Automatic assembly unit for gluing, bonding and riveting initiating explosive devices

Abstract

The invention relates to an initiating explosive device gluing, bonding and riveting automatic assembling unit which is characterized in that a glue mixing assembly of a gluing mechanism is provided with a movable glue outlet nozzle, an inner hole of a body part is glued through the glue outlet nozzle, and a paper tape reel assembly is provided with a paper tape capable of being released and wound; the two frictioning nozzle clamping jaws moving in an opening and closing manner are arranged on the frictioning rotating seat, and paper tape grooves for guiding the paper tape to penetrate through are formed in the inner sides of the two frictioning nozzle clamping jaws; the initiating explosive device feeding system comprises an initiating explosive device transferring mechanism, an initiating explosive device transferring suction head and an initiating explosive device pressing head are arranged on a transferring seat of the initiating explosive device transferring mechanism, and after the glued body part is conveyed to the initiating explosive device transferring mechanism, the initiating explosive device is firstly driven by the initiating explosive device transferring suction head to be placed on the body part, and then the initiating explosive device pressing head is pressed on the initiating explosive device transferring suction head. And then the initiating explosive device pressing head is used for pressing and adhering to the body part, and residual glue flowing out of the bottom of the body part is wiped through a cotton swab in the cotton swab frictioning mechanism. According to the automatic gluing and riveting device, automatic gluing of the body part and automatic gluing and riveting operation of the initiating explosive device and the body part can be achieved.

Description

Technical Field

[0001] This invention relates to the field of assembly technology, specifically to an automatic assembly unit for applying adhesive and riveting pyrotechnic components. Background Technology

[0002] Many industries encounter the challenge of gluing and riveting small-sized products. For example, in the pyrotechnics field, the inner diameter of the holes in the largest models of some products is only 6.35mm, and the gluing location is also on the inner wall of these holes, presenting significant challenges, especially in ensuring consistent gluing across all products. Furthermore, due to the small size of the products, the amount of glue required is minimal, but different types of glue mixed together must be used within a certain timeframe; otherwise, glue solidification can easily occur, causing blockages and affecting subsequent gluing operations. This places technical demands on the speed of gluing and how to promptly remove excess glue. Current technologies primarily rely on manual assembly for these products, which suffers from low assembly efficiency, time-consuming and labor-intensive manual pressing and riveting operations, and difficulty in guaranteeing assembly quality. Additionally, manual assembly poses safety hazards for pyrotechnics. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic assembly unit for applying adhesive and riveting pyrotechnic components, which can realize automatic adhesive application to the main body components and automatic bonding and riveting operations between pyrotechnic components and the main body components.

[0004] The objective of this invention is achieved through the following technical solution: An automated assembly unit for adhesive bonding and riveting of pyrotechnic components includes a pyrotechnic component feeding system, a main component feeding mechanism, a station turntable mechanism, an adhesive application mechanism, and a cotton swab adhesive application mechanism. The station turntable mechanism includes a station turntable with multiple positioning fixtures arranged circumferentially on it. Main components output from the main component feeding mechanism are first fed into corresponding positioning fixtures for fixation, and then rotated by the station turntable to be delivered to the adhesive application mechanism. The adhesive application mechanism includes a mixing component, a paper tape reel assembly, an adhesive application rotating seat, and adhesive application nozzle grippers. The mixing component has a movable adhesive nozzle, and adhesive is applied to the inner hole of the main component through the adhesive nozzle. The paper tape reel assembly has release and rewinding mechanisms. The system includes a paper tape and two opening and closing adhesive-wiping jaws mounted on an adhesive-wiping rotating seat, each with an inner groove to guide the paper tape through. The pyrotechnic feeding system includes a pyrotechnic transfer mechanism with a movable transfer seat. The transfer seat has a pyrotechnic transfer suction head and a pyrotechnic pressing head. After the glued body component is rotated and sent to the pyrotechnic transfer mechanism via a station turntable, the pyrotechnic is first placed on the body component by the pyrotechnic transfer suction head, and then pressed and glued to the body component by the pyrotechnic pressing head. The cotton swab adhesive-wiping mechanism includes a movable cotton swab, and when the pyrotechnic is pressed and glued to the body component, residual glue flowing from the bottom of the body component is wiped away by the cotton swab.

[0005] The glue application mechanism includes a movable and adjustable glue application seat. The glue mixing assembly is provided with a glue mixing mounting plate, which is fixed to the glue application seat. The glue mixing mounting plate is provided with a glue dispensing device, a switch control valve, and an adjusting slide. The glue dispensing device has multiple glue pumps and multiple glue cylinders on one side and a glue mixing pipe on the other side. The glue mixing pipe is connected to the input end of the switch control valve through a pipeline. The glue dispensing nozzle is driven to move by the adjusting slide and is connected to the output end of the switch control valve through a pipeline. The lower end of the glue dispensing nozzle has multiple glue dispensing holes evenly distributed along the circumference. The inner side of the glue wiping nozzle gripper is provided with a backflow groove that is narrow at the top and wide at the bottom and is semi-perforated. Paper tape grooves are provided on both sides of the backflow groove.

