A system for adjusting assembly gaps of a pyrotechnic product

Abstract

This invention discloses a pyrotechnic product assembly gap adjustment system, relating to the field of automated ammunition assembly and testing technology. Based on actual product characteristic data, the system achieves automated adjustment and assembly of pyrotechnic product assembly gaps through its main structure. A clamping detection unit detects the assembly gap between the propellant surface and the upper end face of the snap ring groove. A control system calculates the required number of paper pads, and a single-axis picking and feeding unit completes the assembly of the paper pads, ultimately achieving automated adjustment of the assembly gap. This solves the quality and safety problems associated with manual adjustment of assembly gaps, improves production efficiency, and is worthy of widespread application.

Description

Technical Field

[0001] This invention relates to the field of automated ammunition assembly and testing technology, and in particular to a pyrotechnic product assembly gap adjustment system that automatically calculates the number of adjustment pads based on online testing data to complete the assembly gap adjustment. Background Technology

[0002] Due to manufacturing errors, there are assembly gaps in pyrotechnic products such as propellant charges after they are installed in the casing. These gaps need to be adjusted using paper shims of varying thicknesses to ensure the propellant charge remains securely in the casing after assembly. However, due to limitations in assembly technology, the industry currently relies heavily on manual inspection and adjustment of these gaps. This manual adjustment requires multiple attempts to meet the required standards and ensure the quality of the pyrotechnic product assembly.

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

[0004] Therefore, how to provide automatic adjustment equipment for the assembly gaps of pyrotechnic products, realize the automation and unmanned operation of pyrotechnic product assembly, 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 those skilled in the art. Summary of the Invention

[0005] In view of the above problems, the present invention provides a pyrotechnic product assembly gap adjustment system to overcome or at least partially solve the above problems. This system improves the automation of the pyrotechnic product assembly process, reduces the number of personnel involved in the assembly process, increases production efficiency and quality, and enables digital monitoring of the pyrotechnic product manufacturing process.

[0006] This invention provides the following solution:

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

[0008] The main frame, clamping and detection unit, single-axis picking and feeding unit, pyrotechnic product rotary 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 pressing detection unit, the single-axis picking and feeding unit, the pyrotechnic product rotating clamping unit, the first adjusting pad placement station, the second adjusting pad placement station, and the third adjusting pad placement station are respectively installed on the main frame and their center lines are on the same plane. The adjusting 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 adjusting 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, which is configured to perform the following operations:

[0012] The clamping detection unit is controlled to detect the assembly gap between the inner surface of the housing and the upper end face of the retaining spring groove;

[0013] Calculate the required number and type of adjustment pads based on the assembly gap;

[0014] The single-axis picking and feeding unit is controlled to assemble 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 servo motor, a clamping detection transverse 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 mounted on the slider of the clamping detection lifting electric cylinder, and its central axis coincides with the center line of the pyrotechnic product rotary clamping unit; the clamping detection lifting electric cylinder is mounted on the clamping detection lifting unit mounting plate, and its input end is connected to the clamping detection lifting servo motor; the clamping detection lifting unit mounting plate is mounted on the slider of the clamping detection transverse electric cylinder, and its input end is connected to the clamping detection transverse servo motor; the clamping detection transverse electric cylinder is mounted on the clamping detection mounting plate; the clamping detection mounting plate is mounted on the platform of the main frame.

[0017] Preferably, 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 snap ring groove depth detection head.

[0018] The depth detection mounting plate is mounted on the slider of the pressing detection lifting electric cylinder; the depth detection rotary cylinder mounting plate and the depth detection rod sliding support are mounted on the depth detection mounting plate; the depth detection rotary cylinder is mounted on the depth detection rotary cylinder mounting plate; the piston rod front end of the depth detection rotary cylinder is connected to the depth detection rotary cylinder shaft support; both ends of the rotation shaft of the depth detection rotary unit are respectively connected to the depth detection rotary 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 sensor contacts, resets, and eliminates gaps through the depth detection reset spring; the lower end of the depth detection rod sliding rod is equipped with the snap 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 pressing detection transverse servo motor, and is used to control the speed and direction of the pressing detection transverse servo motor; QX4.0 on the controller is connected to the first servo motor driver, and is used to control the start and stop status of the pressing detection transverse servo motor; the input point IX6.0 on the controller is connected to the first servo motor driver, and is used to provide feedback on the motion status of the pressing detection transverse 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, and 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, and is used to control the start and stop status of the clamping detection lifting servo motor; the input point IX6.1 on the controller is connected to the second servo motor driver, and is used to provide feedback on the motion status of the clamping detection lifting servo motor.

