workers cannot be guaranteed.

[0003] In view of this, how to avoid safety risks when workers assemble pyrotechnics has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to propose an assembly method, system, electronic device and storage medium of pyrotechnics to solve or partially solve the above-mentioned technical problems.

[0005] Based on the above purpose, the first aspect of the present disclosure proposes an assembly method of an explosive device, which is applied to an assembly system of an explosive device, the system comprising: a robot, a press-fitting module and a tightening module; the explosive device comprises: a charge, a shell and a top cover; the method comprises:

[0006] Upon receiving an assembly request for an explosive device, controlling the robot to load the explosive column into the housing according to a preset grasping torque and a preset grasping speed;

[0007] Determining an updated pressing torque according to a preset pressing torque and an actual pressing torque by a PID controller, pressing the drug column in the shell according to the updated pressing torque by using the pressing module, and determining that the drug column is assembled;

[0008] Controlling the robot to place the top cover on the shell according to a preset grasping torque and a preset grasping speed;

[0009] The updated tightening torque is determined by a PID controller according to the preset tightening torque and the actual tightening torque, the top cover and the shell are tightened according to the updated tightening torque by the tightening module, and it is determined that the top cover is assembled.

[0010] Based on the same inventive concept, the second aspect of the present disclosure proposes an assembly system for explosives, the system comprising: a robot, a press-fitting module and a tightening module; the explosives comprises: a charge, a shell and a top cover;

[0011] The robot is configured to receive an assembly request for an explosive device and load the explosive column into the housing according to a preset grasping torque and a preset grasping speed;

[0012] The press-fitting module is configured to determine an updated press-fitting torque according to a preset press-fitting torque and an actual press-fitting torque through a PID controller, press-fit the drug column in the shell according to the updated press-fitting torque, and determine that the drug column is assembled;

[0013] The robot is configured to place the top cover on the housing according to a preset grasping torque and a preset grasping speed;

[0014] The tightening module is configured to determine an updated tightening torque according to a preset tightening torque and an actual tightening torque through a PID controller, tighten the top cover and the shell according to the updated tightening torque, and determine that the top cover is assembled.

[0015] Based on the same inventive concept, the third aspect of the present disclosure proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0016] Based on the same inventive concept, a fourth aspect of the present disclosure proposes a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method as described above.

[0017] As can be seen from the above, the assembly method, system, electronic device and storage medium of the pyrotechnic provided by the present disclosure. Upon receiving the assembly request of the pyrotechnic, the robot is controlled to load the powder column into the shell according to the preset grasping torque and the preset grasping speed, so as to ensure that the robot can accurately load the powder column into the shell. The updated pressing torque is determined by the PID controller according to the preset pressing torque and the actual pressing torque, and the powder column in the shell is pressed according to the updated pressing torque by the pressing module, and it is determined that the assembly of the powder column is completed. In this way, the updated pressing torque determined according to the preset pressing torque and the actual pressing torque is more accurate, which can ensure that the pressing module presses the powder column into the shell while avoiding the actual pressing torque being too large to cause damage to the powder column. The robot is controlled to place the top cover on the shell according to the preset grasping torque and the preset grasping speed, so as to ensure that the robot can accurately place the top cover on the shell. The updated tightening torque is determined by the PID controller according to the preset tightening torque and the actual tightening torque, and the top cover is tightened with the shell according to the updated tightening torque by the tightening module, and it is determined that the assembly of the top cover is completed. In this way, the updated tightening torque determined based on the preset tightening torque and the actual tightening torque is more accurate, which can ensure that the tightening module tightens the top cover and the shell while avoiding damage to the top cover or the shell due to excessive actual tightening torque. In addition, the automated, remotely controllable, and safe redundant pyrotechnic assembly is realized to ensure the stability, reliability, and safety of automated assembly in dangerous environments, thereby reducing the number of on-site personnel during the assembly process or further realizing unmanned operation on site. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A flowchart of an assembly method of an explosive device according to an embodiment of the present disclosure;

[0020] Figure 2 A schematic diagram of the assembly process of the pyrotechnic device according to the embodiment of the present disclosure;

[0021] Figure 3 A schematic diagram of the effect of the robot according to an embodiment of the present disclosure;

[0022] Figure 4 This is a schematic diagram of the effect of the press-fitting module of the embodiment of the present disclosure;

[0023] Figure 5 It is a schematic diagram of the effect of the tightening module of the embodiment of the present disclosure;

[0024] Figure 6 It is a schematic diagram of the effect of the assembly system of the explosive device according to the embodiment of the present disclosure;

[0025] Figure 7 A schematic diagram of static electricity accumulation according to an embodiment of the present disclosure;

[0026] Figure 8 A flow chart of determining a position based on a PID controller according to an embodiment of the present disclosure;

[0027] Fig. 9 A flow chart of determining torque based on a PID controller according to an embodiment of the present disclosure;

[0028] Fig.10 is a schematic diagram of a curve of relationship between displacement and torque according to an embodiment of the present disclosure;

[0029] Fig.11 It is a flow chart of the medicine column press-packing according to the embodiment of the present disclosure;

[0030] Fig.12 A flowchart for tightening the top cover of the disclosed embodiment;

[0031] Fig.13 It is a structural schematic diagram of an assembly system of an initiator according to an embodiment of the present disclosure;

[0032] Fig.14 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure.

[0033] Description of reference numerals:

[0034] 200, explosive device, 201, shell, 202, powder column, 203, top cover, 204, screw;

[0035] 300. Assembly system of explosives, 301. Robot, 3011. Gripper, 302. Pressing module, 303. Tightening module. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0037] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0038] Based on the description of the background technology, most military enterprises have relatively backward production conditions and methods in the assembly process involving explosives. They often assemble multiple products in small batches and multiple varieties on mixed lines. There are a large number of people involved in manual work at the assembly site. The large number of people leads to a high risk of illegal operations or accidents. Once an explosion occurs, it will cause serious harm to the lives of the personnel on site.

[0039] Therefore, there is an obvious demand for production line automation technology involving pyrotechnic assembly. The specific demand points for automation technology are mainly reflected in the following three points:

[0040] (1) The assembly of explosives is a typical dangerous assembly scenario. The core requirements of its automated assembly process are safety and stability. The reliability and safety redundancy strategy of the control system are particularly important. It is currently understood that the automated production line for the assembly of explosives does not have a special control architecture for the characteristics and assembly requirements of explosives. The specific remote control and on-site control levels are not clear, the integration of remote control and on-site control is not perfect, and the redundant control strategy of the control system has no targeted design.

[0041] (2) The assembly of explosives is a typical scenario of multi-variety and small-batch assembly, with many process changes and the mixed use of automation and human-machine combination. The work site requires process personnel to reliably and quickly adjust the production process plan according to the actual conditions of the raw materials and production equipment of the explosives on site. In the past, the control system of the explosive production line did not have the ability to be flexibly configured, resulting in the lack of a relatively complete solution and product support for the control system of the production line during the assembly of explosives, which was mainly based on manual work and paper documents.

[0042] (3) The automatic control accuracy requirements for pyrotechnic assembly equipment are relatively high. In order to reduce the number of personnel on site during the assembly process or further realize unmanned operation on site, equipment automatic control technology with high control accuracy and safety level and control solutions for corresponding technologies are required. The corresponding automatic control technology needs to be effectively applied and verified in typical scenarios to eliminate safety hazards involved in the assembly process of pyrotechnics and explosives and minimize the probability of safety accidents involved in the assembly process of pyrotechnics and explosives.

[0043] As mentioned above, how to avoid safety risks when workers assemble pyrotechnics has become an important research issue.

[0044] Based on the above description, if Figure 1 As shown, the assembly method of the pyrotechnic device proposed in this embodiment is applied to the assembly system of the pyrotechnic device, the system comprising: a robot, a press-fitting module and a tightening module; the pyrotechnic device comprises: a charge, a shell and a top cover; the method comprises:

[0045] Step 101, receiving an assembly request for an explosive device, and controlling the robot to load the explosive column into the housing according to a preset grasping torque and a preset grasping speed.

