Initiating explosive product assembly clearance adjusting system

Abstract

The invention discloses a firer product assembly clearance adjusting system, which relates to the technical field of automatic ammunition assembly and detection, and can realize automatic adjustment and assembly of the assembly clearance of a firer product through a main body structure according to actual product characteristic data. The pressing detection unit is used for detecting the assembly clearance between the medicine surface and the upper end face of the snap spring groove, the control system is used for calculating the number of needed paper pads, the single-shaft picking and feeding unit is used for completing assembly of the paper pads, finally automatic adjustment of the assembly clearance is achieved, the problems of quality, safety and the like during manual assembly clearance adjustment are solved, production efficiency is improved, and production cost is reduced. And large-area popularization and application are worthy.

Description

Technical Field

[0001] The invention relates to the technical field of automatic assembly and detection of ammunition, and in particular to an assembly gap adjustment system for pyrotechnic products which can automatically calculate the number of adjustment pads based on online detection data to complete assembly gap adjustment. Background Art

[0002] Due to manufacturing errors, there is an assembly gap after explosives and other pyrotechnic products are installed in the shell. It is necessary to adjust the assembly gap by assembling paper pads of different thicknesses to ensure that the explosives do not loosen in the shell after assembly. Limited by the development of assembly technology, the current industry mostly uses manual inspection and adjustment of assembly gaps. Manual adjustments are required multiple times to meet the adjustment requirements of the assembly gap to ensure the assembly quality of pyrotechnic products.

[0003] However, the current manual assembly mode can no longer meet the high safety, high efficiency and high precision manufacturing requirements of pyrotechnic products.

[0004] Therefore, how to provide automatic adjustment equipment for the assembly gap of pyrotechnic products, realize the automation and unmanned assembly of pyrotechnic products, and promote the improvement of the technical level of the pyrotechnic product assembly industry is a technical problem that urgently needs to be solved by technical personnel in this field. Summary of the invention

[0005] In view of the above problems, the present invention provides a pyrotechnic product assembly gap adjustment system for overcoming the above problems or at least partially solving the above problems, thereby improving the automation of the pyrotechnic product assembly process, reducing the number of production personnel in the assembly process, improving production efficiency and production quality, and realizing digital monitoring of the pyrotechnic product manufacturing process.

[0006] The present invention provides the following scheme:

[0007] A pyrotechnic product assembly gap adjustment system, comprising:

[0008] Main frame, clamping detection unit, single-axis picking and loading unit, pyrotechnic product rotating clamping unit, first adjustment pad placement station, second adjustment pad placement station, third adjustment pad placement station, adjustment pad thickness re-inspection unit and control unit;

[0009] The clamping detection unit, the single-axis picking and loading unit, the pyrotechnic product clamping unit, the first adjustment pad placement station, the second adjustment pad placement station, and the third adjustment pad placement station are respectively installed on the main frame and their respective center lines are on the same plane, and the adjustment pad thickness re-inspection unit is installed on the main frame and its center line is on the same plane as the center line of the second adjustment pad placement station;

[0010] The first adjustment pad placement station, the second adjustment pad placement station, and the third adjustment pad placement station are respectively used to place adjustment pads of different models;

[0011] The control unit includes a controller, and the controller is used to perform the following operations:

[0012] Controlling the compression detection unit to detect the assembly gap between the medicine surface in the shell and the upper end surface of the retaining ring groove;

[0013] Calculate the number and model of adjustment pads required to be placed according to the assembly gap;

[0014] The single-axis picking and loading unit is controlled to complete the assembly of the adjustment pads according to the quantity and model of the adjustment pads.

[0015] Preferably: the clamping detection unit includes a clamping detection mounting plate, a clamping detection transverse movement servo motor, a clamping detection transverse movement electric cylinder, a clamping detection lifting unit mounting plate, a clamping detection lifting electric cylinder, a clamping detection lifting servo motor and a depth detection unit;

[0016] The depth detection unit is installed on the slider of the clamping detection lifting cylinder, and the center axis coincides with the center line of the pyrotechnic product rotating clamping unit; the clamping detection lifting cylinder is installed on the clamping detection lifting unit mounting plate, and the input end of the clamping detection lifting cylinder is connected to the clamping detection lifting servo motor; the clamping detection lifting unit mounting plate is installed on the slider of the clamping detection transverse movement electric cylinder, and the input end of the clamping detection lifting unit is connected to the clamping detection transverse movement servo motor; the clamping detection transverse movement electric cylinder is installed on the clamping detection mounting plate; the clamping detection mounting plate is installed on the table top of the main frame.

[0017] Preferably: the depth detection unit comprises a depth detection mounting plate, a depth detection rotary cylinder mounting plate, a depth detection rod sliding support, a depth detection rotary cylinder, a depth detection rotary cylinder shaft support, a depth detection rotary unit rotating shaft, a depth detection sensor lifting bracket, a depth detection sensor mounting bracket, a depth detection sensor, a depth detection rod sliding rod, a depth detection reset spring and a spring groove depth detection head;

[0018] The depth detection mounting plate is mounted on the slider of the clamping detection lifting electric cylinder; the depth detection rotating cylinder mounting plate and the depth detection rod sliding support are mounted on the depth detection mounting plate; the depth detection rotating cylinder mounting plate is installed with the depth detection rotating cylinder; the front end of the piston rod of the depth detection rotating cylinder is connected to the depth detection rotating cylinder shaft support; the two ends of the rotating shaft of the depth detection rotating unit are respectively connected to the depth detection rotating cylinder shaft support and the depth detection sensor lifting bracket; the depth detection sensor is mounted on the depth detection sensor lifting bracket through the depth detection sensor mounting bracket and can rotate with it; the detection probe of the depth detection sensor contacts the upper end of the depth detection rod sliding rod, and the depth detection reset spring is used to make the depth detection sensor contact, reset and eliminate the gap; the lower end of the depth detection rod sliding rod is installed with the retaining ring groove depth detection head; the depth detection rod sliding rod can slide up and down in the depth detection rod sliding support.