[0021] The control unit also includes a fourth coil, and the QX4.8 on the controller is connected to the fourth coil to control the extension and retraction 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 slot during assembly.

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

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

[0025] Preferably: the output point QW2 on the controller is connected to the third servo motor driver of the gripping and lifting servo motor, and is used to control the speed and direction of the gripping and lifting servo motor; QX4.2 on the controller is connected to the third servo motor driver, and is used to control the start and stop status of the gripping and lifting servo motor; the input point IX6.2 on the controller is connected to the third servo motor driver, and is used to provide feedback on the motion status of the gripping 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 status of the gripping lifting servo motor; the input point IX6.3 on the controller is connected to the third servo motor driver, and is used to provide feedback on the motion status of the gripping 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 and is used to control the rotation of the gripping swing cylinder. QX4.6 on the controller is connected to the second coil and is used to control the vacuum opening and closing state of the gripping suction cup.

[0028] Preferably, the pyrotechnic product rotary clamping unit includes a product rotary unit mounting base, a product rotary unit drive device mounting base, a product rotary drive right angle reducer, a product rotary drive servo motor, a drive rotary active wheel, a drive rotary passive wheel, a rotary synchronous belt, a rotary shaft, a product pneumatic gripper, a reference mounting plate support plate, and a detection reference plate.

[0029] The product rotation unit mounting base and the product rotation unit drive device mounting base are mounted on the platform of the main frame; the product rotation drive right angle reducer is mounted on the product rotation unit drive device mounting base, 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 drive rotation active wheel; the drive rotation passive wheel is connected to the drive rotation active wheel through a rotation synchronous belt, and the drive rotation passive wheel is mounted on the lower end of the rotation shaft; a product pneumatic gripper is mounted on the upper end of the rotation shaft; the lower end of the reference mounting plate support plate is mounted on the product rotation unit mounting base, and the upper end of the reference mounting plate support plate is mounted on the detection reference plate.

[0030] Preferably: the output point QW4 on the controller is connected to the fifth servo motor driver of the product's rotary drive servo motor, and is used to control the speed and direction of the product's rotary 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 status of the product's rotary drive servo motor; the input point IX6.4 on the controller is connected to the fifth servo motor driver, and is used to provide feedback on the motion status of the product's rotary drive servo motor.

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

[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 and is used to detect whether there is a product in the pressing detection unit.

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

[0035] This application provides a pyrotechnic product assembly gap adjustment system. Based on actual product characteristic data, the system automates the adjustment and assembly of pyrotechnic product assembly gaps through its main structure. A clamping detection unit detects the assembly gap between the propellant surface and the upper end face of the retaining ring groove. A control system calculates the required number of paper pads, and a single-axis picking and feeding unit completes the paper pad assembly. Ultimately, the system automates the adjustment of the assembly gap, solving quality and safety issues associated with manual adjustment, improving production efficiency, and making it worthy of widespread adoption.

[0036] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0038] Figure 1 This is a schematic diagram of the structure of an assembly gap adjustment system for pyrotechnic products provided in an embodiment of the present invention;

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

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

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

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

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

[0044] In the diagram: 1. Main frame; 2. Clamping detection unit; 3. Single-axis picking and feeding unit; 4. Pyrotechnic product rotation clamping unit; 5. First adjustment pad placement station; 6. Second adjustment pad placement station; 7. Third adjustment pad placement station; 8. Adjustment pad thickness re-inspection unit; 9. Controller; 10. First servo motor driver; 11. Second servo motor driver; 12. Third servo motor driver; 13. Fourth servo motor driver; 14. First coil; 15. Second coil; 16. Third coil; 17. Fourth coil; 18. Product detection switch; 19.

[0045] The components include: a clamping detection mounting plate 201, a clamping detection transverse servo motor 202, a clamping detection transverse 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 return spring 20711, snap ring groove depth detection head 20712;

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

[0048] Product rotation unit mounting base 401, product rotation unit drive 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 synchronous belt 407, rotation shaft 408, product pneumatic gripper 409, reference mounting plate support plate 410, detection reference plate 411. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0050] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 This invention provides an assembly gap adjustment system for pyrotechnic products, such as... Figure 1 As shown, the system may include:

[0051] 1. Main frame; 2. Pressing and detection unit; 3. Single-axis picking and feeding unit; 4. Pyrotechnic product rotation clamping unit; 5. First adjustment pad placement station; 6. Second adjustment pad placement station; 7. Third adjustment pad placement station; 8. Adjustment pad thickness re-inspection unit; and 9. Control unit.