[0006] The paper tape reel assembly includes a release paper tape reel, a paper tape guide block, a front guide wheel, a rear guide wheel, and a recovery paper tape reel. The paper tape is output from the release paper tape reel on the corresponding side, passes through the paper tape guide block and the front guide wheel on the corresponding side, enters the paper tape groove of the wiping nozzle gripper on the corresponding side, and then passes through the rear guide wheel on the corresponding side and is wrapped around the recovery paper tape reel on the corresponding side. The recovery paper tape reel is driven to rotate by a recovery reel motor to achieve circumferential movement of the paper tape.

[0007] The glue application mechanism includes a glue application bracket, a glue application X-axis module, and a glue application Z-axis module. The glue application X-axis module is mounted on the glue application bracket, and the glue application Z-axis module is driven to move. The glue application moving seat is driven to rise and fall by the glue application Z-axis module. A support plate is provided inside the glue application bracket, and the paper tape reel assembly and the glue application nozzle grippers are both mounted on the support plate. A glue application rotary cylinder is provided on the support plate, and the glue application rotary seat is driven to rotate by the glue application rotary cylinder. A glue application gripper opening and closing cylinder is provided on the glue application rotary seat, and the two glue application nozzle grippers are driven to open and close by the glue application gripper opening and closing cylinder. A stop plate cylinder and a stop plate are provided on one side of the glue application bracket. The stop plate is driven to move by the stop plate cylinder, and the main body component in the positioning tooling assembly is blocked and lifted by the stop plate.

[0008] The positioning fixture assembly includes a workpiece turntable, a support fixture, and a limiting fixture. The workpiece turntable includes a rotating disk body, and the support fixture is disposed on the rotating disk body. The limiting fixture is disposed on the support fixture, and the limiting fixture has a contour hole for accommodating the main body component. The workpiece turntable includes a rotary drive device and a transmission base. The rotating disk body is driven to rotate by the rotary drive device, and the rotary drive device transmits torque through a transmission mechanism within the transmission base.

[0009] The cotton swab adhesive application mechanism includes a cotton swab lateral movement module, a cotton swab lifting cylinder, a cotton swab rotating cylinder, and a cotton swab clamping cylinder. One end of the cotton swab lateral movement module is equipped with a cotton swab feeding device and a wiping liquid peristaltic pump. The cotton swab lateral movement module has a cotton swab lateral movement slide, and the cotton swab lifting cylinder is located on the cotton swab lateral movement slide. The upper end of the cotton swab lifting cylinder has a cotton swab lifting seat, and the cotton swab rotating cylinder is located on the cotton swab lifting seat. The power shaft end of the cotton swab rotating cylinder has a cotton swab rotating seat, and the cotton swab clamping cylinder is located on the cotton swab rotating seat. Two cotton swab grippers are driven to open and close by the cotton swab clamping cylinder, and the cotton swab is held by the cotton swab grippers.

[0010] The pyrotechnic transfer suction head includes a suction head fixing shaft and a transfer suction cup, wherein the suction head fixing shaft is fixedly connected to the transfer seat, the transfer suction cup is connected to the suction head fixing shaft, and a suction head limiting sleeve is fitted on the outer side of the connection between the transfer suction cup and the suction head fixing shaft; the pyrotechnic pressing head includes a screw, a locking nut and a rotating shaft connecting seat, wherein the rotating shaft connecting seat has a damping rotating shaft on the upper side and a contoured pressing block on the lower side, the upper end of the damping rotating shaft is fixedly connected to the screw, the transfer seat has a pressing head support plate, the screw has two locking nuts, and the screw is fixed to the transfer seat by clamping the pressing head support plate with the two locking nuts.

[0011] The pyrotechnics feeding system includes a pyrotechnics feeding mechanism, which comprises a material box assembly, a feeding assembly, and a docking adjustment assembly. The material box assembly includes a movable pyrotechnics material box, and the feeding assembly includes a movable and adjustable feeding seat. The feeding seat is equipped with a feeding rotary cylinder, and the power end of the feeding rotary cylinder is equipped with a feeding suction cup. Pyrotechnics in the pyrotechnics material box are picked up by the feeding suction cup. The docking adjustment assembly includes a docking lifting cylinder, a docking rotary cylinder, and a docking suction cup. The upper end of the docking lifting cylinder is equipped with a docking lifting seat, and the docking rotary cylinder is mounted on the docking lifting seat. The rotating shaft end of the docking rotary cylinder is equipped with a rotating arm, and the end of the rotating arm is equipped with a docking suction cup. When the pyrotechnics are flipped, the end away from the feeding suction cup is attracted by the docking suction cup.

[0012] A conveying mechanism is provided between the pyrotechnic material feeding mechanism and the pyrotechnic material transfer mechanism; a riveting mechanism is provided on the side of the workstation turntable mechanism away from the pyrotechnic material feeding mechanism. The riveting mechanism includes a riveting head electric cylinder, and the power end of the riveting head electric cylinder is provided with a riveting head and a riveting head cover. The riveting head is located in the riveting head cover. The riveting head electric cylinder is located on a riveting support, and a riveting stop plate is provided on the side of the riveting support near the workstation turntable mechanism.