[0019] Preferably: the output point QW0 on the controller is connected to the first servo motor driver of the clamping detection transverse movement servo motor, which is used to control the speed and direction of the clamping detection transverse movement servo motor; QX4.0 on the controller is connected to the first servo motor driver, which is used to control the start and stop state of the clamping detection transverse movement servo motor; the input point IX6.0 on the controller is connected to the first servo motor driver, which is used to feedback the movement state of the clamping detection transverse movement servo motor;

[0020] The output point QW1 on the controller is connected to the second servo motor driver of the clamping detection lifting servo motor, which is used to control the speed and direction of the clamping detection lifting servo motor; QX4.1 on the controller is connected to the second servo motor driver, which is used to control the start and stop state of the clamping detection lifting servo motor; the input point IX6.1 on the controller is connected to the second servo motor driver, which is used to feedback the movement state of the clamping detection lifting servo motor;

[0021] The control unit also includes a fourth coil, and QX4.8 on the controller is connected to the fourth coil for controlling the telescopic state of the depth detection rotary cylinder.

[0022] Preferably: the input point IW1 on the controller is connected to the depth detection sensor, and is used to detect the distance between the assembly surface and the upper end of the card slot during assembly.

[0023] Preferably: the single-axis picking and loading unit includes a picking and loading frame, an X-axis translation mechanism, a grabbing and lifting servo motor, a grabbing and lifting electric cylinder, a grabbing guide mechanism, a grabbing and swinging cylinder, a suction cup mounting plate and a grabbing suction cup;

[0024] The picking and loading frame is installed on the table top of the main frame; the X-axis translation mechanism is installed on the picking and loading frame; the grabbing guide mechanism is installed on the slider of the X-axis translation mechanism; the grabbing and lifting electric cylinder is installed on the grabbing and lifting electric cylinder, and the electric push rod of the grabbing and lifting electric cylinder is connected with the guide rod of the grabbing and guiding mechanism; the input end of the grabbing and lifting electric cylinder is connected with the grabbing and lifting electric cylinder; the grabbing swing cylinder is installed at the front end of the guide rod of the grabbing and guiding mechanism, and the swing center axis of the grabbing swing cylinder coincides with the moving center axis of the grabbing and guiding mechanism; the grabbing swing cylinder is installed with the suction cup mounting plate; the suction cup mounting plate is installed with a plurality of grabbing suction cups.

[0025] Preferably: the output point QW2 on the controller is connected to the third servo motor driver of the grabbing and lifting servo motor, which is used to control the speed and direction of the grabbing and lifting servo motor; QX4.2 on the controller is connected to the third servo motor driver, which is used to control the start and stop state of the grabbing and lifting servo motor; the input point IX6.2 on the controller is connected to the third servo motor driver, which is used to feedback the motion state of the grabbing and lifting servo motor;

[0026] The output point QW3 on the controller is connected to the fourth servo motor driver of the X-axis translation mechanism, and is used to control the speed and direction of the servo motor of the X-axis translation mechanism; QX4.3 on the controller is connected to the third servo motor driver, and is used to control the start and stop state of the grabbing and lifting servo motor; the input point IX6.3 on the controller is connected to the third servo motor driver, and is used to feedback the motion state of the grabbing and lifting servo motor 303;

[0027] The control unit also includes a first coil and a second coil. QX4.5 on the controller is connected to the first coil for controlling the rotation of the grabbing swing cylinder; QX4.6 on the controller is connected to the second coil for controlling the vacuum opening and closing state of the grabbing suction cup.

[0028] Preferably: the pyrotechnic product rotation clamping unit comprises a product rotation unit mounting seat, a product rotation unit driving device mounting seat, a product rotation driving right-angle reducer, a product rotation driving servo motor, a driving rotation active wheel, a driving rotation passive wheel, a rotating synchronous belt, a rotating shaft, a product pneumatic clamping gripper, a reference mounting plate support plate and a detection reference plate;

[0029] The product rotation unit mounting seat and the product rotation unit driving device mounting seat are mounted on the table top of the main frame; the product rotation drive right-angle reducer is mounted on the product rotation unit driving device mounting seat, the input end of the product rotation drive right-angle reducer is connected to the product rotation drive servo motor, and the output end of the product rotation drive right-angle reducer is connected to the driving rotation active wheel; the driving rotation passive wheel is connected to the driving rotation active wheel through a rotating synchronous belt, and the driving rotation passive wheel is mounted on the lower end of the rotating shaft; a product pneumatic clamp is mounted on the upper end of the rotating shaft; the lower end of the reference mounting plate support plate is mounted on the product rotation unit mounting seat, and the detection reference plate is mounted on the upper end of the reference mounting plate support plate.

[0030] Preferably: the output point QW4 on the controller is connected to the fifth servo motor driver of the product rotation drive servo motor, and is used to control the speed and direction of the product rotation drive servo motor; QX4.4 on the controller is connected to the fifth servo motor driver, and is used to control the start and stop state of the product rotation drive servo motor; the input point IX6.4 on the controller is connected to the fifth servo motor driver, and is used to feedback the motion state of the product rotation drive servo motor;

[0031] The control unit also includes a third coil, and QX4.7 on the controller is connected to the third coil for controlling the opening and closing state of the pneumatic clamping of the product.

[0032] Preferably: the control unit further includes a product detection switch;

[0033] The input point IX6.5 on the controller is connected to the product detection switch to detect whether there is a product in the compression detection list.

[0034] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0035] An embodiment of the present application provides a system for adjusting the assembly gap of a pyrotechnic product. The system can realize automatic adjustment and assembly of the assembly gap of the pyrotechnic product through a main structure according to actual product characteristic data, adopts a clamping detection unit to detect the assembly gap between the powder surface and the upper end face of the retaining ring groove, calculates the required number of paper pads through a control system, and adopts a single-axis picking and loading unit to complete the assembly of the paper pads, thereby finally realizing automatic adjustment of the assembly gap, solving the quality, safety and other problems when manually adjusting the assembly gap, improving production efficiency, and worthy of large-scale promotion and use.