[0052] The pressing detection unit 2, the single-axis picking and feeding unit 3, the pyrotechnic product rotating clamping unit, the first adjusting pad placement station 5, the second adjusting pad placement station 6, and the third adjusting pad placement station 7 are respectively installed on the main frame 1 and their center lines are on the same plane. The adjusting 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 adjusting 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 models;

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

[0055] The clamping detection unit 2 is controlled to detect the assembly gap between the inner surface of the housing and the upper end face of the snap ring groove;

[0056] Calculate the required number and type of adjustment pads based on the assembly gap;

[0057] The single-axis picking and feeding unit 3 is controlled to assemble the adjustment pads according to the number and model of the adjustment pads.

[0058] The pyrotechnic product assembly gap adjustment system provided in this application embodiment can detect the assembly gap between the propellant surface inside the shell and the upper end face of the snap ring groove through the clamping detection unit 2, realize online measurement of the assembly gap between the shell and the snap ring groove, realize automatic selection of the adjustment shim by calculating the thickness value of the adjustment shim under a certain preload, and realize the automatic state of the adjustment shim by using the single-axis picking and feeding unit 3, and finally complete the axial gap adjustment of the pyrotechnic product shell.

[0059] To realize the functions of each unit, the embodiments of this application may provide that the pressing detection unit 2 includes a pressing detection mounting plate 201, a pressing detection transverse servo motor 202, a pressing detection transverse electric cylinder 203, a pressing detection lifting unit mounting plate 204, a pressing detection lifting electric cylinder 205, a pressing detection lifting servo motor 206, and a depth detection unit 207.

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

[0061] Furthermore, 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 snap ring groove depth detection head 20712;

[0062] The depth detection mounting plate 20701 is mounted on the slider of the pressing 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 20704 is mounted on the depth detection rotary cylinder mounting plate 20702; 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 rotating shaft 20706 are respectively connected to the depth detection rotary cylinder shaft support 20705 and the depth detection sensor lifting bracket 20707. The depth detection sensor 20709 is mounted on the depth detection sensor support bracket 20707 via 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 eliminates gaps through the depth detection reset spring 20711; the lower end of the depth detection rod sliding rod 20710 is equipped with the snap 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] To facilitate the control of the various moving parts of the clamping detection unit 2, this embodiment of the application may 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 servo motor 202, for controlling the speed and direction of the clamping detection transverse servo motor 202; QX4.0 on the controller 9 is connected to the first servo motor driver 10, for controlling the start and stop status of the clamping detection transverse servo motor 202; and the input point IX6.0 on the controller 9 is connected to the first servo motor driver 10, for providing feedback on the motion status of the clamping detection transverse servo motor 202.

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

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

[0066] Furthermore, the single-axis picking and feeding unit 3 includes a picking and feeding frame 301, an X-axis translation mechanism 302, a gripping and lifting servo motor 303, a gripping and lifting electric cylinder 304, a gripping guide mechanism 305, a gripping swing cylinder 306, a suction cup mounting plate 307, and a gripping suction cup 308.

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

[0068] To control the moving parts of the single-axis picking and loading unit 3, this embodiment of the application may also provide that the output point QW2 on the controller 9 is connected to the third servo motor driver 12 of the gripping and lifting servo motor 303, for controlling the speed and direction of the gripping and lifting servo motor 303; QX4.2 on the controller 9 is connected to the third servo motor driver 12, for controlling the start and stop status of the gripping and lifting servo motor 303; and the input point IX6.2 on the controller 9 is connected to the third servo motor driver 12, for providing feedback on the motion status of the gripping 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 status of the gripping 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 provide feedback on the motion status of the gripping and lifting servo motor 303.

[0070] Furthermore, the pyrotechnic product rotary clamping unit 4 includes a product rotary unit mounting base 401, a product rotary unit drive device mounting base 402, a product rotary drive right angle reducer 403, a product rotary drive servo motor 404, a drive rotary active wheel 405, a drive rotary passive wheel 406, a rotary synchronous belt 407, a rotary shaft 408, a product pneumatic gripper 409, a reference mounting plate support plate 410, and a detection reference plate 411.