[0013] The main component loading mechanism includes an industrial robot, and the end of the industrial robot is provided with an end support. The end support is provided with a suction cup conversion cylinder and a suction cup conversion seat. The suction cup conversion seat is driven to rotate by the suction cup conversion cylinder. One side of the suction cup conversion seat is provided with a main component loading suction cup, and the other side is provided with a finished product unloading suction cup.

[0014] The advantages and positive effects of this invention are as follows: 1. This invention utilizes a turntable mechanism to achieve the switching between various workstations. The main component loading mechanism places the main component onto a corresponding set of positioning fixtures on the turntable. The turntable rotates, moving the main component to the gluing mechanism. The gluing mechanism then automatically mixes adhesives, controls the dispensing amount, and applies adhesive to the inner holes of the main component. In addition to precisely controlling the dispensing amount to ensure consistency, the workpiece turntable on the turntable can also rotate to ensure uniform gluing of the inner holes of the main component. Furthermore, for special cases where the required amount of adhesive is small and different types of adhesives must be used within a specified time after mixing, the gluing mechanism is specifically designed with a wiping nozzle gripper and a paper tape reel assembly. This allows for thorough wiping of the dispensing nozzle and also enables periodic adhesive discharge.

[0015] 2. After the main body component is coated with adhesive, the present invention utilizes a pyrotechnic feeding system to feed the pyrotechnic components. The pyrotechnic feeding system includes a pyrotechnic feeding mechanism, a conveying mechanism, and a pyrotechnic transfer mechanism connected in sequence. In addition to feeding the pyrotechnic components by moving the pyrotechnic component box, the feeding suction cup and docking suction cup can also be used to flip the pyrotechnic components according to their type, thereby improving the flexibility and applicability of the present invention. The pyrotechnic transfer mechanism includes a movable transfer seat, and the transfer seat is equipped with a pyrotechnic transfer suction head and a pyrotechnic pressing head. The pyrotechnic transfer suction head is used to pick up the pyrotechnic components and place them on the corresponding main body component on the workstation turntable. Then, the pyrotechnic pressing head descends and presses the pyrotechnic components to achieve adhesive bonding between the pyrotechnic components and the main body component.

[0016] 3. While the pyrotechnic product is being pressed and glued to the main body component, the present invention can also use the cotton swab in the cotton swab wiping mechanism to wipe away the residual glue flowing out from the bottom of the main body component. The cotton swab wiping mechanism uses cotton swab grippers to pick up a single cotton swab from the cotton swab feeding device. At the same time, the cotton swab grippers have multiple degrees of freedom such as movement, lifting, and rotation. In this way, while ensuring accurate adjustment of the cotton swab position, it can also realize the action of the cotton swab picking up the wiping liquid output by the peristaltic pump, and can also realize the action of throwing the wiped cotton swab into the cotton swab throwing box.

[0017] 4. After the pyrotechnic product and the main body component are pressed and glued together, the present invention can determine whether it needs to be sent to the riveting mechanism via a workstation turntable, depending on the product type. Furthermore, the industrial robot end of the main body component loading mechanism of the present invention is equipped with a suction cup conversion seat. In addition to a main body component loading suction cup on one side, the suction cup conversion seat is also equipped with a finished product unloading suction cup on the other side. In this way, the industrial robot can meet the needs of loading the main body component while also meeting the needs of unloading the finished product through the rotation conversion of the suction cup conversion seat. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 2 This is a schematic diagram of the overall structure of the present invention from another angle. Figure 3 for Figure 1 Schematic diagram of the feeding mechanism for pyrotechnic components. Figure 4 for Figure 3 A schematic diagram of the structure of the material box assembly. Figure 5 for Figure 1 A schematic diagram of the structure of the feeding mechanism for the main body components. Figure 6 for Figure 5 Enlarged view of point K in the image. Figure 7for Figure 2 A schematic diagram of the structure of the transmission mechanism. Figure 8 for Figure 2 A schematic diagram of the adhesive application mechanism and the workstation turntable mechanism for cotton swabs. Figure 9 for Figure 8 A schematic diagram of the structure of the turntable mechanism at the middle workstation. Figure 10 for Figure 9 Enlarged schematic diagram of the intermediate tooling components. Figure 11 for Figure 8 Enlarged view of point H in the image. Figure 12 for Figure 11 A schematic diagram of the adhesive-wiping gripper. Figure 13 for Figure 1 Schematic diagram of the intermediate coating mechanism. Figure 14 for Figure 13 Schematic diagram of the structure of the medium-mix rubber assembly. Figure 15 for Figure 13 A schematic diagram of the structure of the paper tape reel assembly. Figure 16 for Figure 13 A schematic diagram of the structure of the adhesive applicator gripper. Figure 17 for Figure 16 A schematic diagram of the structure of a single adhesive applicator gripper from another angle. Figure 18 for Figure 1 A schematic diagram of the structure of the fire attack product transfer mechanism. Figure 19 for Figure 18 A schematic diagram of the structure of the transfer suction head for pyrotechnic devices. Figure 20 for Figure 18 A schematic diagram of the structure of the clamping head for medium-powered fire-fighting products. Figure 21 for Figure 1 A schematic diagram of the riveting mechanism.