[0046] When it comes to specific implementation, Figure 2 FIG. 1 is a schematic diagram of the assembly process of the pyrotechnic device according to the embodiment of the present disclosure. Figure 2 As shown in the figure, the assembly process of the explosive device includes: loading the powder column into the shell, placing the top cover on the shell, and tightening the top cover and the shell with screws. Among them, the explosive device is mainly a propellant or high explosive that has been coated and coated, as well as related charge-carrying devices and accessories.

[0047] For example, the assembly process of explosives includes: loading and tightening. The loading process is: loading three explosives with dimensions of Φ159mm×40mm (height) into a shell with dimensions of Φ200mm (outer)×Φ160mm (inner)×120mm (height), testing the conduction and insulation between the shell and the explosives, and then assembling a top cover with dimensions of Φ180mm on the shell. The tightening process is: tightening the six M8 screws in sequence.

[0048] Figure 3 Schematic diagram of the effect of the robot of the embodiment of the present disclosure. Figure 3 As shown, the robot is used to grab the charge and load it into the shell. Specifically, after receiving the assembly request of the explosive, the robot moves to the charge grabbing position to grab the charge, after the charge is grabbed, the robot moves to the charge assembly position to load the charge into the shell, after the charge is loaded into the shell, the robot moves to a preset safe position.

[0049] In addition, the robot is provided with a camera and a torque sensor. The PID controller determines the updated grasping position according to the preset grasping position and the actual grasping position collected by the camera, and controls the robot to grasp the medicine column and load it into the shell according to the updated grasping position. In this way, the robot can accurately grasp the medicine column and load it into the shell, avoiding the problem that the robot cannot grasp the medicine column and load it into the shell due to inaccurate grasping position and loading position. The PID controller determines the updated grasping torque according to the preset grasping torque and the actual grasping torque collected by the torque sensor, and controls the robot to grasp the medicine column and load it into the shell according to the updated grasping torque. In this way, the robot can accurately grasp the medicine column and load it into the shell, avoiding the problem that the robot cannot grasp the medicine column and load it into the shell due to inaccurate grasping torque and loading torque.

[0050] Step 102, determining an updated pressing torque according to a preset pressing torque and an actual pressing torque through a PID controller, using the pressing module to press-fit the drug column in the shell according to the updated pressing torque, and determining that the drug column is assembled.

[0051] In specific implementation, the PID controller is a proportional-integral-differential controller (Proportion Integration Differentiation, referred to as PID controller), which consists of a proportional unit (P), an integral unit (I) and a differential unit (D). P , K I and K D With the setting of three parameters, the PID controller is mainly suitable for systems whose basic linearity and dynamic characteristics do not change with time.

[0052] Figure 4Schematic diagram of the effect of the press-fitting module of the embodiment of the present disclosure. Figure 4 As shown, the pressing module is used to press the medicine column in the shell, and a camera and a torque sensor are provided on the pressing module. Specifically, after the medicine column is loaded into the shell, the PID controller determines the updated pressing torque according to the preset pressing torque and the actual pressing torque collected by the torque sensor, and the pressing module presses the medicine column in the shell according to the updated pressing torque. In this way, while ensuring that the pressing module presses the medicine column into the shell, it can avoid the actual pressing torque being too large to cause damage to the medicine column.

[0053] In addition, whether the drug column is assembled is determined by judging whether the drug column is pressed and installed. When the drug column is pressed and installed, it is determined that the drug column is assembled. A preset number of drug columns need to be assembled in the shell, the number of drug columns in the shell is obtained, and when the number of drug columns in the shell reaches the preset number, a top cover is placed on the shell.

[0054] Step 103: Control the robot to place the top cover on the shell according to a preset grasping torque and a preset grasping speed.

[0055] When implementing it specifically, Figure 3 Schematic diagram of the effect of the robot of the embodiment of the present disclosure. Figure 3 As shown, the robot is also used to grab the top cover and place the top cover on the shell. Specifically, after the drug column is assembled, the robot moves to the top cover grabbing position to grab the top cover, after the top cover is grabbed, the robot moves to the top cover assembly position to place the top cover on the shell, and after the top cover is placed on the shell, the robot moves to a preset safe position.

[0056] In addition, the robot is provided with a camera and a torque sensor. The PID controller determines the updated grasping position according to the preset grasping position and the actual grasping position collected by the camera, and controls the robot to grasp the top cover and place it on the shell according to the updated grasping position. In this way, the robot can accurately grasp the top cover and place it on the shell, avoiding the problem that the robot grasping position and the loading position are inaccurate, resulting in the inability to grasp the top cover and place it on the shell. The PID controller determines the updated grasping torque according to the preset grasping torque and the actual grasping torque collected by the torque sensor, and controls the robot to grasp the top cover and place it on the shell according to the updated grasping torque. In this way, the robot can accurately grasp the top cover and place it on the shell, avoiding the problem that the robot grasping torque and the loading torque are inaccurate, resulting in the inability to grasp the top cover and place it on the shell.

[0057] Step 104, determining an updated tightening torque according to a preset tightening torque and an actual tightening torque through a PID controller, tightening the top cover and the shell according to the updated tightening torque using the tightening module, and determining that the top cover is assembled.

[0058] When it comes to specific implementation, Figure 5 Schematic diagram of the effect of the tightening module of the embodiment of the present disclosure. Figure 5 As shown, the tightening module is used to tighten the top cover and the shell, and a camera and a torque sensor are provided on the tightening module. Specifically, after the top cover is placed on the shell, the PID controller determines the updated tightening torque according to the preset tightening torque and the actual tightening torque collected by the torque sensor, and the tightening module tightens the top cover and the shell according to the updated tightening torque. In this way, while ensuring that the tightening module tightens the top cover and the shell, it can avoid the actual tightening torque being too large to cause damage to the top cover or the shell.

[0059] In addition, whether the top cover is assembled is determined by judging whether the top cover is tightened with the shell. When the top cover is tightened with the shell, it is determined that the top cover is assembled.

[0060] Figure 6 FIG. 1 is a schematic diagram showing the effect of the assembly system of the pyrotechnic device according to the embodiment of the present disclosure. Figure 6 As shown, the assembly system of pyrotechnics is set up in the workshop. The automatic assembly of pyrotechnics can be realized by using robots, pressing modules and tightening modules. The staff only needs to deal with the assembly problems that arise when the system alarms, which reduces the staff's operations, reduces labor costs, and ensures the safety of the staff.

[0061] Through the above-mentioned embodiment, upon receiving the assembly request of the pyrotechnics, the robot is controlled to load the medicine column into the shell according to the preset grasping torque and the preset grasping speed, so as to ensure that the robot can accurately load the medicine column into the shell. The PID controller is used to determine the updated pressing torque according to the preset pressing torque and the actual pressing torque, and the medicine column in the shell is pressed according to the updated pressing torque by the pressing module, and it is determined that the assembly of the medicine column is completed. In this way, the updated pressing torque determined according to the preset pressing torque and the actual pressing torque is more accurate, which can ensure that the pressing module presses the medicine column into the shell while avoiding the damage of the medicine column caused by excessive actual pressing torque. The robot is controlled to place the top cover on the shell according to the preset grasping torque and the preset grasping speed, so as to ensure that the robot can accurately place the top cover on the shell. The PID controller is used to determine the updated tightening torque according to the preset tightening torque and the actual tightening torque, and the tightening module is used to tighten the top cover and the shell according to the updated tightening torque, and it is determined that the assembly of the top cover is completed. In this way, the updated tightening torque determined based on the preset tightening torque and the actual tightening torque is more accurate, which can ensure that the tightening module tightens the top cover and the shell while avoiding damage to the top cover or the shell due to excessive actual tightening torque. In addition, the automated, remotely controllable, and safe redundant pyrotechnic assembly is realized to ensure the stability, reliability, and safety of automated assembly in dangerous environments, thereby reducing the number of on-site personnel during the assembly process or further realizing unmanned operation on site.

[0062] In some embodiments, step 101 includes:

[0063] Step 1011, determining whether there is an obstacle blocking the first path between the robot and the drug column grasping position.