[0071] The product rotation unit mounting base 401 and the product rotation unit drive device mounting base 402 are mounted on the platform of the main frame 1; the product rotation drive right angle reducer 403 is mounted on the product rotation unit drive device mounting base 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 drive rotation active wheel 405; the drive rotation passive wheel 406 is connected to the drive rotation active wheel 405 through a rotation synchronous belt 407, and the drive rotation passive wheel 406 is mounted on the lower end of the rotation shaft 408; a product pneumatic gripper 409 is mounted on the upper end of the rotation shaft 408; the lower end of the reference mounting plate support plate 410 is mounted on the product rotation unit mounting base 401, and the upper end of the reference mounting plate support plate 410 is mounted on the detection reference plate 411.

[0072] To control the moving parts of the rotary clamping unit 4 for pyrotechnic products, this embodiment of the application may also provide that the output point QW4 on the controller 9 is connected to the fifth servo motor driver 14 of the product rotary drive servo motor 404, for controlling the speed and direction of the product rotary 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 status of the product rotary drive servo motor 404; and the input point IX6.4 on the controller 9 is connected to the fifth servo motor driver 14, for providing feedback on the motion status of the product rotary drive servo motor 404.

[0073] Furthermore, embodiments of this 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 gripping swing cylinder 306;

[0075] The 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 gripping 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] The QX4.8 on the controller 9 is connected to the fourth coil 18 and is used to control the extension and retraction 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 and is used to detect whether there is a product in the pressing detection unit.

[0079] The following provides a detailed description of the various components and usage methods of the system provided in the embodiments of this application.

[0080] like Figure 1 As shown, the system provided in this application includes: a main frame 1, a clamping detection unit 2, a single-axis picking and feeding 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 as follows: the pressing detection unit 2, the single-axis picking and feeding unit 3, the pyrotechnic product rotating clamping unit 4, the first adjusting pad placement station 5, the second adjusting pad placement station 6, and the third adjusting pad placement station 7 are installed on the main frame 1 and their center lines are on the same plane. The adjusting 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 adjusting 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 servo motor 202, a clamping detection transverse 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 as follows: the depth detection unit 207 is installed on the slider of the pressing detection lifting electric cylinder 205, and its central axis coincides with the center line of the pyrotechnic product rotating clamping unit 4; the pressing detection lifting electric cylinder 205 is installed on the pressing detection lifting unit mounting plate 204, and its input end is connected to the pressing detection lifting servo motor 206; the pressing detection lifting unit mounting plate 204 is installed on the slider of the pressing detection transverse electric cylinder 203, and its input end is connected to the pressing detection transverse servo motor 202; the pressing detection transverse electric cylinder 203 is installed on the pressing detection mounting plate 201; the pressing detection mounting plate 201 is installed on the table 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 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 snap 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 pressing 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 20704 is mounted on the depth detection rotary cylinder mounting plate 20702; 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 rotating shaft 20706 are respectively connected to the depth detection rotary cylinder shaft support 20705 and the depth detection sensor support. The support bracket 20707 is connected; the depth detection sensor 20709 is mounted on the depth detection sensor support bracket 20707 via 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 is contacted, reset and eliminates gaps by the depth detection reset spring 20711; the lower end of the depth detection rod sliding rod 20710 is equipped with a snap 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 feeding unit 3 includes a picking and feeding frame 301, an X-axis translation mechanism 302, a gripping and lifting servo motor 303, a gripping and lifting electric cylinder 304, a gripping guide mechanism 305, a gripping swing cylinder 306, a suction cup mounting plate 307, and a gripping suction cup 308.

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

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

[0088] The connection is as follows: the product rotation unit mounting base 401 and the product rotation unit drive device mounting base 402 are mounted on the platform of the main frame 1; the product rotation drive right angle reducer 403 is mounted on the product rotation unit drive device mounting base 402, its input end is connected to the product rotation drive servo motor 404, and its output end is connected to the drive rotation active wheel 405; the drive rotation passive wheel 406 is connected to the drive rotation active wheel 405 through the rotation synchronous belt 407, and the drive rotation passive wheel 406 is mounted on the lower end of the rotation shaft 408; the upper end of the rotation shaft 408 is equipped with a product pneumatic gripper 409; the lower end of the three reference mounting plate support plate 410 is mounted on the product rotation unit mounting base 401, and the upper end is equipped with a detection reference plate 411.