[0019] Among them, 1 is the pyrotechnic material feeding mechanism, 101 is the protective cover, 102 is the feeding X-axis module, 103 is the feeding Y-axis module, 104 is the feeding Z-axis module, 105 is the feeding positioning and detection camera, 106 is the feeding rotary cylinder, 107 is the feeding suction cup, 108 is the material box assembly, 1081 is the pyrotechnic material slot, 1082 is the upper slide plate, 1083 is the lower slide plate, 1084 is the lower cylinder seat, 1085 is the material box pad, 1086 is the pyrotechnic material box, 109 is the docking suction cup, 110 is the docking lifting cylinder, and 111 is the docking rotary cylinder; 2 is the main component feeding mechanism, 201 is the industrial robot, 202 is the feeding vibratory feeder, 203 is the storage hopper, 204 is the throwing box, and 205 is the finished product unloading suction cup. 206 is a suction cup conversion cylinder, 207 is a main component feeding suction cup, 208 is an end support, and 209 is a suction cup conversion seat; 3 is a glue application mechanism, 301 is a glue mixing assembly, 3011 is glue pump A, 3012 is glue pump B, 3013 is glue cylinder A, 3014 is a glue mixing mounting plate, 3015 is glue cylinder B, 3016 is a glue mixing tube, 3017 is a switch control valve, 3018 is a glue nozzle, 30181 is a glue outlet, 3019 is an adjusting slide, 302 is a glue application control module, 303 is a paper tape reel assembly, 3031 is a paper tape recovery reel A, 3032 is a paper tape release reel A, 3033 is a paper tape recovery reel B, 3034 is a paper tape release reel B, 3035 is a paper tape guide block A, and 3036 is a paper tape... Guide block B, 3037 is the recycling disc motor, 304 is the glue application bracket, 305 is the glue application nozzle gripper, 3051 is the paper tape groove, 3052 is the backflow groove, 3053 is the gripper connecting seat, 306 is the support plate, 307 is the glue application gripper opening and closing cylinder, 308 is the baffle plate, 309 is the baffle plate cylinder, 310 is the glue application Z-axis module, 311 is the glue application rotation cylinder, 312 is the glue application X-axis module, 313 is the glue receiving box, 3141 is the first rear guide wheel, 3142 is the first front guide wheel, 3143 is the second rear guide wheel, 3144 is the second front guide wheel; 4 is the cotton swab glue application mechanism, 401 is the cotton swab, 402 is the cotton swab gripper, 4021 is the cotton swab clamping block, 4022 is the gripper fixing block, 403 is the cotton swab rotation... 404 is a rotary cylinder, 405 is a cotton swab throwing box, 406 is a cotton swab clamping cylinder, 407 is a cotton swab lifting cylinder, 408 is a cotton swab feeding device, 409 is a cotton swab baffle, 410 is a wiping liquid peristaltic pump, and 5 is a cotton swab lateral movement module; 5 is a pyrotechnic product transfer mechanism, 501 is a pyrotechnic product transfer Z-axis module, 502 is a pyrotechnic product transfer X-axis module, 503 is a pyrotechnic product transfer Y-axis module, 504 is a pyrotechnic product transfer bracket, 505 is a pyrotechnic product transfer suction head, 5051 is a suction head fixing shaft, 5052 is a suction head limiting sleeve, 5053 is a transfer suction cup, 506 is a pyrotechnic product pressing head, 5061 is a screw, 5062 is a locking nut, 5063 is a damping rotating shaft, 5064 is a rotating shaft connecting seat, and 5065 is a contouring pressure block;6 is the riveting mechanism; 601 is the riveting head electric cylinder; 602 is the riveting support; 603 is the riveting head; 604 is the riveting head cover; 605 is the riveting stop plate; 606 is the riveting station support; 607 is the support cylinder; 608 is the riveting control module. 7 is the station turntable mechanism; 701 is the station turntable; 702 is the workpiece turntable; 7021 is the rotary drive device; 7022 is the transmission base; 7023 is the rotating disk body; 703 is the tooling seat; 704 is the turntable support; 705 is the support tooling; 706 is the limit tooling; 707 is the main body component; 708 is the electric slip ring; 7081 is the wire guide groove. 8 is the conveying mechanism; 801 is the conveying tooling seat; 802 is the conveying slider. Detailed Implementation

[0020] The invention will now be described in further detail with reference to the accompanying drawings.