[0036] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 It is a structural schematic diagram of a pyrotechnic product assembly gap adjustment system provided by an embodiment of the present invention;

[0039] Figure 2 is a structural schematic diagram of a compression detection unit provided in an embodiment of the present invention;

[0040] Figure 3 is a schematic diagram of the structure of a depth detection unit provided by an embodiment of the present invention;

[0041] Figure 4 It is a structural schematic diagram of a single-axis picking and loading unit provided in an embodiment of the present invention;

[0042] Figure 5 is a structural schematic diagram of a product rotation unit provided by an embodiment of the present invention;

[0043] Figure 6 is a simplified diagram of a control unit provided in an embodiment of the present invention.

[0044] In the figure: main frame 1, clamping detection unit 2, single-axis picking and loading unit 3, pyrotechnic product rotating clamping unit 4, first adjustment pad placement station 5, second adjustment pad placement station 6, third adjustment pad placement station 7, adjustment pad thickness re-inspection unit 8, controller 9, first servo motor driver 10, second servo motor driver 11, third servo motor driver 12, fourth servo motor driver 13, fifth servo motor driver 14, first coil 15, second coil 16, third coil 17, fourth coil 18, product detection switch 19;

[0045] A clamping detection mounting plate 201, a clamping detection transverse movement servo motor 202, a clamping detection transverse movement electric cylinder 203, a clamping detection lifting unit mounting plate 204, a clamping detection lifting electric cylinder 205, a clamping detection lifting servo motor 206, and a depth detection unit 207;

[0046] Depth detection mounting plate 20701, depth detection rotary cylinder mounting plate 20702, depth detection rod sliding support 20703, depth detection rotary cylinder 20704, depth detection rotary cylinder shaft support 20705, depth detection rotary unit rotating shaft 20706, depth detection sensor lifting bracket 20707, depth detection sensor mounting bracket 20708, depth detection sensor 20709, depth detection rod sliding rod 20710, depth detection reset spring 20711, and retaining ring groove depth detection head 20712;

[0047] Picking feeding frame 301, X-axis translation mechanism 302, grabbing lifting servo motor 303, grabbing lifting electric cylinder 304, grabbing guide mechanism 305, grabbing swing cylinder 306, suction cup mounting plate 307, grabbing suction cup 308;

[0048] Product rotation unit mounting base 401, product rotation unit driving device mounting base 402, product rotation drive right angle reducer 403, product rotation drive servo motor 404, drive rotation active wheel 405, drive rotation passive wheel 406, rotation timing belt 407, rotation shaft 408, product pneumatic clamp 409, reference mounting plate support plate 410, detection reference plate 411. DETAILED DESCRIPTION

[0049] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0050] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , is a pyrotechnic product assembly gap adjustment system provided by an embodiment of the present invention, such as Figure 1 As shown, the system may include:

[0051] Main frame 1, pressing detection unit 2, single-axis picking and loading unit 3, pyrotechnic product rotating clamping unit 4, first adjustment pad placement station 5, second adjustment pad placement station 6, third adjustment pad placement station 7, adjustment pad thickness re-inspection unit 8 and control unit;

[0052] The clamping detection unit 2, the single-axis picking and loading unit 3, the pyrotechnic product clamping unit, the first adjustment pad placement station 5, the second adjustment pad placement station 6, and the third adjustment pad placement station 7 are respectively installed on the main frame 1 and their respective center lines are on the same plane, and the adjustment pad thickness re-inspection unit 8 is installed on the main frame 1 and its center line is on the same plane as the center line of the second adjustment pad placement station 6;

[0053] The first adjustment pad placement station 5, the second adjustment pad placement station 6, and the third adjustment pad placement station 7 are respectively used to place adjustment pads of different types;

[0054] The control unit includes a controller 9, and the controller 9 is used to perform the following operations:

[0055] Controlling the clamping detection unit 2 to detect the assembly gap between the medicine surface inside the shell and the upper end surface of the retaining spring groove;

[0056] Calculate the number and model of adjustment pads required to be placed according to the assembly gap;

[0057] The single-axis picking and loading unit 3 is controlled to complete the assembly of the adjustment pads according to the quantity and model of the adjustment pads.

[0058] The pyrotechnic product assembly gap adjustment system provided in the embodiment of the present application can detect the assembly gap between the inner powder surface of the shell and the upper end surface of the retaining ring groove through the compression detection unit 2, thereby realizing online measurement of the assembly gap between the shell and the retaining ring groove, and realizing automatic matching of the adjustment pad by calculating the thickness value of the adjustment pad under a certain preload force. The single-axis picking and loading unit 3 is used to realize the automatic state of the adjustment pad, thereby finally completing the axial gap adjustment of the pyrotechnic product shell.

[0059] In order to realize the functions of each unit, the embodiment of the present application can provide that the clamping detection unit 2 includes a clamping detection mounting plate 201, a clamping detection transverse movement servo motor 202, a clamping detection transverse movement electric cylinder 203, a clamping detection lifting unit mounting plate 204, a clamping detection lifting electric cylinder 205, a clamping detection lifting servo motor 206 and a depth detection unit 207;

[0060] The depth detection unit 207 is installed on the slider of the clamping detection lifting cylinder 205, and the center axis coincides with the center line of the pyrotechnic product rotating clamping unit 4; the clamping detection lifting cylinder 205 is installed on the clamping detection lifting unit mounting plate 204, and the input end of the clamping detection lifting cylinder 205 is connected to the clamping detection lifting servo motor 206; the clamping detection lifting unit mounting plate 204 is installed on the slider of the clamping detection transverse movement cylinder 203, and the input end of the clamping detection lifting unit is connected to the clamping detection transverse movement servo motor 202; the clamping detection transverse movement cylinder 203 is installed on the clamping detection mounting plate 201; the clamping detection mounting plate 201 is installed on the table top of the main frame 1.