[0089] The control unit includes: 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, and product detection switch 19.

[0090] The connection relationship is:

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

[0092] Output point QW1 on controller 9 is connected to the second servo motor driver 11 of the clamping detection lifting servo motor 206, controlling the speed and direction of the servo motor. Output point QX4.1 on controller 9 is connected to the second servo motor driver 11, controlling the start and stop status of the clamping detection lifting servo motor 206. Input point IX6.1 on controller 9 is connected to the second servo motor driver 11, providing feedback on the motion status of the clamping detection lifting servo motor 206.

[0093] Output point QW2 on controller 9 is connected to the third servo motor driver 12 of the gripping and lifting servo motor 303, controlling the speed and direction of the servo motor. Output point QX4.2 on controller 9 is connected to the third servo motor driver 12, controlling the start and stop status of the gripping and lifting servo motor 303. Input point IX6.2 on controller 9 is connected to the third servo motor driver 12, providing feedback on the motion status of the gripping and lifting servo motor 303.

[0094] Output point QW3 on controller 9 is connected to the fourth servo motor driver 13 of the X-axis translation mechanism 302, controlling the speed and direction of the servo motor. Output point QX4.3 on controller 9 is connected to the third servo motor driver 12, controlling the start and stop status of the gripping and lifting servo motor 303. Input point IX6.3 on controller 9 is connected to the third servo motor driver 12, providing feedback on the motion status of the gripping and lifting servo motor 303.

[0095] Output point QW4 on controller 9 is connected to the fifth servo motor driver 14 of the product rotary drive servo motor 404, controlling the speed and direction of the servo motor. Output point QX4.4 on controller 9 is connected to the fifth servo motor driver 14, controlling the start and stop status of the product rotary drive servo motor 404. Input point IX6.4 on controller 9 is connected to the fifth servo motor driver 14, providing feedback on the motion status of the product rotary drive servo motor 404.

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

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

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

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

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

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

[0102] The working process of a method and system for adjusting the assembly gap of a pyrotechnic product based on actual measurement characteristics, provided by the present invention, is described as follows:

[0103] Before starting work, the first, second, and third adjusting pads need to be manually placed at the first adjusting pad placement station 5, the second adjusting pad placement station 6, and the third adjusting pad placement station 7, respectively. The dimensions of each adjusting pad can be determined based on the actual dimensions of the product being assembled. It is understood that the number of adjusting pad placement stations can be increased or decreased according to actual needs. When the product detection switch 19 detects a pyrotechnic product on the pyrotechnic product rotating clamping unit 4, the system is activated, and the production line automatically begins to complete the assembly gap adjustment and adjusting pad assembly process as follows:

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

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

[0106] C. The depth detection rotary cylinder mounting plate 20702 extends, driving the snap ring groove depth detection head 20712, depth detection sensor support bracket 20707, depth detection sensor mounting bracket 20708, depth detection sensor 20709, etc. to rotate, and the snap ring groove depth detection head 20712 is in close contact with the end face of the snap ring groove.

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

[0108] E. The clamping detection unit returns to its original position;

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

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

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

[0112] In summary, the pyrotechnic product assembly gap adjustment system provided in this application can automatically adjust and assemble the assembly gap of pyrotechnic products based on actual product characteristic data through the main structure. It uses a clamping detection unit to detect the assembly gap between the propellant surface and the upper end face of the snap ring groove, a control unit to calculate the required number of paper pads, and a single-axis picking and feeding unit to complete the assembly of the paper pads. Ultimately, it achieves automated adjustment of the assembly gap, solves the quality and safety problems of manual adjustment of assembly gap, improves production efficiency, and is worthy of widespread promotion and use.