[0064] Step 1012: In response to determining that the first path is blocked by an obstacle, an alarm is issued.

[0065] Step 1013: In response to determining that there is no obstacle blocking the first path, control the robot to move to the drug column grabbing position.

[0066] In specific implementation, after receiving the assembly request of the pyrotechnic, it also includes: judging whether the grounding performance of the assembly system of the pyrotechnic is good; in response to determining that the grounding performance of the assembly system of the pyrotechnic is poor, giving an alarm prompt for manual processing; in response to determining that the grounding performance of the assembly system of the pyrotechnic is good, executing step 1011. In this way, the conductivity of the grounding system is detected in real time by the sensor, and a redundant static elimination system is set up at the same time, which is used to temporarily eliminate static electricity when the grounding fails.

[0067] After confirming that the grounding performance of the assembly system of the explosive device is good, determine whether there is an obstacle blocking the first path between the robot and the charge grabbing position. If there is an obstacle blocking the first path, an alarm will be issued for manual processing; if there is no obstacle blocking the first path, the robot will be controlled to move to the charge grabbing position. In this way, through visual, laser, infrared and other means, it is ensured that there are no obstacles in the system operation path and that the system will not have accidental collisions.

[0068] Step 1014, obtaining the static electricity amount on the robot's gripper, and comparing the static electricity amount with a preset static electricity threshold.

[0069] Step 1015 , in response to determining that the static electricity amount is greater than or equal to a preset static electricity threshold, performing static electricity elimination processing.

[0070] Step 1016: In response to determining that the static electricity amount is less than a preset static electricity threshold, the robot's gripper is controlled to grasp the drug column according to the preset grasping torque and the preset grasping speed.

[0071] In specific implementation, in the assembly scenario of pyrotechnics, static electricity needs to be accurately monitored and eliminated. Once the static electricity in the system exceeds the standard, it can easily cause accidental ignition and explosion of pyrotechnics.

[0072] Figure 7 Schematic diagram of static electricity accumulation in an embodiment of the present disclosure. Figure 7As shown, in conventional industrial environments, the amount of static electricity of antistatic materials continues to increase with time. When the fourth-level static electricity accumulation time is reached, the static electricity amount is 100 microcoulombs, and it is very easy to discharge and generate electric sparks. The length of this process is related to factors such as the number of free charges in the environment, environmental humidity, gripper material, and gripper shape. Therefore, when designing the assembly system of pyrotechnics, it is necessary to eliminate the generated static electricity in a timely and sufficient manner to prevent discharge from accidentally igniting and detonating pyrotechnics.

[0073] For example, the preset static threshold is 100 microcoulombs. When the static electricity on the robot's gripper is greater than or equal to 100 microcoulombs, static electricity elimination is performed. When the static electricity force on the robot's gripper is less than 100 microcoulombs, the robot's gripper is controlled to grab the drug column according to the preset grasping torque and the preset grasping speed. In this way, the static electricity detection sensor can be used to detect in real time whether the static electricity on the gripper exceeds the standard, and it is linked with the static electricity elimination system to ensure that the system will not be accidentally ignited due to excessive static electricity.

[0074] The robot's gripper is controlled to grab the drug column according to the preset grabbing torque and the preset grabbing speed. In this way, by real-time monitoring of speed and torque, it is ensured that the gripper grabs the drug column firmly, and at the same time does not collide or squeeze the drug column to prevent danger.

[0075] Step 1017, determining that the robot's gripper has completed grabbing the drug column, and controlling the robot to load the drug column into the shell.

[0076] In specific implementation, when the robot's claws complete grabbing of the medicine column, the robot is controlled to move to the medicine column assembly position while grabbing the medicine column, and the medicine column is loaded into the shell.

[0077] Through the above scheme, by determining that there are no obstacles blocking the first path between the robot and the medicine column grasping position, the robot is controlled to move to the medicine column grasping position to avoid accidental collisions during the robot's movement to the medicine column grasping position. When the static electricity on the robot's gripper is greater than or equal to the preset static electricity threshold, static electricity elimination processing is performed to avoid the risk of accidental ignition of the static electricity on the robot's gripper when the static electricity exceeds the standard during the process of grasping the medicine column. When the robot's gripper completes grasping the medicine column, the robot is controlled to load the medicine column into the shell, thereby enabling the robot to accurately grasp the medicine column.

[0078] In some embodiments, step 1017 includes:

[0079] Step 1017A, determining whether the robot's gripper has completed grabbing the drug column.

[0080] Step 1017B, in response to determining that the robot's gripper has not completed the grabbing of the medicine column, re-controlling the robot's gripper to grab the medicine column according to the preset grabbing torque and the preset grabbing speed, and recording the number of grabbing times until the number of grabbing times reaches a preset threshold number of times.

[0081] Step 1017C, in response to determining that the robot's gripper completes grabbing of the medicine column, turning on the anti-drop protection mode, and determining whether the anti-drop protection mode is turned on successfully.

[0082] In specific implementation, after controlling the robot's gripper to grasp the medicine column, by judging whether the robot's gripper has completed grasping the medicine column, it is accurately judged whether the robot has successfully grasped the medicine column, thereby avoiding the situation where the medicine column slips during grasping.

[0083] When the robot's gripper fails to grasp the medicine column, the robot's gripper is re-controlled to grasp the medicine column according to the preset grasping torque and the preset grasping speed, and the number of grasping times is recorded until the number of grasping times reaches the preset number threshold. For example, the preset number threshold is 3 times. When the number of grasping times reaches 3 times, the robot is controlled to stop grasping the medicine column and an alarm is issued for manual processing.

[0084] When the robot's gripper completes grabbing the drug column, it turns on the anti-drop protection mode and determines whether the anti-drop protection mode is successfully turned on. In this way, the system is equipped with an anti-drop protection device to ensure that the drug column will not accidentally fall when there is a sudden power outage or gas failure.

[0085] Step 1017D, in response to determining that the anti-drop protection mode fails to be turned on, re-enable the anti-drop protection mode and record the number of times it is turned on until the number of times reaches a preset threshold.

[0086] Step 1017E, in response to determining that the anti-drop protection mode is successfully turned on, controlling the robot to move to the drug column assembly position at a preset moving speed while grasping the drug column, and loading the drug column into the shell.

[0087] In specific implementation, when the anti-drop protection mode fails to start, the anti-drop protection mode is restarted and the number of times it is started is recorded until the number of times it is started reaches a preset number threshold. For example, the preset number threshold is 3 times, and when the number of grabs reaches 3 times, an alarm is issued for manual processing.

[0088] When the anti-fall protection mode is successfully turned on, the robot is controlled to move to the assembly position of the medicine column at the preset moving speed while grabbing the medicine column, and then install the medicine column into the shell. In this way, the speed of the medicine column transportation is required to be uniform and stable. At the same time, in order to prevent the impact caused by sudden power failure, the system is equipped with a UPS power supply to ensure that the gripper stops smoothly in case of emergencies.

[0089] Through the above scheme, when the robot's gripper fails to complete the grabbing of the medicine column, the robot's gripper is re-controlled to grab the medicine column according to the preset grabbing torque and the preset grabbing speed, and the number of grabbing times is recorded until the number of grabbing times reaches the preset number threshold, and the grabbing of the medicine column is completed to the greatest extent through multiple grabbing. When the robot's gripper completes the grabbing of the medicine column, the anti-drop protection mode is turned on. By turning on the anti-drop protection mode, the grabbed medicine column is prevented from falling due to sudden power failure. When the anti-drop protection mode fails to be turned on, the anti-drop protection mode is turned on again, and the number of times it is turned on is recorded until the number of times it is turned on reaches the preset number threshold. The anti-drop protection mode is turned on multiple times to prevent the medicine column from falling during transportation due to the failure of the anti-drop protection mode to be turned on.

[0090] In some embodiments, step 102 includes:

[0091] Step 1021, determining whether there is an obstacle blocking the second path between the press-fitting module and the medicine column in the shell.

[0092] Step 1022: In response to determining that the second path is blocked by an obstacle, an alarm is issued.