[0061] Further, the depth detection unit 207 includes a depth detection mounting plate 20701, a depth detection rotary cylinder mounting plate 20702, a depth detection rod sliding support 20703, a depth detection rotary cylinder 20704, a depth detection rotary cylinder shaft support 20705, a depth detection rotary unit rotating shaft 20706, a depth detection sensor lifting bracket 20707, a depth detection sensor mounting bracket 20708, a depth detection sensor 20709, a depth detection rod sliding rod 20710, a depth detection reset spring 20711 and a spring groove depth detection head 20712;

[0062] The depth detection mounting plate 20701 is mounted on the slider of the clamping detection lifting electric cylinder 205; the depth detection rotating cylinder mounting plate 20702 and the depth detection rod sliding support 20703 are mounted on the depth detection mounting plate 20701; the depth detection rotating cylinder mounting plate 20702 is installed with the depth detection rotating cylinder 20704; the front end of the piston rod of the depth detection rotating cylinder 20704 is connected to the depth detection rotating cylinder shaft support 20705; the two ends of the depth detection rotating unit rotating shaft 20706 are respectively connected to the depth detection rotating cylinder shaft support 20705 and the depth detection sensor lifting bracket 20707 The depth detection sensor 20709 is installed on the depth detection sensor supporting bracket 20707 through the depth detection sensor mounting bracket 20708 and can rotate together with it; the detection probe of the depth detection sensor 20709 contacts the upper end of the depth detection rod sliding rod 20710, and the depth detection sensor 20709 is contacted, reset and the gap is eliminated through the depth detection reset spring 20711; the lower end of the depth detection rod sliding rod 20710 is installed with the retaining ring groove depth detection head 20712; the depth detection rod sliding rod 20710 can slide up and down in the depth detection rod sliding support 20703.

[0063] In order to facilitate the control of the various moving parts of the clamping detection unit 2, the embodiment of the present application can also provide that the output point QW0 on the controller 9 is connected to the first servo motor driver 10 of the clamping detection transverse movement servo motor 202, which is used to control the speed and direction of the clamping detection transverse movement servo motor 202; QX4.0 on the controller 9 is connected to the first servo motor driver 10, which is used to control the start and stop state of the clamping detection transverse movement servo motor 202; the input point IX6.0 on the controller 9 is connected to the first servo motor driver 10, which is used to feedback the movement state of the clamping detection transverse movement servo motor 202;

[0064] The output point QW1 on the controller 9 is connected to the second servo motor driver 11 of the clamping detection lifting servo motor 206, which is used to control the speed and direction of the clamping detection lifting servo motor 206; QX4.1 on the controller 9 is connected to the second servo motor driver 11, which is used to control the start and stop status of the clamping detection lifting servo motor 206; the input point IX6.1 on the controller 9 is connected to the second servo motor driver 11, which is used to feedback the movement status of the clamping detection lifting servo motor 206.

[0065] The input point IW1 on the controller 9 is connected to the depth detection sensor 20709 for detecting the distance between the assembly surface and the upper end of the card slot during assembly.

[0066] Further, the single-axis picking and loading unit 3 includes a picking and loading frame 301, an X-axis translation mechanism 302, a grabbing and lifting servo motor 303, a grabbing and lifting electric cylinder 304, a grabbing guide mechanism 305, a grabbing and swinging cylinder 306, a suction cup mounting plate 307 and a grabbing suction cup 308;

[0067] The picking and loading frame 301 is installed on the table of the main frame 1; the X-axis translation mechanism 302 is installed on the picking and loading frame 301; the grabbing guide mechanism 305 is installed on the slider of the X-axis translation mechanism 302; the grabbing and lifting electric cylinder 304 is installed on the grabbing and lifting electric cylinder 304, and the electric push rod of the grabbing and lifting electric cylinder 304 is connected to the guide rod of the grabbing and lifting electric cylinder 305; the input end of the grabbing and lifting electric cylinder 304 is connected to the grabbing and lifting electric cylinder 304; the grabbing and lifting electric cylinder 306 is installed at the front end of the guide rod of the grabbing and guiding mechanism 305, and the swing center axis of the grabbing and swinging cylinder 306 coincides with the moving center axis of the grabbing and guiding mechanism 305; the grabbing and swinging cylinder 306 is installed with the suction cup mounting plate 307; the suction cup mounting plate 307 is installed with a plurality of grabbing suction cups 308.

[0068] In order to realize the control of the various moving parts included in the single-axis picking and loading unit 3, the embodiment of the present application can also provide that the output point QW2 on the controller 9 is connected to the third servo motor driver 12 of the grabbing and lifting servo motor 303, which is used to control the speed and direction of the grabbing and lifting servo motor 303; QX4.2 on the controller 9 is connected to the third servo motor driver 12, which is used to control the start and stop state of the grabbing and lifting servo motor 303; the input point IX6.2 on the controller 9 is connected to the third servo motor driver 12, which is used to feedback the movement state of the grabbing and lifting servo motor 303;

[0069] The output point QW3 on the controller 9 is connected to the fourth servo motor driver 13 of the X-axis translation mechanism 302, and is used to control the speed and direction of the servo motor of the X-axis translation mechanism 302; QX4.3 on the controller 9 is connected to the third servo motor driver 12, and is used to control the start and stop states of the grabbing and lifting servo motor 303; the input point IX6.3 on the controller 9 is connected to the third servo motor driver 12, and is used to feedback the movement state of the grabbing and lifting servo motor 303303.

[0070] Further, the pyrotechnic product rotation clamping unit 4 includes a product rotation unit mounting seat 401, a product rotation unit driving device mounting seat 402, a product rotation driving right-angle reducer 403, a product rotation driving servo motor 404, a driving rotation active wheel 405, a driving rotation passive wheel 406, a rotating synchronous belt 407, a rotating shaft 408, a product pneumatic clamp 409, a reference mounting plate support plate 410 and a detection reference plate 411;

[0071] The product rotation unit mounting seat 401 and the product rotation unit driving device mounting seat 402 are mounted on the table top of the main frame 1; the product rotation drive right-angle reducer 403 is mounted on the product rotation unit driving device mounting seat 402, the input end of the product rotation drive right-angle reducer 403 is connected to the product rotation drive servo motor 404, and the output end of the product rotation drive right-angle reducer 403 is connected to the driving rotation active wheel 405; the driving rotation passive wheel 406 is connected to the driving rotation active wheel 405 through a rotating synchronous belt 407, and the driving rotation passive wheel 406 is mounted on the lower end of the rotating shaft 408; the upper end of the rotating shaft 408 is installed with a product pneumatic clamp 409; the lower end of the reference mounting plate support plate 410 is installed on the product rotation unit mounting seat 401, and the upper end of the reference mounting plate support plate 410 is installed with the detection reference plate 411.