[0021] like Figures 1-21 As shown, the present invention includes a pyrotechnics feeding system, a main body component feeding mechanism 2, a station turntable mechanism 7, a glue application mechanism 3, and a cotton swab glue application mechanism 4, wherein... Figures 9-10 As shown, the workstation turntable mechanism 7 includes a workstation turntable 701, and the workstation turntable 701 is provided with multiple positioning fixture components along the circumferential direction. The main body component output from the main body component feeding mechanism 2 is first fed into the corresponding positioning fixture component for fixation, and then rotated through the workstation turntable 701 to be delivered to the glue application mechanism 3; as shown Figures 13-17 As shown, the glue application mechanism 3 includes a glue mixing component 301, a paper tape reel assembly 303, a glue application rotating seat, and glue application nozzle grippers 305. The glue mixing component 301 is equipped with a movable glue outlet 3018, and glue is applied to the inner wall of the main body component through the glue outlet 3018. The paper tape reel assembly 303 is equipped with a paper tape that can be released and wound up, and two opening and closing movable glue application nozzle grippers 305 are mounted on the glue application rotating seat, each with a paper tape groove 3051 on its inner side to guide the paper tape through. The pyrotechnics loading system includes a pyrotechnics transfer mechanism 5, and as shown... Figure 18 As shown, the pyrotechnic transfer mechanism 5 is equipped with a movable transfer seat. The transfer seat has a pyrotechnic transfer suction head 505 and a pyrotechnic pressing head 506. The glued body component is rotated and transported to the corresponding pyrotechnic assembly station of the pyrotechnic transfer mechanism 5 via the station turntable 701. The pyrotechnic is first placed on the body component by the pyrotechnic transfer suction head 505, and then pressed and glued to the body component by the pyrotechnic pressing head 506. Figure 2 and Figure 8 As shown, the cotton swab adhesive wiping mechanism 4 is located at the pyrotechnic product transfer mechanism 5 and below the workstation turntable 701. The cotton swab adhesive wiping mechanism 4 includes a movable cotton swab 401, and when the pyrotechnic product is pressed and glued to the main body component, the residual adhesive flowing out from the bottom of the main body component is wiped by the cotton swab 401.

[0022] Because the product targeted by this invention requires a very small amount of adhesive, and different types of adhesives must be used up within a specified time after mixing, otherwise adhesive solidification and blockage can easily occur. Therefore, this invention requires periodic adhesive discharge to ensure the smooth progress of subsequent adhesive application processes. This invention utilizes the adhesive wiping nozzle gripper 305 and the paper tape reel assembly 303 to achieve the above-mentioned adhesive discharge function, wherein during adhesive removal... Figures 13-17 As shown, the dispensing nozzle 3018 first descends to a set height and is clamped by two wiping nozzle grippers 305. At this time, the paper tape passing through the inner side of the wiping nozzle grippers 305 wraps around the dispensing nozzle 3018. Then, the dispensing nozzle 3018 rises to move relative to the wiping nozzle grippers 305, thereby allowing the paper tape inside the wiping nozzle grippers 305 to complete the wiping action. Then, the wiping nozzle grippers 305 open and are rotated by the wiping rotating seat at a set angle. Then, the dispensing nozzle 3018 descends again and repeats the above process to complete the wiping operation of the dispensing nozzle 3018 at another angle. The wiping nozzle grippers 305 can rotate multiple times to ensure that the dispensing nozzle 3018 is thoroughly wiped. At the same time, the remaining residual glue in the mixing component 301 can also be periodically discharged in this way. During the above process, the paper tape reel assembly 303 will continuously release new paper tape and collect the paper tape with residual glue.

[0023] like Figure 13 and Figure 14As shown, in this embodiment, the glue application mechanism 3 includes a movable and adjustable glue application seat. The glue mixing component 301 is provided with a glue mixing mounting plate 3014, which is fixed to the glue application seat. The glue mixing mounting plate 3014 is provided with a glue dispensing device, a switch control valve 3017, and an adjusting slide 3019. The glue dispensing device has multiple glue pumps and multiple glue cylinders on one side and a glue mixing pipe 3016 on the other side. The glue mixing pipe 3016 is connected to the input end of the switch control valve 3017 through a pipeline. The glue dispensing nozzle 3018 is driven to move and adjust by the adjusting slide 3019. This allows the glue dispensing nozzle 3018 to be accurately aligned with the glue hole, and also allows for flexible adjustment for different product models using the adjusting slide 3019. The glue dispensing nozzle 3018 is connected to the output end of the switch control valve 3017 through a pipeline. In operation, the glue pumps drive the corresponding glue cartridges to dispense glue, and the glue dispensed from each cartridge enters the mixing tube 3016 for mixing. Simultaneously, the dispensing device controls the flow rate of each glue entering the mixing tube 3016 according to a system-set ratio, thereby ensuring that the proportions of each component in the mixed glue meet the requirements. The dispensing nozzle 3018 controls the amount of glue dispensed for each body component via a switch control valve 3017, thus ensuring the consistency of the glue application amount across all body components. Both the dispensing device and the switch control valve 3017 are commercially available products. Furthermore, this embodiment includes two sets of dispensing assemblies: one set consists of glue pump A3011 and glue cartridge A3013, and the other set consists of glue pump B3012 and glue cartridge B3015. The number of glue pumps and glue cartridges can be set according to actual needs.

[0024] like Figure 15 As shown, in this embodiment, the paper tape reel assembly 303 includes a release paper tape reel, a paper tape guide block, a front guide wheel, a rear guide wheel, and a recovery paper tape reel. The paper tape is output from the release paper tape reel on the corresponding side, passes through the paper tape guide block and the front guide wheel on the corresponding side, enters the paper tape groove 3051 of the adhesive nozzle gripper 305 on the corresponding side, and then passes through the rear guide wheel on the corresponding side and is wrapped around the recovery paper tape reel on the corresponding side. The recovery paper tape reel is driven to rotate by the recovery reel motor 3037 to realize the circumferential movement of the paper tape.