[0093] Step 1023, in response to determining that there is no obstacle blocking the second path, the pressing module presses the charge in the shell according to a preset pressing torque, and obtains the actual pressing torque through a torque sensor.

[0094] Step 1024: determining an updated pressing torque according to the preset pressing torque and the actual pressing torque through a PID controller, and the pressing module presses the charge in the shell according to the updated pressing torque.

[0095] In specific implementation, after the robot loads the medicine column into the shell, the pressing module presses the medicine column in the shell. It is determined whether there is an obstacle blocking the second path between the pressing module and the medicine column in the shell. When there is an obstacle blocking the second path, an alarm is issued to facilitate manual processing; when there is no obstacle blocking the second path, the pressing module presses the medicine column in the shell.

[0096] Specifically, the pressing module presses the explosive column in the shell according to the preset pressing torque, and obtains the actual pressing torque through the torque sensor. The PID controller determines the updated pressing torque according to the preset pressing torque and the actual pressing torque, and the pressing module presses the explosive column in the shell according to the updated pressing torque.

[0097] Figure 8 FIG. 1 is a flow chart of determining a position based on a PID controller according to an embodiment of the present disclosure. Figure 8As shown in the figure, the precise positioning and alignment control algorithm model adopts a double closed-loop safety control algorithm of single position loop PID + precise visual feedback. Through the tight visual camera (camera set on the press module), the actual press position of the grabbing end module is identified and fed back to the unit computer. The computer compares the preset press position with the actual press position in real time, and transmits the comparison value as the adjustment input to the position loop PID controller. The PID controller adjusts the output of the actuator motor in real time through the sensor feedback data in the servo system, and controls the actual press position movement of the grabbing end module through the precision transmission mechanism, forming a double closed-loop control structure. During the control process, the system will automatically compare and store according to the adjustment value. Complete the machine self-learning process.

[0098] The visual system adopts explosion-proof and anti-static treatment to ensure stable and reliable operation in the assembly scene of pyrotechnics, and will not cause safety hazards to the surrounding environment. The explosion-proof level reaches ExdⅡBT4. The explosion-proof camera consists of explosion-proof housing, explosion-proof electrical interface, static elimination interface, explosion-proof lens, camera body, etc.

[0099] Fig. 9 FIG. 1 is a flow chart of determining torque based on a PID controller according to an embodiment of the present disclosure. Fig. 9 As shown in the figure, during the pressing and assembling process of pyrotechnics, the actual pressing torque needs to be precisely controlled to prevent the danger of excessive pressing force. A precision torque sensor is installed at the end module of the servo pressing mechanism. The torque sensor feeds back the actual pressing torque detected to the unit computer. The computer calculates the adjustment torque value by comparing it with the preset pressing torque and outputs it to the PID controller. The PID control performs PID calculation control through the torque value fed back by the servo motor. A double closed-loop torque control structure is formed.

[0100] During the press-fitting process of pyrotechnics, a control method combining displacement and torque is required. The torque and displacement conditions must be monitored in real time to prevent the system from failing to identify blockages and displacements, which may result in improper assembly, or excessive pressure causing damage to the pyrotechnics or even accidental ignition and explosion. Therefore, it is not appropriate to use single-loop position control or torque control during the press-fitting process of pyrotechnics.

[0101] Fig.10 Schematic diagram of the relationship curve between displacement and torque of the embodiment of the present disclosure. Fig.10As shown in the figure, after the chamfer of the front section of the charge enters the shell, the pressing torque will continue to increase. When the chamfer completely enters the shell, the torque value enters the stable pressing zone, and the system presses the charge into the shell steadily with a fixed torque. When the charge reaches the guide area at the bottom of the shell, the pressing torque continues to increase until the charge is pressed tightly. The system completes the charge pressing work. During this process, once the system detects that the torque value and the position value deviate from the curve state, it will start the emergency processing mechanism and automatically perform repair processing. If the automatic repair fails, an alarm will be issued and manual processing will be performed. Ensure the safety and stability of the pyrotechnic body during the assembly process.

[0102] Step 1025, determining whether the pressing module has completed the pressing of the drug column.

[0103] Step 1026, in response to determining that the pressing module has not completed the pressing of the medicine column, the pressing module re-presses the medicine column in the shell and records the number of pressing times until the number of pressing times reaches a preset number threshold.

[0104] Step 1027, in response to determining that the pressing module completes the pressing of the grain, determining that the grain assembly is complete.

[0105] During specific implementation, it is determined whether the medicine column in the shell is pressed to a preset pressing position to determine whether the pressing module has completed the pressing of the medicine column.

[0106] When the drug column in the shell is not pressed to the preset pressing position, it means that the pressing module has not completed the pressing of the drug column. The pressing module presses the drug column in the shell again and records the pressing times until the pressing times reach the preset times threshold. For example, the preset times threshold is 3 times. When the pressing times reaches 3 times, an alarm prompt is issued for manual processing.

[0107] When the drug column in the shell is pressed to the preset pressing position, it means that the pressing module has completed the drug column pressing, and it is determined that the drug column assembly is complete.

[0108] A preset number of medicine columns need to be assembled in the shell. The number of medicine columns in the shell is obtained. When the number of medicine columns in the shell does not reach the preset number, the robot is controlled to load medicine columns into the shell; when the number of medicine columns in the shell reaches the preset number, the robot is controlled to place a top cover on the shell.

[0109] Through the above scheme, by determining that there is no obstacle blocking the second path between the pressing module and the medicine column in the shell, the pressing module presses the medicine column in the shell according to the updated pressing torque, avoiding accidental collision during the pressing of the medicine column by the pressing module. The updated pressing torque determined by the PID controller according to the preset pressing torque and the actual pressing torque is more accurate, which can ensure that the pressing module presses the medicine column into the shell while avoiding damage to the medicine column caused by excessive actual pressing torque.

[0110] In some embodiments, step 103 includes:

[0111] Step 1031, determining whether there is an obstacle blocking the third path between the robot and the top cover grasping position.

[0112] Step 1032: In response to determining that the third path is blocked by an obstacle, an alarm is issued.

[0113] Step 1033: In response to determining that there is no obstacle blocking the third path, control the robot to move to the top cover grasping position.

[0114] In specific implementation, after a preset number of explosives are installed in the housing, the method further includes: determining whether the grounding performance of the assembly system of the pyrotechnic is good; in response to determining that the grounding performance of the assembly system of the pyrotechnic is poor, giving an alarm prompt for manual processing; in response to determining that the grounding performance of the assembly system of the pyrotechnic is good, executing step 1031. In this way, the conductivity of the grounding system is detected in real time by the sensor, and a redundant static elimination system is set up at the same time, which is used to temporarily eliminate static electricity when the grounding fails.

[0115] After confirming that the grounding performance of the assembly system of the explosive device is good, determine whether there is an obstacle blocking the third path between the robot and the top cover grabbing position. If there is an obstacle blocking the third path, an alarm will be issued to facilitate manual processing; if there is no obstacle blocking the third path, the robot will be controlled to move to the top cover grabbing position. In this way, through visual, laser, infrared and other means, it is ensured that there are no obstacles in the system operation path and that the system will not have accidental collisions.

[0116] Step 1034, obtaining the static electricity amount on the robot's gripper, and comparing the static electricity amount with a preset static electricity threshold.

[0117] Step 1035 , in response to determining that the static electricity amount is greater than or equal to a preset static electricity threshold, performing static electricity elimination processing.

[0118] Step 1036, in response to determining that the static electricity amount is less than a preset static electricity threshold, controlling the robot's gripper to grasp the top cover according to the preset grasping torque and the preset grasping speed.

[0119] In specific implementation, in the assembly scenario of pyrotechnics, static electricity needs to be accurately monitored and eliminated. Once the static electricity in the system exceeds the standard, it can easily cause accidental ignition and explosion of pyrotechnics.

[0120] Figure 7 Schematic diagram of static electricity accumulation in an embodiment of the present disclosure. Figure 7As shown, in conventional industrial environments, the amount of static electricity of antistatic materials continues to increase with time. When the fourth-level static electricity accumulation time is reached, the static electricity amount is 100 microcoulombs, and it is very easy to discharge and generate electric sparks. The length of this process is related to factors such as the number of free charges in the environment, environmental humidity, gripper material, and gripper shape. Therefore, when designing the assembly system of pyrotechnics, it is necessary to eliminate the generated static electricity in a timely and sufficient manner to prevent discharge from accidentally igniting and detonating pyrotechnics.