[0072] In order to control the moving parts of the pyrotechnic product rotating clamping unit 4, the embodiment of the present application can also provide an output point QW4 on the controller 9 connected to the fifth servo motor driver 14 of the product rotation drive servo motor 404, for controlling the speed and direction of the product rotation drive servo motor 404; QX4.4 on the controller 9 is connected to the fifth servo motor driver 14, for controlling the start and stop state of the product rotation drive servo motor 404; the input point IX6.4 on the controller 9 is connected to the fifth servo motor driver 14, for feedback on the movement state of the product rotation drive servo motor 404.

[0073] Furthermore, the embodiment of the present application may also provide that the control unit further includes a first coil 15, a second coil 16, a third coil 17, a fourth coil 18 and a product detection switch 19;

[0074] QX4.5 on the controller 9 is connected to the first coil 15 and is used to control the rotation of the grabbing swing cylinder 306;

[0075] QX4.6 on the controller 9 is connected to the second coil 16 and is used to control the vacuum opening and closing state of the grabbing suction cup 308;

[0076] QX4.7 on the controller 9 is connected to the third coil 17 and is used to control the opening and closing state of the product pneumatic gripper 409;

[0077] QX4.8 on the controller 9 is connected to the fourth coil 18 and is used to control the telescopic state of the depth detection rotary cylinder 20704;

[0078] The input point IX6.5 on the controller 9 is connected to the product detection switch 19 for detecting whether there is a product in the compression detection list.

[0079] The following is a detailed introduction to the various components and usage methods of the system provided in the embodiments of the present application.

[0080] like Figure 1 As shown, the system of the embodiment provided in the present application includes: a main frame 1, a clamping detection unit 2, a single-axis picking and loading unit 3, a pyrotechnic product rotation clamping unit 4, a first adjustment pad placement station 5, a second adjustment pad placement station 6, a third adjustment pad placement station 7, an adjustment pad thickness re-inspection unit 8, a controller 9, etc.

[0081] The connection relationship is: the clamping detection unit 2, the single-axis picking and loading unit 3, the pyrotechnic product clamping unit 4, the first adjustment pad placement station 5, the second adjustment pad placement station 6, and the third adjustment pad placement station 7 are installed on the main frame 1 and the center lines are on the same plane, and the adjustment pad thickness re-inspection unit 8 is installed on the main frame 1 and the center line is on the same plane as the center line of the second adjustment pad placement station 6.

[0082] like Figure 2 As shown, the clamping detection unit 2 includes a clamping detection mounting plate 201, a clamping detection transverse movement servo motor 202, a clamping detection transverse movement electric cylinder 203, a clamping detection lifting unit mounting plate 204, a clamping detection lifting electric cylinder 205, a clamping detection lifting servo motor 206, and a depth detection unit 207.

[0083] The connection relationship is: the depth detection unit 207 is installed on the slider of the clamping detection lifting cylinder 205, and its center axis coincides with the center line of the pyrotechnic product rotating clamping unit 4; the clamping detection lifting cylinder 205 is installed on the clamping detection lifting unit mounting plate 204, and its input end is connected to the clamping detection lifting servo motor 206; the clamping detection lifting unit mounting plate 204 is installed on the slider of the clamping detection transverse movement cylinder 203, and its input end is connected to the clamping detection transverse movement servo motor 202; the clamping detection transverse movement cylinder 203 is installed on the clamping detection mounting plate 201; the clamping detection mounting plate 201 is installed on the table top of the main frame 1.

[0084] like Figure 3As shown, the depth detection unit 207 includes: a depth detection mounting plate 20701, a depth detection rotating cylinder mounting plate 20702, a depth detection rod sliding support 20703, a depth detection rotating cylinder 20704, a depth detection rotating cylinder shaft support 20705, a depth detection rotating unit rotating shaft 20706, a depth detection sensor lifting bracket 20707, a depth detection sensor mounting bracket 20708, a depth detection sensor 20709, a depth detection rod sliding rod 20710, a depth detection reset spring 20711, and a retaining ring groove depth detection head 20712. The connection relationship is as follows: the depth detection mounting plate 20701 is mounted on the slider of the clamping detection lifting electric cylinder 205; the depth detection rotary cylinder mounting plate 20702 and the depth detection rod sliding support 20703 are mounted on the depth detection mounting plate 20701; the depth detection rotary cylinder mounting plate 20702 is installed with the depth detection rotary cylinder 20704; the front end of the piston rod of the depth detection rotary cylinder 20704 is connected to the depth detection rotary cylinder shaft support 20705; the two ends of the depth detection rotary unit rotary shaft 20706 are respectively connected to the depth detection rotary cylinder shaft support 20705 and the depth detection sensor support The depth detection sensor 20709 is installed on the depth detection sensor lifting bracket 20707 through the depth detection sensor mounting bracket 20708 and can rotate therewith; the detection probe of the depth detection sensor 20709 contacts the upper end of the depth detection rod sliding rod 20710, and is contacted, reset and eliminates the gap through the depth detection reset spring 20711; the lower end of the depth detection rod sliding rod 20710 is installed with a retaining ring groove depth detection head 20712; the depth detection rod sliding rod 20710 can slide up and down in the depth detection rod sliding support 20703.

[0085] like Figure 4 As shown, the single-axis picking and loading unit 3 includes a picking and loading frame 301, an X-axis translation mechanism 302, a grabbing and lifting servo motor 303, a grabbing and lifting electric cylinder 304, a grabbing guide mechanism 305, a grabbing swing cylinder 306, a suction cup mounting plate 307, and a grabbing suction cup 308.