[0025] like Figure 15As shown, the paper tape path in this embodiment is as follows: Paper tape A is output from the release paper tape reel A3032, passes through the paper tape guide block A3035 and the first front guide wheel 3142, and then enters the paper tape groove 3051 of the corresponding side wiping nozzle gripper 305. After passing through the first rear guide wheel 3141, it is wrapped around the recycling paper tape reel A3031. Paper tape B is output from the release paper tape reel B3034, passes through the paper tape guide block B3036 and the second front guide wheel 3144, and then enters the paper tape groove 3051 of the corresponding side wiping nozzle gripper 305. After passing through the second rear guide wheel 3143, it is wrapped around the recycling paper tape reel B3033.

[0026] like Figures 16-17 As shown in this embodiment, the lower end of the glue dispensing nozzle 3018 has multiple glue dispensing holes 30181 evenly distributed along the circumferential direction. The inner side of the glue wiping nozzle gripper 305 is provided with a backflow groove 3052 that is narrow at the top and wide at the bottom and is in the shape of a semi-hole. Paper tape grooves 3051 are provided on both sides of the backflow groove 3052. When dispensing glue, the two glue wiping nozzle grippers 305 close and push the paper tape into the backflow groove 3052. The narrow opening at the top of the backflow groove 3052 plays a scraping role during the rising of the glue dispensing nozzle 3018. The glue that the paper tape cannot hold will drip naturally into the glue receiving box 313 at the bottom of the wide opening at the bottom of the backflow groove 3052.

[0027] like Figure 13 As shown, in this embodiment, the glue application mechanism 3 includes a glue application bracket 304, a glue application X-axis module 312, and a glue application Z-axis module 310. The glue application X-axis module 312 is mounted on the glue application bracket 304, and the glue application Z-axis module 310 is driven to move via the glue application X-axis module 312. The glue application moving seat is driven to rise and fall via the glue application Z-axis module 310. Furthermore, a support plate 306 is provided inside the glue application bracket 304, and the paper tape reel assembly 303 and the glue application nozzle gripper 305 are both mounted on the support plate 306. Figure 15 As shown, the support plate 306 is equipped with a rotary adhesive-applying cylinder 311, and the rotary adhesive-applying seat is driven to rotate by the rotary adhesive-applying cylinder 311. The rotary adhesive-applying seat is equipped with a rotary adhesive-applying jaw opening and closing cylinder 307 for driving the two adhesive-applying nozzle jaws 305 to open and close. Figure 17 As shown, the adhesive applicator gripper 305 is provided with a gripper connecting seat 3053 connected to the adhesive applicator opening and closing cylinder 307. The adhesive receiving box 313 is also provided on the adhesive applicator rotating seat and located below the adhesive applicator gripper 305. In this embodiment, both the adhesive application X-axis module 312 and the adhesive application Z-axis module 310 can adopt a rodless cylinder or a motor lead screw and nut structure. In addition, the adhesive application bracket 304 is provided with an adhesive application control module 302, which is a commercially available product.

[0028] like Figure 13As shown, in this embodiment, the glue application bracket 304 is provided with a baffle plate cylinder 309 and a baffle plate 308 on one side. The baffle plate 308 is driven to move by the baffle plate cylinder 309. Whether the main body component is correctly positioned in the positioning fixture assembly on the workstation turntable 701 is detected by a sensor attached to the baffle plate 308. At the same time, after the baffle plate 308 moves into position, it will fix the glued main body component in the positioning fixture assembly to prevent the main body component from being lifted up by the glue mixing assembly 301.

[0029] like Figures 8-10 As shown, in this embodiment, the positioning fixture assembly on the workstation turntable 701 includes a workpiece turntable 702, a support fixture 705, and a limiting fixture 706. The workpiece turntable 702 includes a rotating disk body 7023, and the support fixture 705 is disposed on the rotating disk body 7023. The limiting fixture 706 is disposed on the support fixture 705, and the limiting fixture 706 is provided with a contoured hole for accommodating the main body component 707. When the invention is in operation, after the pyrotechnic item is placed on the main body component 707 and pressed by the pyrotechnic item pressing head 506, the cotton swab 401 in the cotton swab adhesive wiping mechanism 4 will be inserted into the positioning fixture assembly and wipe away the residual adhesive flowing out from the lower end of the main body component 707. Both the workpiece turntable 702 and the support fixture 705 are provided with through holes for the cotton swab 401 to be inserted.

[0030] like Figures 8-10 As shown, in this embodiment, the workpiece turntable 702 includes a rotary drive device 7021 and a transmission base 7022. The rotating disk body 7023 is driven to rotate by the rotary drive device 7021, and the rotary drive device 7021 transmits torque through a transmission mechanism within the transmission base 7022. In this embodiment, the transmission mechanism within the transmission base 7022 may include a worm gear ring and a worm. The worm is driven to rotate by the rotary drive device 7021 (such as a servo motor). One side of the worm gear ring meshes with the worm to achieve rotation. The upper side of the worm gear ring is fixedly connected to the lower side of the rotating disk body 7023. Simultaneously, the through holes inside the worm gear ring and the through holes on the rotating disk body 7023 can form a channel for the cotton swab 401 to move up and down. Additionally, as shown... Figure 9 As shown, the workstation turntable 701 has a turntable support 704 on its lower side, and a motor for driving the workstation turntable 701 to rotate is installed inside the turntable support 704. An electrical slip ring 708 is provided on the upper side of the middle part of the workstation turntable 701 to provide power and other energy to each workpiece turntable 702. A wire groove 7081 is provided on the upper side of the workstation turntable 701 for power lines to pass through. The electrical slip ring is a technology known in the art and is a commercially available product.