[0121] For example, the preset static threshold is 100 microcoulombs. When the static electricity on the robot's gripper is greater than or equal to 100 microcoulombs, static elimination is performed. When the static electricity force on the robot's gripper is less than 100 microcoulombs, the robot's gripper is controlled to grab the top cover according to the preset grasping torque and the preset grasping speed. In this way, the static electricity detection sensor can be used to detect in real time whether the static electricity on the gripper exceeds the standard, and it is linked with the static electricity elimination system to ensure that the system will not be accidentally ignited or exploded due to excessive static electricity.

[0122] The robot's gripper is controlled to grab the top cover according to the preset gripping torque and the preset gripping speed. In this way, by real-time monitoring of speed and torque, it is ensured that the gripper grabs the pyrotechnic firmly and does not collide or squeeze the product to prevent danger.

[0123] Step 1037, determining that the robot's gripper has completed grabbing the top cover, and controlling the robot to place the top cover on the shell.

[0124] In a specific implementation, when the robot's gripper completes grabbing the top cover, the robot is controlled to move to the top cover assembly position while grabbing the top cover, and places the top cover on the shell.

[0125] Through the above scheme, by determining that there is no obstacle blocking the third path between the robot and the top cover grasping position, the robot is controlled to move to the top cover grasping position to avoid accidental collision during the robot's movement to the top cover grasping position. When the static electricity on the robot's gripper is greater than or equal to the preset static electricity threshold, static electricity elimination processing is performed to avoid the risk of accidental ignition of the static electricity on the robot's gripper exceeding the standard during the grasping of the top cover. When the robot's gripper completes grasping the top cover, the robot is controlled to place the top cover on the shell, thereby enabling the robot to accurately grasp the top cover.

[0126] In some embodiments, step 1037 includes:

[0127] Step 1037A, determining whether the robot's gripper has completed grabbing the top cover.

[0128] Step 1037B, in response to determining that the robot's gripper has not completed the top cover grasping, re-control the robot's gripper to grasp the top cover according to the preset grasping torque and the preset grasping speed, and record the number of grasping times until the number of grasping times reaches a preset threshold.

[0129] Step 1037C, in response to determining that the robot's gripper completes grasping the top cover, turning on the anti-fall protection mode, and determining whether the anti-fall protection mode is turned on successfully.

[0130] In specific implementation, after controlling the robot's gripper to grasp the top cover, by judging whether the robot's gripper has completed grasping the top cover, it is accurately judged whether the robot has successfully grasped the top cover, thereby avoiding the situation where the top cover slips during grasping.

[0131] When the robot's gripper fails to complete the top cover grabbing, the robot's gripper is re-controlled to grab the top cover according to the preset grabbing torque and the preset grabbing speed, and the number of grabbing times is recorded until the number of grabbing times reaches the preset number threshold. For example, the preset number threshold is 3 times. When the number of grabbing times reaches 3 times, the robot is controlled to stop grabbing the top cover and an alarm is issued for manual processing.

[0132] When the robot's gripper completes the top cover grabbing, the anti-fall protection mode is turned on, and it is determined whether the anti-fall protection mode is turned on successfully. In this way, the system is equipped with an anti-fall protection device to ensure that the pyrotechnics will not fall accidentally when there is a sudden power outage or gas failure.

[0133] Step 1037D, in response to determining that the anti-drop protection mode fails to be turned on, re-enable the anti-drop protection mode and record the number of times it is turned on until the number of times reaches a preset threshold.

[0134] Step 1037E, in response to determining that the anti-drop protection mode is successfully turned on, controlling the robot to move to the top cover assembly position at a preset moving speed while grasping the top cover, and placing the top cover on the shell.

[0135] In specific implementation, when the anti-drop protection mode fails to start, the anti-drop protection mode is restarted and the number of times it is started is recorded until the number of times it is started reaches a preset number threshold. For example, the preset number threshold is 3 times, and when the number of grabs reaches 3 times, an alarm is issued for manual processing.

[0136] When the anti-fall protection mode is successfully turned on, the robot is controlled to move to the top cover assembly position at the preset moving speed while grabbing the top cover, and place the top cover on the shell. In this way, the speed of the pyrotechnics transportation is required to be uniform and stable. At the same time, in order to prevent the impact caused by sudden power failure, the system is equipped with a UPS power supply to ensure that the gripper stops smoothly in case of emergencies.

[0137] Through the above scheme, when the robot's gripper fails to complete the top cover grabbing, the robot's gripper is re-controlled to grab the top cover according to the preset grabbing torque and the preset grabbing speed, and the number of grabbing times is recorded until the number of grabbing times reaches the preset number threshold, and the top cover grabbing is completed to the greatest extent through multiple grabbing. When the robot's gripper completes the top cover grabbing, the anti-drop protection mode is turned on. By turning on the anti-drop protection mode, the grabbed top cover is prevented from falling due to sudden power failure. When the anti-drop protection mode fails to be turned on, the anti-drop protection mode is turned on again, and the number of times it is turned on is recorded until the number of times it is turned on reaches the preset number threshold. The anti-drop protection mode is turned on multiple times to prevent the top cover from falling during transportation due to the failure of the anti-drop protection mode to be turned on.

[0138] In some embodiments, step 104 includes:

[0139] Step 1041, determining whether there is an obstacle blocking the fourth path between the tightening module and the top cover on the shell.

[0140] Step 1042: In response to determining that the fourth path is blocked by an obstacle, an alarm is issued.

[0141] Step 1043, in response to determining that there is no obstacle blocking the fourth path, the tightening module uses screws to tighten the top cover and the shell according to a preset tightening torque, and obtains the actual tightening torque through a torque sensor.

[0142] Step 1044: determining an updated tightening torque according to the preset tightening torque and the actual tightening torque through a PID controller, and the tightening module tightens the top cover and the shell with screws according to the updated tightening torque.

[0143] In a specific implementation, after the robot places the top cover on the shell, the tightening module tightens the top cover and the shell. It is determined whether there is an obstacle blocking the fourth path between the tightening module and the top cover on the shell. When there is an obstacle blocking the fourth path, an alarm is issued to facilitate manual processing; when there is no obstacle blocking the fourth path, the tightening module tightens the top cover and the shell.

[0144] Specifically, the tightening module tightens the top cover and the housing with screws according to a preset tightening torque, and obtains the actual tightening torque through a torque sensor. The PID controller determines an updated tightening torque according to the preset tightening torque and the actual tightening torque, and the tightening module tightens the top cover and the housing with screws according to the updated tightening torque.

[0145] In addition, before the tightening module tightens the top cover and the shell, the camera on the tightening module collects the image of the pyrotechnics, and determines whether the screw positions of the top cover and the shell are aligned based on the pyrotechnics image. When the screw positions of the top cover and the shell are not aligned, an alarm prompt is issued for manual processing; when the screw positions of the top cover and the shell are aligned, the tightening module tightens the top cover and the shell.

[0146] Figure 8 FIG. 1 is a flow chart of determining a position based on a PID controller according to an embodiment of the present disclosure. Figure 8 As shown in the figure, the precise positioning and alignment control algorithm model adopts a double closed-loop safety control algorithm of single position loop PID + precise visual feedback. Through the tight visual camera (camera set on the tightening module), the actual tightening position of the grabbing end module is identified and fed back to the unit computer. The computer compares the preset tightening position with the actual tightening position in real time, and transmits the comparison value as the adjustment input to the position loop PID controller. The PID controller adjusts the output of the actuator motor in real time through the sensor feedback data in the servo system, and controls the actual tightening position movement of the grabbing end module through the precision transmission mechanism to form a double closed-loop control structure. During the control process, the system will automatically compare and store according to the mediation value. Complete the machine self-learning process.