[0086] The connection relationship is: the picking and loading frame 301 is installed on the table of the main frame 1; the X-axis translation mechanism 302 is installed on the picking and loading frame 301; the grabbing guide mechanism 305 is installed on the slider of the X-axis translation mechanism 302; the grabbing and lifting electric cylinder 304 is installed on the grabbing and lifting electric cylinder 304, and the electric push rod of the grabbing and lifting electric cylinder 304 is connected to the guide rod of the grabbing and lifting electric cylinder 305; the input end of the grabbing and lifting electric cylinder 304 is connected to the grabbing and lifting electric cylinder 304; the front end of the guide rod of the grabbing and guiding mechanism 305 is installed with a grabbing swing cylinder 306, and the swing center axis of the grabbing swing cylinder 306 coincides with the moving center axis of the grabbing and guiding mechanism 305; the grabbing and swing cylinder 306 is installed with a suction cup mounting plate 307; the suction cup mounting plate 307 is installed with 6 grabbing suction cups 308.

[0087] like Figure 5 As shown, the pyrotechnic product rotation clamping unit 4 includes: a product rotation unit mounting base 401, a product rotation unit driving device mounting base 402, a product rotation drive right-angle reducer 403, a product rotation drive servo motor 404, a driving rotation active wheel 405, a driving rotation passive wheel 406, a rotating synchronous belt 407, a rotating shaft 408, a product pneumatic clamp 409, a reference mounting plate support plate 410, and a detection reference plate 411.

[0088] The connection relationship is: the product rotation unit mounting seat 401 and the product rotation unit driving device mounting seat 402 are installed on the table top of the main frame 1; the product rotation driving right-angle reducer 403 is installed on the product rotation unit driving device mounting seat 402, and its input end is connected to the product rotation driving servo motor 404, and the output end is connected to the driving rotation active wheel 405; the driving rotation passive wheel 406 is connected to the driving rotation active wheel 405 through the rotating synchronous belt 407, and the driving rotation passive wheel 406 is installed at the lower end of the rotating shaft 408; the upper end of the rotating shaft 408 is installed with a product pneumatic clamp 409; the lower end of the 3-piece reference mounting plate support plate 410 is installed on the product rotation unit mounting seat 401, and the upper end is installed with a detection reference plate 411.

[0089] The control unit part includes: a controller 9, a first servo motor driver 10, a second servo motor driver 11, a third servo motor driver 12, a fourth servo motor driver 13, a fifth servo motor driver 14, a first coil 15, a second coil 16, a third coil 17, a fourth coil 18, and a product detection switch 19.

[0090] The connection relationship is:

[0091] like Figure 6As shown, the output point QW0 on the controller 9 is connected to the first servo motor driver 10 of the clamping detection transverse servo motor 202 to control the speed and direction of the servo motor. The QX4.0 on the controller 9 is connected to the first servo motor driver 10 to control the start and stop state of the clamping detection transverse servo motor 202. The input point IX6.0 on the controller 9 is connected to the first servo motor driver 10 to feedback the movement state of the clamping detection transverse servo motor 202.

[0092] The output point QW1 on the controller 9 is connected to the second servo motor driver 11 of the clamping detection lifting servo motor 206 to control the speed and direction of the servo motor. The QX4.1 on the controller 9 is connected to the second servo motor driver 11 to control the start and stop state of the clamping detection lifting servo motor 206. The input point IX6.1 on the controller 9 is connected to the second servo motor driver 11 to feedback the movement state of the clamping detection lifting servo motor 206.

[0093] The output point QW2 on the controller 9 is connected to the third servo motor driver 12 of the grabbing and lifting servo motor 303 to control the speed and direction of the servo motor. The QX4.2 on the controller 9 is connected to the third servo motor driver 12 to control the start and stop state of the grabbing and lifting servo motor 303. The input point IX6.2 on the controller 9 is connected to the third servo motor driver 12 to feedback the motion state of the grabbing and lifting servo motor 303.

[0094] The output point QW3 on the controller 9 is connected to the fourth servo motor driver 13 of the X-axis translation mechanism 302 to control the speed and direction of the servo motor. The QX4.3 on the controller 9 is connected to the third servo motor driver 12 to control the start and stop state of the grabbing and lifting servo motor 303. The input point IX6.3 on the controller 9 is connected to the third servo motor driver 12 to feedback the motion state of the grabbing and lifting servo motor 303.

[0095] The output point QW4 on the controller 9 is connected to the fifth servo motor driver 14 of the product rotation drive servo motor 404 to control the speed and direction of the servo motor. The QX4.4 on the controller 9 is connected to the fifth servo motor driver 14 to control the start and stop state of the product rotation drive servo motor 404. The input point IX6.4 on the controller 9 is connected to the fifth servo motor driver 14 to feedback the motion state of the product rotation drive servo motor 404.

[0096] QX4.5 on the controller 9 is connected to the first coil 15 to control the rotation of the grabbing swing cylinder 306.

[0097] QX4.6 on the controller 9 is connected to the second coil 16 to control the vacuum opening and closing state of the grabbing suction cup 308.

[0098] QX4.7 on the controller 9 is connected to the third coil 17 to control the opening and closing state of the product pneumatic clamp 409.

[0099] QX4.8 on the controller 9 is connected to the fourth coil 18 to control the telescopic state of the depth detection rotary cylinder 20704.

[0100] The input point IW1 on the controller 9 is connected to the depth detection sensor 20709 to detect the distance between the assembly surface and the upper end of the card slot during assembly.

[0101] Input point IX6.5 on the controller 9 is connected to the product detection switch 19 to detect whether there is a product in the compression detection unit 2.