[0031] like Figure 8 and Figures 11-12As shown, in this embodiment, the cotton swab adhesive application mechanism 4 includes a cotton swab horizontal movement module 410, a cotton swab lifting cylinder 406, a cotton swab rotating cylinder 403, and a cotton swab clamping cylinder 405. One end of the cotton swab horizontal movement module 410 is equipped with a cotton swab feeding device 407 and a wiping liquid peristaltic pump 409. The other end of the cotton swab horizontal movement module 410 is located below the pyrotechnic assembly station. The cotton swab horizontal movement module 410 is equipped with a cotton swab horizontal movement slide, and the cotton swab lifting cylinder 406... The cotton swab lifting cylinder 406 is mounted on the cotton swab sliding base. The upper end of the cotton swab lifting cylinder 406 is provided with a cotton swab lifting seat, and the cotton swab rotating cylinder 403 is provided on the cotton swab lifting seat. The power shaft end of the cotton swab rotating cylinder 403 is provided with a cotton swab rotating seat, and the cotton swab clamping cylinder 405 is provided on the cotton swab rotating seat. The two cotton swab grippers 402 are driven to open and close by the cotton swab clamping cylinder 405, and the cotton swab 401 used for wiping residual glue is clamped by the cotton swab grippers 402. In operation, the cotton swab gripper 402 is driven by the cotton swab lateral movement module 410 to move to below the outlet of the cotton swab feeding device 407. Then, driven by the cotton swab lifting cylinder 406, it rises to a set height and grips a single cotton swab 401 output from the cotton swab feeding device 407. The cotton swab gripper 402, along with the gripped cotton swab 401, moves to below the wiping liquid peristaltic pump 409, causing the cotton swab 401 to rise and absorb the wiping liquid input by the peristaltic pump 409. Finally, the cotton swab gripper 402, along with the gripped cotton swab 401, descends to the set height. The cotton swab is moved to a set height and driven by the cotton swab lateral movement module 410 to move below the pyrotechnic assembly station. Then, the cotton swab gripper 402 and the cotton swab 401 rise to the set height to wipe the bottom of the main body component. During the wiping process, the workpiece turntable 702 can rotate in coordination. After wiping is completed, the cotton swab gripper 402 and the cotton swab 401 fall to the set height and are then driven by the cotton swab rotation cylinder 403 to rotate toward the cotton swab throwing box 404 located on one side. Then, the cotton swab gripper 402 releases, allowing the wiped cotton swab 401 to fall into the cotton swab throwing box 404.

[0032] like Figure 12 As shown, in this embodiment, the cotton swab gripper 402 includes three cotton swab gripping blocks 4021, each of which has a gripper fixing block 4022 at its lower end, which is mounted on the cotton swab clamping cylinder 405. In this embodiment, the cotton swab lateral movement module 410 can adopt a rodless cylinder or a motor screw and nut structure. The cotton swab feeding device 407 and the wiping liquid peristaltic pump 409 are both well-known technologies in the art and commercially available products. The cotton swab feeding device 407 can be a vibratory feeder with an internal vibratory plate. The vibration of the vibratory plate causes the cotton swabs 401 on it to be output one by one from the outlet on one side of the vibratory feeder. Furthermore, to prevent the freshly output cotton swabs 401 from being contaminated with the wiping liquid output by the wiping liquid peristaltic pump 409, such as... Figure 8 As shown, a cotton swab baffle 408 is provided on the outlet side of the vibrating feeder to prevent the above situation.

[0033] like Figure 18 As shown, in this embodiment, the pyrotechnic transfer mechanism 5 includes a pyrotechnic transfer bracket 504, a pyrotechnic transfer X-axis module 502, a pyrotechnic transfer Z-axis module 501, and a pyrotechnic transfer Y-axis module 503. The pyrotechnic transfer X-axis module 502 is mounted on the pyrotechnic transfer bracket 504. The pyrotechnic transfer Z-axis module 501 is mounted on the pyrotechnic transfer X-axis module 502 and is driven to move by the pyrotechnic transfer X-axis module 502. The pyrotechnic transfer Y-axis module 503 is located at the lower end of the pyrotechnic transfer Z-axis module 501 and is driven to rise and fall by the pyrotechnic transfer Z-axis module 501. The transfer seat is mounted on the pyrotechnic transfer Y-axis module 503 and is driven to move by the pyrotechnic transfer Y-axis module 503. In this embodiment, the pyrotechnic transfer X-axis module 502, the pyrotechnic transfer Z-axis module 501, and the pyrotechnic transfer Y-axis module 503 can all be rodless cylinders or motor lead screw and nut mechanisms.