[0147] The visual system adopts explosion-proof and anti-static treatment to ensure stable and reliable operation in the assembly scene of pyrotechnics, and will not cause safety hazards to the surrounding environment. The explosion-proof level reaches ExdⅡBT4. The explosion-proof camera consists of explosion-proof housing, explosion-proof electrical interface, static elimination interface, explosion-proof lens, camera body, etc.

[0148] Fig. 9 FIG. 1 is a flow chart of determining torque based on a PID controller according to an embodiment of the present disclosure. Fig. 9 As shown in the figure, during the compression and assembly process of pyrotechnics, the actual tightening torque needs to be accurately controlled to prevent the danger of excessive tightening force. A precision torque sensor is installed at the end module of the servo tightening mechanism. The torque sensor feeds back the actual tightening torque detected to the unit computer. The computer calculates the adjustment torque value by comparing it with the preset tightening torque and outputs it to the PID controller. The PID control performs PID calculation control through the torque value fed back by the servo motor. A double closed-loop torque control structure is formed.

[0149] Step 1045, determining whether the tightening module has completed the tightening of the top cover.

[0150] Step 1046, in response to determining that the tightening module has not completed the tightening of the top cover, the tightening module re-tightens the top cover and the shell, and records the tightening times until the tightening times reaches a preset times threshold.

[0151] Step 1047, in response to determining that the tightening module completes the tightening of the top cover, determining that the top cover assembly is complete.

[0152] In a specific implementation, it is determined whether the tightening module has completed the tightening of the top cover by determining whether the screws on the top cover and the shell are tightened to a preset tightening position.

[0153] When the screws are not tightened to the preset tightening position, it means that the tightening module has not completed the tightening of the top cover. The tightening module tightens the top cover and the shell and records the tightening times until the tightening times reach the preset times threshold. For example, the preset times threshold is 3 times. When the tightening times reach 3 times, an alarm prompt is issued for manual processing.

[0154] When the screws are tightened to the preset tightening position, it means that the tightening module has completed the tightening of the top cover, and the top cover assembly is confirmed to be completed. After the top cover assembly is completed, the pyrotechnic assembly is completed.

[0155] Through the above scheme, by determining that there is no obstacle blocking the fourth path between the tightening module and the top cover on the shell, the tightening module tightens the top cover and the shell according to the updated tightening torque, avoiding accidental collision during the process of tightening the top cover and the shell by the tightening module. The updated tightening torque determined by the PID controller based on the preset tightening torque and the actual tightening torque is more accurate, which can ensure that the tightening module tightens the top cover and the shell while avoiding damage to the top cover or the shell due to excessive actual tightening torque.

[0156] Through the above-mentioned embodiment, upon receiving the assembly request of the pyrotechnics, the robot is controlled to load the medicine column into the shell according to the preset grasping torque and the preset grasping speed, so as to ensure that the robot can accurately load the medicine column into the shell. The PID controller is used to determine the updated pressing torque according to the preset pressing torque and the actual pressing torque, and the medicine column in the shell is pressed according to the updated pressing torque by the pressing module, and it is determined that the assembly of the medicine column is completed. In this way, the updated pressing torque determined according to the preset pressing torque and the actual pressing torque is more accurate, which can ensure that the pressing module presses the medicine column into the shell while avoiding the damage of the medicine column caused by excessive actual pressing torque. The robot is controlled to place the top cover on the shell according to the preset grasping torque and the preset grasping speed, so as to ensure that the robot can accurately place the top cover on the shell. The PID controller is used to determine the updated tightening torque according to the preset tightening torque and the actual tightening torque, and the tightening module is used to tighten the top cover and the shell according to the updated tightening torque, and it is determined that the assembly of the top cover is completed. In this way, the updated tightening torque determined based on the preset tightening torque and the actual tightening torque is more accurate, which can ensure that the tightening module tightens the top cover and the shell while avoiding damage to the top cover or the shell due to excessive actual tightening torque. In addition, the automated, remotely controllable, and safe redundant pyrotechnic assembly is realized to ensure the stability, reliability, and safety of automated assembly in dangerous environments, thereby reducing the number of on-site personnel during the assembly process or further realizing unmanned operation on site.

[0157] It should be noted that the embodiments of the present disclosure may be further described in the following manner:

[0158] Fig.11 FIG. 1 is a flow chart of the drug column press-packing of the embodiment of the present disclosure. Fig.11 As shown, the powder column press packing includes:

[0159] Step A: determine whether the system grounding performance is good.

[0160] The conductivity performance of the grounding system is detected in real time through sensors, and a redundant static elimination system is set up to temporarily eliminate static electricity when the grounding fails.

[0161] Step B, determining whether the static electricity level of the gripper exceeds the standard.

[0162] The static electricity detection sensor can detect in real time whether the static electricity on the gripper exceeds the standard, and it can be linked with the static electricity elimination system to ensure that the system will not cause accidental ignition danger due to excessive static electricity.

[0163] Step C: The robot gripper grabs the medicine column at a predetermined torque and speed.

[0164] By real-time monitoring of speed and torque, it is ensured that the gripper firmly grasps the drug column, while at the same time avoiding collision or squeezing of the drug column to prevent danger.

[0165] Step D: The control system moves to the assembly position at a preset stable speed.

[0166] During the transportation of the explosive column, the speed must be uniform and stable, and at the same time, it is necessary to prevent collisions caused by sudden power outages.

[0167] Step E: Press the pyrotechnic into the installation hole according to the preset pressing torque and speed.

[0168] During the pressing process of the drug column, the pressure, displacement, speed and other parameters must be detected in real time, and a closed-loop control algorithm must be used to ensure that the pressing torque and speed are stable.

[0169] Step F, automatically turn on anti-drop protection

[0170] The system is equipped with an anti-drop protection device to ensure that the drug column will not fall accidentally when there is a sudden power outage or gas failure.

[0171] Fig.12 Flow chart of tightening the top cover of the embodiment of the present disclosure. Fig.12 As shown, the top cover tightening includes:

[0172] Step a: determine whether the system grounding performance is good.

[0173] The conductivity performance of the grounding system is detected in real time through sensors, and a redundant static elimination system is set up to temporarily eliminate static electricity when the grounding fails.

[0174] Step b, determining whether the static electricity level of the gripper exceeds the standard.

[0175] The static electricity detection sensor can detect in real time whether the static electricity on the gripper exceeds the standard, and it can be linked with the static electricity elimination system to ensure that the system will not cause accidental ignition danger due to excessive static electricity.

[0176] Step c: The robot gripper grabs the pyrotechnic product at a predetermined torque and speed.

[0177] By real-time monitoring of speed and torque, it is ensured that the gripper firmly grasps the pyrotechnics, while at the same time preventing collision or squeezing of the pyrotechnics to prevent danger.

[0178] Step d, automatically turn on anti-fall protection.

[0179] The system is equipped with an anti-drop protection device to ensure that the drug column will not fall accidentally when there is a sudden power outage or gas failure.

[0180] Step e: The control system moves to the tightening position at a preset stable speed.

[0181] During the transportation of pyrotechnics, the speed must be uniform and stable, and at the same time, it is necessary to prevent impact caused by sudden power outages.

[0182] Step f, according to the tightening process, automatic positioning, thread recognition, screwing and other steps are performed.

[0183] The optional visual system is used to locate and identify the screw holes. During the automatic tightening of pyrotechnics, the tightening torque, displacement and other parameters must be detected in real time. The torque and displacement curves are used to ensure the smoothness and reliability of the tightening process.

[0184] Step g, determine whether it is tightened in place.

[0185] The final tightening is determined by the tightening torque and tightening displacement.

[0186] Through the above embodiments, a robot and a pressing module are used to press the powder column, and a robot and a tightening module are used to tighten the top cover, thereby realizing an automated, remotely controllable, safe and redundant pyrotechnic assembly production line, ensuring the stability, reliability and safety of automated assembly in dangerous environments, thereby reducing the number of on-site personnel during the assembly process or further realizing unmanned on-site operation.

[0187] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0188] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0189] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides an assembly system for explosives.