[0102] The present invention provides an embodiment of a method for adjusting the assembly gap of a pyrotechnic product with measured characteristics and a system working process as described below:

[0103] Before work, it is necessary to manually place the first adjustment pad, the second adjustment pad and the third adjustment pad on the first adjustment pad placement station 5, the second adjustment pad placement station 6 and the third adjustment pad placement station 7 respectively. The sizes of the first adjustment pad, the second adjustment pad and the third adjustment pad can be determined according to the size of the actual assembled product. It is understandable that the number of adjustment pad placement stations can be increased or decreased according to actual needs. When the product detection switch 19 detects the pyrotechnic product on the pyrotechnic product rotating clamping unit 4, the system is started, and the production line automatically starts to complete the assembly gap adjustment and adjustment pad assembly process as follows:

[0104] A. The pressing detection transverse movement servo motor 202 in the pressing detection unit 2 drives the pressing detection transverse movement electric cylinder 203 to move, so that the center line of the depth detection unit 207 reaches and coincides with the center line of the pyrotechnic product;

[0105] B. The compression detection lifting servo motor 206 drives the compression detection lifting electric cylinder 205 to descend, so that the depth detection rod sliding support 20703 presses the medicine surface with a constant force, and the compression detection lifting servo motor 206 stops moving.

[0106] C. The depth detection rotating cylinder mounting plate 20702 extends out, driving the spring groove depth detection head 20712, the depth detection sensor lifting bracket 20707, the depth detection sensor mounting bracket 20708, the depth detection sensor 20709, etc. to rotate, and the spring groove depth detection head 20712 is in close contact with the end surface of the groove;

[0107] D. The depth detection sensor 20709 measures the distance between the medicine surface and the card slot and feeds back to the PLC controller 9;

[0108] E. Press the detection unit back to its original position;

[0109] F. The pneumatic gripper 409 of the pyrotechnic product rotation clamping unit 4 clamps the pyrotechnic product, and the product rotation driving servo motor 404 drives the product to rotate;

[0110] G. Repeat steps C, D, and E to complete three or more tests, and the controller 9 automatically calculates the number and type of adjustment pads that need to be placed;

[0111] H. The controller 9 controls the single-axis picking and loading unit 3 to complete the assembly of the adjustment pad.

[0112] In summary, the pyrotechnic product assembly gap adjustment system provided in the present application can realize the automatic adjustment and assembly of the pyrotechnic product assembly gap according to the actual product characteristic data through the main structure, use the compression detection unit to detect the assembly gap between the powder surface and the upper end face of the retaining ring groove, calculate the required number of paper pads through the control unit, and use the single-axis picking and loading unit to complete the assembly of the paper pads, and finally realize the automatic adjustment of the assembly gap, solve the quality, safety and other problems when manually adjusting the assembly gap, improve the production efficiency, and deserve to be promoted and used on a large scale.

[0113] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0114] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0115] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0116] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A pyrotechnic product assembly gap adjustment system, characterized in that: It includes a main frame, a pressing detection unit, a single-axis picking and loading unit, a pyrotechnic product rotating clamping unit, a first adjustment pad placement station, a second adjustment pad placement station, a third adjustment pad placement station, an adjustment pad thickness re-inspection unit and a control unit; The clamping detection unit, the single-axis picking and loading unit, the pyrotechnic product clamping unit, the first adjustment pad placement station, the second adjustment pad placement station, and the third adjustment pad placement station are respectively installed on the main frame and their respective center lines are on the same plane, and the adjustment pad thickness re-inspection unit is installed on the main frame and its center line is on the same plane as the center line of the second adjustment pad placement station; The first adjustment pad placement station, the second adjustment pad placement station, and the third adjustment pad placement station are respectively used to place adjustment pads of different models; The control unit includes a controller, and the controller is used to perform the following operations: Controlling the compression detection unit to detect the assembly gap between the medicine surface in the shell and the upper end surface of the retaining ring groove; Calculate the number and model of adjustment pads required to be placed according to the assembly gap; The single-axis picking and loading unit is controlled to complete the assembly of the adjustment pads according to the quantity and model of the adjustment pads.

2. The pyrotechnic product assembly gap adjustment system according to claim 1, characterized in that: The clamping detection unit includes a clamping detection mounting plate, a clamping detection transverse movement servo motor, a clamping detection transverse movement electric cylinder, a clamping detection lifting unit mounting plate, a clamping detection lifting electric cylinder, a clamping detection lifting servo motor and a depth detection unit; The depth detection unit is installed on the slider of the clamping detection lifting cylinder, and the center axis coincides with the center line of the pyrotechnic product rotating clamping unit; the clamping detection lifting cylinder is installed on the clamping detection lifting unit mounting plate, and the input end of the clamping detection lifting cylinder is connected to the clamping detection lifting servo motor; the clamping detection lifting unit mounting plate is installed on the slider of the clamping detection transverse movement electric cylinder, and the input end of the clamping detection lifting unit is connected to the clamping detection transverse movement servo motor; the clamping detection transverse movement electric cylinder is installed on the clamping detection mounting plate; the clamping detection mounting plate is installed on the table top of the main frame.

3. The pyrotechnic product assembly gap adjustment system according to claim 2, characterized in that: The depth detection unit includes a depth detection mounting plate, a depth detection rotary cylinder mounting plate, a depth detection rod sliding support, a depth detection rotary cylinder, a depth detection rotary cylinder shaft support, a depth detection rotary unit rotating shaft, a depth detection sensor lifting bracket, a depth detection sensor mounting bracket, a depth detection sensor, a depth detection rod sliding rod, a depth detection reset spring and a spring groove depth detection head; The depth detection mounting plate is mounted on the slider of the clamping detection lifting electric cylinder; the depth detection rotating cylinder mounting plate and the depth detection rod sliding support are mounted on the depth detection mounting plate; the depth detection rotating cylinder mounting plate is installed with the depth detection rotating cylinder; the front end of the piston rod of the depth detection rotating cylinder is connected to the depth detection rotating cylinder shaft support; the two ends of the rotating shaft of the depth detection rotating unit are respectively connected to the depth detection rotating cylinder shaft support and the depth detection sensor lifting bracket; the depth detection sensor is mounted on the depth detection sensor lifting bracket through the depth detection sensor mounting bracket and can rotate with it; the detection probe of the depth detection sensor contacts the upper end of the depth detection rod sliding rod, and the depth detection reset spring is used to make the depth detection sensor contact, reset and eliminate the gap; the lower end of the depth detection rod sliding rod is installed with the retaining ring groove depth detection head; the depth detection rod sliding rod can slide up and down in the depth detection rod sliding support.