[0113] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0114] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0115] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0116] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A system for adjusting assembly gaps in pyrotechnic products, characterized in that, It includes a main frame, a clamping and detection unit, a single-axis picking and feeding unit, a pyrotechnic product rotary 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 pressing detection unit, the single-axis picking and feeding unit, the pyrotechnic product rotating clamping unit, the first adjusting pad placement station, the second adjusting pad placement station, and the third adjusting pad placement station are respectively installed on the main frame and their center lines are on the same plane. The adjusting 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 adjusting 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, which is configured to perform the following operations: The clamping detection unit is controlled to detect the assembly gap between the inner surface of the housing and the upper end face of the retaining spring groove; Calculate the required number and type of adjustment pads based on the assembly gap; The single-axis picking and feeding unit is controlled to assemble the adjustment pads according to the quantity and model of the adjustment pads; The clamping detection unit includes a clamping detection mounting plate, a clamping detection transverse servo motor, a clamping detection transverse 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 mounted on the slider of the clamping detection lifting electric cylinder, and its central axis coincides with the center line of the pyrotechnic product rotary clamping unit; the clamping detection lifting electric cylinder is mounted on the clamping detection lifting unit mounting plate, and its input end is connected to the clamping detection lifting servo motor; the clamping detection lifting unit mounting plate is mounted on the slider of the clamping detection transverse electric cylinder, and its input end is connected to the clamping detection transverse servo motor; the clamping detection transverse electric cylinder is mounted on the clamping detection mounting plate; the clamping detection mounting plate is mounted on the platform of the main frame; 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 snap ring groove depth detection head. The depth detection mounting plate is mounted on the slider of the pressing detection lifting electric cylinder; the depth detection rotary cylinder mounting plate and the depth detection rod sliding support are mounted on the depth detection mounting plate; the depth detection rotary cylinder is mounted on the depth detection rotary cylinder mounting plate; the piston rod front end of the depth detection rotary cylinder is connected to the depth detection rotary cylinder shaft support; both ends of the rotation shaft of the depth detection rotary unit are respectively connected to the depth detection rotary 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 sensor contacts, resets, and eliminates gaps through the depth detection reset spring; the lower end of the depth detection rod sliding rod is equipped with the snap ring groove depth detection head; the depth detection rod sliding rod can slide up and down in the depth detection rod sliding support.

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

3. The pyrotechnic product assembly gap adjustment system according to claim 1, 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 slot during assembly.

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

5. The pyrotechnic product assembly gap adjustment system according to claim 4, characterized in that, The output point QW2 on the controller is connected to the third servo motor driver of the gripping and lifting servo motor, and is used to control the speed and direction of the gripping and lifting servo motor; QX4.2 on the controller is connected to the third servo motor driver, and is used to control the start and stop status of the gripping and lifting servo motor; the input point IX6.2 on the controller is connected to the third servo motor driver, and is used to provide feedback on the motion status of the gripping 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 status of the gripping lifting servo motor; the input point IX6.3 on the controller is connected to the third servo motor driver, and is used to provide feedback on the motion status of the gripping 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 and is used to control the rotation of the gripping swing cylinder. QX4.6 on the controller is connected to the second coil and is used to control the vacuum opening and closing state of the gripping suction cup.

6. The pyrotechnic product assembly gap adjustment system according to claim 1, characterized in that, The pyrotechnic product rotary clamping unit includes a product rotary unit mounting base, a product rotary unit drive device mounting base, a product rotary drive right angle reducer, a product rotary drive servo motor, a drive rotary active wheel, a drive rotary passive wheel, a rotary synchronous belt, a rotary shaft, a product pneumatic gripper, a reference mounting plate support plate, and a detection reference plate. The product rotation unit mounting base and the product rotation unit drive device mounting base are mounted on the platform of the main frame; the product rotation drive right angle reducer is mounted on the product rotation unit drive device mounting base, 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 drive rotation active wheel; the drive rotation passive wheel is connected to the drive rotation active wheel through a rotation synchronous belt, and the drive rotation passive wheel is mounted on the lower end of the rotation shaft; a product pneumatic gripper is mounted on the upper end of the rotation shaft; the lower end of the reference mounting plate support plate is mounted on the product rotation unit mounting base, and the upper end of the reference mounting plate support plate is mounted on the detection reference plate.

7. The pyrotechnic product assembly gap adjustment system according to claim 6, characterized in that, The output point QW4 on the controller is connected to the fifth servo motor driver of the product's rotary drive servo motor, and is used to control the speed and direction of the product's rotary 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 status of the product's rotary drive servo motor; the input point IX6.4 on the controller is connected to the fifth servo motor driver, and is used to provide feedback on the motion status of the product's rotary drive servo motor. The control unit also includes a third coil, and QX4.7 on the controller is connected to the third coil to control the opening and closing state of the product pneumatic gripper.

8. 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 and is used to detect whether there is a product in the pressing detection unit.

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