[0190] refer to Fig.13 , the assembly system of the pyrotechnic device, the system comprises: a robot 301, a pressing module 302 and a tightening module 303; the pyrotechnic device comprises: a charge, a shell and a top cover;

[0191] The robot 301 is configured to receive an assembly request for an explosive device and load the explosive charge into the housing according to a preset grasping torque and a preset grasping speed;

[0192] The press-fitting module 302 is configured to determine an updated press-fitting torque according to a preset press-fitting torque and an actual press-fitting torque through a PID controller, press-fit the drug column in the shell according to the updated press-fitting torque, and determine that the drug column is assembled;

[0193] The robot 301 is configured to place the top cover on the housing according to a preset grasping torque and a preset grasping speed;

[0194] The tightening module 303 is configured to determine an updated tightening torque according to a preset tightening torque and an actual tightening torque through a PID controller, tighten the top cover and the shell according to the updated tightening torque, and determine that the top cover is assembled.

[0195] In some embodiments, the robot 301 includes:

[0196] An obstruction determination unit is configured to determine whether there is an obstacle blocking the first path between the robot and the drug column grabbing position;

[0197] an alarm prompting unit, configured to issue an alarm prompting in response to determining that the first path is blocked by an obstacle;

[0198] A moving unit, configured to control the robot to move to the drug column grabbing position in response to determining that there is no obstacle blocking the first path;

[0199] A comparison processing unit is configured to obtain the static electricity amount on the gripper of the robot and compare the static electricity amount with a preset static electricity threshold;

[0200] a static electricity elimination unit configured to perform static electricity elimination processing in response to determining that the static electricity amount is greater than or equal to a preset static electricity threshold;

[0201] a grasping unit, configured to control the gripper of the robot to grasp the medicine column according to the preset grasping torque and the preset grasping speed in response to determining that the static electricity amount is less than a preset static electricity threshold;

[0202] The loading unit is configured to determine that the robot's gripper completes the grabbing of the drug column, and control the robot to load the drug column into the shell.

[0203] In some embodiments, the loading unit comprises:

[0204] A grasping judgment subunit is configured to judge whether the robot's gripper has completed grasping the drug column;

[0205] a grasping recording subunit, configured to, in response to determining that the gripper of the robot has not completed grasping the medicine column, re-control the gripper of the robot to grasp the medicine column according to the preset grasping torque and the preset grasping speed, and record the number of grasping times until the number of grasping times reaches a preset number threshold;

[0206] a mode activation subunit, configured to activate an anti-fall protection mode in response to determining that the robot's gripper completes grabbing of the drug column, and determine whether the anti-fall protection mode is activated successfully;

[0207] an activation recording subunit, configured to, in response to determining that the activation of the anti-drop protection mode fails, reactivate the anti-drop protection mode and record the activation times until the activation times reaches a preset times threshold;

[0208] The drug column loading subunit is configured to control the robot to move to the drug column assembly position at a preset moving speed while grasping the drug column in response to determining that the anti-fall protection mode is successfully turned on, and load the drug column into the shell.

[0209] In some embodiments, the press-fitting module 302 includes:

[0210] An obstruction judgment unit is configured to judge whether there is an obstacle blocking the second path between the pressing module and the medicine column in the shell;

[0211] an alarm prompting unit, configured to issue an alarm prompting in response to determining that the second path is blocked by an obstacle;

[0212] an actual pressing torque acquisition unit, configured to, in response to determining that the second path is not blocked by an obstacle, cause the pressing module to press the charge in the shell according to a preset pressing torque, and acquire the actual pressing torque through a torque sensor;

[0213] An updated pressing torque determination unit is configured to determine an updated pressing torque according to the preset pressing torque and the actual pressing torque through a PID controller, and the pressing module presses the charge in the shell according to the updated pressing torque;

[0214] A press-fitting judgment unit, configured to judge whether the press-fitting module has completed the press-fitting of the drug column;

[0215] a press-loading recording unit, configured to, in response to determining that the press-loading module has not completed the press-loading of the drug column, cause the press-loading module to re-press the drug column in the shell and record the number of press-loading times until the number of press-loading times reaches a preset number threshold;

[0216] The charge assembly completion determination unit is configured to determine that the charge assembly is completed in response to determining that the pressing module has completed the charge pressing.

[0217] In some embodiments, the robot 301 includes:

[0218] an obstruction determination unit configured to determine whether there is an obstacle obstructing a third path between the robot and the top cover grasping position;

[0219] an alarm prompting unit, configured to issue an alarm prompting in response to determining that the third path is blocked by an obstacle;

[0220] a moving unit, configured to control the robot to move to the top cover grasping position in response to determining that the third path is not blocked by an obstacle;

[0221] A comparison processing unit is configured to obtain the static electricity amount on the gripper of the robot and compare the static electricity amount with a preset static electricity threshold;

[0222] a static electricity elimination unit configured to perform static electricity elimination processing in response to determining that the static electricity amount is greater than or equal to a preset static electricity threshold;

[0223] a grasping unit configured to control the gripper of the robot to grasp the top cover according to the preset grasping torque and the preset grasping speed in response to determining that the static electricity amount is less than a preset static electricity threshold;

[0224] The placement unit is configured to determine that the robot's gripper completes grabbing the top cover, and control the robot to place the top cover on the shell.

[0225] In some embodiments, the placement unit comprises:

[0226] a grasping judgment subunit, configured to judge whether the gripper of the robot has completed grasping the top cover;

[0227] a grasping recording subunit, configured to, in response to determining that the gripper of the robot has not completed grasping the top cover, re-control the gripper of the robot to grasp the top cover according to the preset grasping torque and the preset grasping speed, and record the number of grasping times until the number of grasping times reaches a preset number threshold;

[0228] a mode activation subunit, configured to activate an anti-fall protection mode in response to determining that the gripper of the robot completes the grabbing of the top cover, and determine whether the anti-fall protection mode is activated successfully;

[0229] an activation recording subunit, configured to, in response to determining that the activation of the anti-drop protection mode fails, reactivate the anti-drop protection mode and record the activation times until the activation times reaches a preset times threshold;

[0230] The top cover placement subunit is configured to control the robot to move to the top cover assembly position at a preset moving speed while grasping the top cover in response to determining that the anti-drop protection mode is successfully turned on, and place the top cover on the shell.

[0231] In some embodiments, the tightening module 303 includes:

[0232] an obstruction determination unit, configured to determine whether there is an obstacle blocking a fourth path between the tightening module and the top cover on the housing;

[0233] an alarm prompting unit, configured to issue an alarm prompting in response to determining that the fourth path is blocked by an obstacle;

[0234] an actual tightening torque acquisition unit, configured to, in response to determining that the fourth path is not blocked by an obstacle, cause the tightening module to tighten the top cover and the housing using a screw according to a preset tightening torque, and acquire the actual tightening torque through a torque sensor;

[0235] An updated tightening torque determination unit is configured to determine an updated tightening torque according to the preset tightening torque and the actual tightening torque through a PID controller, and the tightening module tightens the top cover and the housing using screws according to the updated tightening torque;

[0236] a tightening judgment unit, configured to judge whether the tightening module has completed the tightening of the top cover;

[0237] a tightening recording unit, configured to, in response to determining that the tightening module has not completed the tightening of the top cover, cause the tightening module to re-tighten the top cover and the housing and record the number of tightenings until the number of tightenings reaches a preset number threshold;

[0238] The top cover assembly completion determination unit is configured to determine that the top cover assembly is completed in response to determining that the tightening module completes the tightening of the top cover.

[0239] For the convenience of description, the above system is described by dividing the functions into various modules. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0240] The system of the above-mentioned embodiment is used to implement the assembly method of the corresponding pyrotechnic device in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0241] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the assembly method of the pyrotechnics described in any of the above-mentioned embodiments is implemented.

[0242] Fig.14 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0243] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0244] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0245] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0246] The communication interface 1040 is used to connect a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB (Universal Serial Bus), network cable, etc.), or through a wireless mode (such as mobile network, WIFI (Wireless Fidelity), Bluetooth, etc.).

[0247] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0248] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0249] The electronic device of the above-mentioned embodiment is used to implement the assembly method of the corresponding pyrotechnic device in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0250] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the assembly method of pyrotechnics as described in any of the above embodiments.