4. The pyrotechnic product assembly gap adjustment system according to claim 2, characterized in that: The output point QW0 on the controller is connected to the first servo motor driver of the clamping detection transverse movement servo motor, which is used to control the speed and direction of the clamping detection transverse movement servo motor; QX4.0 on the controller is connected to the first servo motor driver, which is used to control the start and stop state of the clamping detection transverse movement servo motor; the input point IX6.0 on the controller is connected to the first servo motor driver, which is used to feedback the movement state of the clamping detection transverse movement servo motor; The output point QW1 on the controller is connected to the second servo motor driver of the clamping detection lifting servo motor, which is used to control the speed and direction of the clamping detection lifting servo motor; QX4.1 on the controller is connected to the second servo motor driver, which is used to control the start and stop state of the clamping detection lifting servo motor; the input point IX6.1 on the controller is connected to the second servo motor driver, which is used to feedback the movement state of the clamping detection lifting servo motor; The control unit also includes a fourth coil, and QX4.8 on the controller is connected to the fourth coil for controlling the telescopic state of the depth detection rotary cylinder.

5. The pyrotechnic product assembly gap adjustment system according to claim 2, characterized in that: The input point IW1 on the controller is connected to the depth detection sensor and is used to detect the distance between the assembly surface and the upper end of the card slot during assembly.

6. The pyrotechnic product assembly gap adjustment system according to claim 1, characterized in that: The single-axis picking and loading unit includes a picking and loading frame, an X-axis translation mechanism, a grabbing and lifting servo motor, a grabbing and lifting electric cylinder, a grabbing guide mechanism, a grabbing and swinging cylinder, a suction cup mounting plate and a grabbing suction cup; The picking and loading frame is installed on the table top of the main frame; the X-axis translation mechanism is installed on the picking and loading frame; the grabbing guide mechanism is installed on the slider of the X-axis translation mechanism; the grabbing and lifting electric cylinder is installed on the grabbing and lifting electric cylinder, and the electric push rod of the grabbing and lifting electric cylinder is connected with the guide rod of the grabbing and guiding mechanism; the input end of the grabbing and lifting electric cylinder is connected with the grabbing and lifting electric cylinder; the grabbing swing cylinder is installed at the front end of the guide rod of the grabbing and guiding mechanism, and the swing center axis of the grabbing swing cylinder coincides with the moving center axis of the grabbing and guiding mechanism; the grabbing swing cylinder is installed with the suction cup mounting plate; the suction cup mounting plate is installed with a plurality of grabbing suction cups.

7. The pyrotechnic product assembly gap adjustment system according to claim 6, characterized in that: The output point QW2 on the controller is connected to the third servo motor driver of the grabbing and lifting servo motor, which is used to control the speed and direction of the grabbing and lifting servo motor; QX4.2 on the controller is connected to the third servo motor driver, which is used to control the start and stop state of the grabbing and lifting servo motor; the input point IX6.2 on the controller is connected to the third servo motor driver, which is used to feedback the motion state of the grabbing and lifting servo motor; The output point QW3 on the controller is connected to the fourth servo motor driver of the X-axis translation mechanism, and is used to control the speed and direction of the servo motor of the X-axis translation mechanism; QX4.3 on the controller is connected to the third servo motor driver, and is used to control the start and stop state of the grabbing and lifting servo motor; the input point IX6.3 on the controller is connected to the third servo motor driver, and is used to feedback the motion state of the grabbing and lifting servo motor 303; The control unit also includes a first coil and a second coil. QX4.5 on the controller is connected to the first coil for controlling the rotation of the grabbing swing cylinder; QX4.6 on the controller is connected to the second coil for controlling the vacuum opening and closing state of the grabbing suction cup.

8. The pyrotechnic product assembly gap adjustment system according to claim 1, characterized in that: The pyrotechnic product rotating clamping unit comprises a product rotating unit mounting seat, a product rotating unit driving device mounting seat, a product rotating driving right-angle reducer, a product rotating driving servo motor, a driving rotating active wheel, a driving rotating passive wheel, a rotating synchronous belt, a rotating shaft, a product pneumatic clamping gripper, a reference mounting plate support plate and a detection reference plate; The product rotation unit mounting seat and the product rotation unit driving device mounting seat are mounted on the table top of the main frame; the product rotation drive right-angle reducer is mounted on the product rotation unit driving device mounting seat, the input end of the product rotation drive right-angle reducer is connected to the product rotation drive servo motor, and the output end of the product rotation drive right-angle reducer is connected to the driving rotation active wheel; the driving rotation passive wheel is connected to the driving rotation active wheel through a rotating synchronous belt, and the driving rotation passive wheel is mounted on the lower end of the rotating shaft; a product pneumatic clamp is mounted on the upper end of the rotating shaft; the lower end of the reference mounting plate support plate is mounted on the product rotation unit mounting seat, and the detection reference plate is mounted on the upper end of the reference mounting plate support plate.

9. The pyrotechnic product assembly gap adjustment system according to claim 8, characterized in that: The output point QW4 on the controller is connected to the fifth servo motor driver of the product rotation drive servo motor, and is used to control the speed and direction of the product rotation drive servo motor; QX4.4 on the controller is connected to the fifth servo motor driver, and is used to control the start and stop state of the product rotation drive servo motor; the input point IX6.4 on the controller is connected to the fifth servo motor driver, and is used to feedback the motion state of the product rotation drive servo motor; The control unit also includes a third coil, and QX4.7 on the controller is connected to the third coil for controlling the opening and closing state of the pneumatic clamping of the product.

10. The pyrotechnic product assembly gap adjustment system according to claim 1, characterized in that: The control unit also includes a product detection switch; The input point IX6.5 on the controller is connected to the product detection switch for detecting whether there is a product in the compression detection list.

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