[0251] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0252] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the assembly method of the pyrotechnic device as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0253] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0254] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present disclosure difficult to understand, the known power / ground connections to the integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, the system can be shown in the form of a block diagram to avoid making the embodiments of the present disclosure difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram systems are highly dependent on the platform on which the embodiments of the present disclosure will be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that the embodiments of the present disclosure can be implemented without these specific details or with changes in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0255] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0256] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present disclosure. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method for assembling an explosive device, characterized in that: An assembly system for explosives, the system comprising: a robot, a press-fitting module and a tightening module; the explosives comprising: a charge, a shell and a top cover; the method comprising: Upon receiving an assembly request for an explosive device, controlling the robot to load the explosive column into the housing according to a preset grasping torque and a preset grasping speed; Determining an updated pressing torque according to a preset pressing torque and an actual pressing torque by a PID controller, pressing the drug column in the shell according to the updated pressing torque by using the pressing module, and determining that the drug column is assembled; Controlling the robot to place the top cover on the shell according to a preset grasping torque and a preset grasping speed; The updated tightening torque is determined by a PID controller according to the preset tightening torque and the actual tightening torque, the top cover and the shell are tightened according to the updated tightening torque by the tightening module, and it is determined that the top cover is assembled.

2. The method according to claim 1, characterized in that The controlling the robot to load the medicine column into the housing according to a preset grasping torque and a preset grasping speed comprises: Determine whether there is an obstacle blocking the first path between the robot and the drug column grasping position; In response to determining that the first path is blocked by an obstacle, issuing an alarm prompt; In response to determining that there is no obstacle blocking the first path, controlling the robot to move to the drug column grabbing position; Obtaining the static electricity amount on the gripper of the robot, and comparing the static electricity amount with a preset static electricity threshold; In response to determining that the static electricity amount is greater than or equal to a preset static electricity threshold, performing static electricity elimination processing; In response to determining that the static electricity amount is less than a preset static electricity threshold, controlling the robot's gripper to grasp the drug column according to the preset grasping torque and the preset grasping speed; Determine that the robot's gripper completes grasping of the medicine column, and control the robot to load the medicine column into the shell.

3. The method according to claim 2, characterized in that The step of determining that the robot's gripper has completed grasping the medicine column and controlling the robot to load the medicine column into the housing includes: Determining whether the robot's gripper has completed grabbing the drug column; In response to determining that the gripper of the robot has not completed the grabbing of the medicine column, re-controlling the gripper of the robot to grab the medicine column according to the preset grabbing torque and the preset grabbing speed, and recording the number of grabbing times until the number of grabbing times reaches a preset number threshold; In response to determining that the gripper of the robot completes the grabbing of the medicine column, an anti-fall protection mode is activated, and it is determined whether the anti-fall protection mode is activated successfully; In response to determining that the anti-drop protection mode fails to be turned on, re-enabling the anti-drop protection mode and recording the number of times the mode is turned on until the number of times the mode is turned on reaches a preset number threshold; In response to determining that the anti-fall protection mode is successfully turned on, the robot is controlled to move to a drug column assembly position at a preset moving speed while grasping the drug column, and the drug column is loaded into the shell.

4. The method according to claim 1, characterized in that: The method of determining an updated pressing torque according to a preset pressing torque and an actual pressing torque by a PID controller, pressing the drug column in the shell according to the updated pressing torque by using the pressing module, and determining that the drug column assembly is complete includes: Determine whether there is an obstacle blocking the second path between the press-fitting module and the medicine column in the shell; In response to determining that the second path is blocked by an obstacle, issuing an alarm prompt; In response to determining that there is no obstacle blocking the second path, the pressing module presses the charge in the shell according to a preset pressing torque, and obtains the actual pressing torque through a torque sensor; An updated pressing torque is determined by a PID controller according to the preset pressing torque and the actual pressing torque, and the pressing module presses the explosive column in the shell according to the updated pressing torque; Determining whether the pressing module has completed the pressing of the drug column; In response to determining that the pressing module has not completed the pressing of the drug column, the pressing module re-presses the drug column in the shell and records the number of pressings until the number of pressings reaches a preset number threshold; In response to determining that the pressing module completes the pressing of the grain, it is determined that the grain assembly is complete.

5. The method according to claim 1, characterized in that The controlling the robot to place the top cover on the housing according to a preset grasping torque and a preset grasping speed comprises: Determine whether there is an obstacle blocking a third path between the robot and the top cover grasping position; In response to determining that the third path is blocked by an obstacle, issuing an alarm prompt; In response to determining that the third path is not blocked by an obstacle, controlling the robot to move to the top cover grasping position; Obtaining the static electricity amount on the gripper of the robot, and comparing the static electricity amount with a preset static electricity threshold; In response to determining that the static electricity amount is greater than or equal to a preset static electricity threshold, performing static electricity elimination processing; In response to determining that the static electricity amount is less than a preset static electricity threshold, controlling the gripper of the robot to grasp the top cover according to the preset grasping torque and the preset grasping speed; Determine that the robot's gripper completes grasping the top cover, and control the robot to place the top cover on the shell.

6. The method according to claim 5, characterized in that The step of determining that the robot's gripper has completed grasping the top cover and controlling the robot to place the top cover on the housing includes: Determining whether the robot's gripper has completed grabbing the top cover; In response to determining that the gripper of the robot has not completed the top cover grasping, re-controlling the gripper of the robot to grasp the top cover according to the preset grasping torque and the preset grasping speed, and recording the number of grasping times until the number of grasping times reaches a preset number threshold; In response to determining that the gripper of the robot completes the grabbing of the top cover, turning on an anti-fall protection mode, and determining whether the anti-fall protection mode is turned on successfully; In response to determining that the anti-drop protection mode fails to be turned on, re-enabling the anti-drop protection mode and recording the number of times the mode is turned on until the number of times the mode is turned on reaches a preset number threshold; In response to determining that the anti-fall protection mode is successfully turned on, the robot is controlled to move to a top cover assembly position at a preset moving speed while grasping the top cover, and the top cover is placed on the shell.

7. The method according to claim 1, characterized in that The method of determining an updated tightening torque according to a preset tightening torque and an actual tightening torque by a PID controller, tightening the top cover and the housing according to the updated tightening torque by using the tightening module, and determining that the top cover is assembled, comprises: Determine whether there is an obstacle blocking a fourth path between the tightening module and the top cover on the shell; In response to determining that the fourth path is blocked by an obstacle, issuing an alarm prompt; In response to determining that there is no obstacle blocking the fourth path, the tightening module tightens the top cover and the housing using screws according to a preset tightening torque, and obtains an actual tightening torque through a torque sensor; Determining an updated tightening torque according to the preset tightening torque and the actual tightening torque through a PID controller, and the tightening module tightens the top cover and the housing with screws according to the updated tightening torque; Determining whether the tightening module has completed the tightening of the top cover; In response to determining that the tightening module has not completed the tightening of the top cover, the tightening module re-tightens the top cover and the shell, and records the number of tightening times until the number of tightening times reaches a preset number threshold; In response to determining that the tightening module completes the tightening of the top cover, it is determined that the top cover assembly is completed.

8. An assembly system for explosive devices, characterized in that: The system includes: a robot, a pressing module and a tightening module; the pyrotechnic device includes: a charge, a shell and a top cover; The robot is configured to receive an assembly request for an explosive device and load the explosive column into the housing according to a preset grasping torque and a preset grasping speed; The press-fitting module is configured to determine an updated press-fitting torque according to a preset press-fitting torque and an actual press-fitting torque through a PID controller, press-fit the drug column in the shell according to the updated press-fitting torque, and determine that the drug column is assembled; The robot is configured to place the top cover on the housing according to a preset grasping torque and a preset grasping speed; The tightening module is configured to determine an updated tightening torque according to a preset tightening torque and an actual tightening torque through a PID controller, tighten the top cover and the shell according to the updated tightening torque, and determine that the top cover is assembled.

9. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and running on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to cause a computer to execute the method according to any one of claims 1 to 7.

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