[0034] In operation, the transfer seat is first moved above the workstation turntable 701 by the pyrotechnic transfer X-axis module 502, then lowered to a set height by the pyrotechnic transfer Z-axis module 501, and moved by the pyrotechnic transfer Y-axis module 503 to align the pyrotechnic transfer suction head 505 with the corresponding positioning fixture assembly on the workstation turntable 701. Then, the transfer seat is again lowered by the pyrotechnic transfer Z-axis module 501 and places the pyrotechnic attracted by the pyrotechnic transfer suction head 505 onto the main body component of the positioning fixture assembly. After the pyrotechnic is placed, the transfer seat first rises to a set height, then moves by the pyrotechnic transfer X-axis module 502 to align the pyrotechnic pressing head 506 with the positioning fixture assembly. Finally, the transfer seat lowers to press the pyrotechnic on the positioning fixture assembly with the pyrotechnic pressing head 506.

[0035] like Figure 19As shown, in this embodiment, the pyrotechnic transfer suction head 505 includes a suction head fixing shaft 5051 and a transfer suction cup 5053. The suction head fixing shaft 5051 is fixedly connected to the transfer seat, and the transfer suction cup 5053 is connected to the suction head fixing shaft 5051. A suction head limiting sleeve 5052 is fitted on the outer side of the connection between the transfer suction cup 5053 and the suction head fixing shaft. The transfer suction cup 5053 is a commercially available vacuum suction cup. However, because the spring compression rod connected to the currently available vacuum suction cups will produce slight shaking or vibration in its compression mechanism (especially models with softer springs) when the transfer mechanism moves at high speed or stops suddenly, this will have a significant impact on precise positioning that requires extremely high stability (such as precision assembly), usually leading to assembly failure. This invention uses the suction head limiting sleeve 5052 to solve this problem. Due to the limiting effect of the suction head limiting sleeve 5052, the shaking or vibration of the transfer suction cup 5053 can be less than 0.01mm, meeting the assembly accuracy requirements of this invention.

[0036] like Figure 20 As shown, in this embodiment, the pyrotechnic pressing head 506 includes a screw 5061, a locking nut 5062, and a rotating shaft connecting seat 5064. The rotating shaft connecting seat 5064 has a damping rotating shaft 5063 on its upper side and a contoured pressing block 5065 on its lower side. The upper end of the damping rotating shaft 5063 is fixedly connected to the screw 5061. The transfer seat has a pressing head support plate. The screw 5061 has two locking nuts 5062, and the screw 5061 is clamped and fixed to the transfer seat by the two locking nuts 5062. In operation, the height of the pyrotechnic pressure head 506 can be adjusted by tightening the locking nut 5062. During adhesive application, the cotton swab 401 presses against the main body component and the pyrotechnic from bottom to top, while the contouring block 5065 presses against the upper end of the pyrotechnic. Furthermore, since the workpiece turntable 702 needs to rotate to complete the adhesive application to the base plate of the main body component, the damping value of the damping shaft 5063 can be adjusted according to actual conditions. The damping shaft 5063, by limiting the frictional force provided by the contouring block 5065, causes a slight rotation of the main body component in the positioning fixture assembly. This eliminates the slight gap between the main body component and the fixture. Once the slight gap is eliminated, the workpiece turntable 702 drives the damping shaft 5063 to rotate together. In this embodiment, the damping shaft 5063 is a known technology in the art and a commercially available product.

[0037] like Figures 1-2 As shown, in this embodiment, the pyrotechnic material feeding system, in addition to the pyrotechnic material transfer mechanism 5, also includes a pyrotechnic material feeding mechanism 1 and a conveying mechanism 8, wherein, as... Figures 3-4As shown, the pyrotechnic material feeding mechanism 1 includes a material box assembly 108, a feeding assembly, and a docking adjustment assembly. The material box assembly includes a movable pyrotechnic material box 1086. The feeding assembly includes a feeding moving seat with X, Y, and Z degrees of freedom. A feeding rotary cylinder 106 is provided on the feeding moving seat. A feeding suction cup 107 is provided at the power end of the feeding rotary cylinder 106. Pyrotechnic materials in the pyrotechnic material box 1086 are picked up by the feeding suction cup 107. The docking adjustment assembly includes a docking lifting cylinder 110, a docking rotary cylinder 111, and a docking suction cup 109. A docking lifting seat is provided at the upper end of the docking lifting cylinder 110. The docking rotary cylinder 111 is located on the docking lifting seat. A rotating arm is provided at the rotating shaft end of the docking rotary cylinder 111. A docking suction cup 109 is provided at the end of the rotating arm. In operation, the feeding suction cup 107 and the docking suction cup 109 need to coordinate their actions according to the incoming pyrotechnic material. When the pyrotechnic material does not need to be flipped, the feeding suction cup 107 picks up the pyrotechnic material and directly sends it to the input end of the conveying mechanism 8. When the pyrotechnic material needs to be flipped, the docking lifting cylinder 110 drives the docking suction cup 109 to rise to a set height, and the docking rotating cylinder 111 drives the rotating arm to rotate, thereby causing the docking suction cup 109 to rotate to the docking position to cooperate with the feeding suction cup 107. Then, the feeding suction cup 107 is driven to rotate 180 degrees by the feeding rotating cylinder 106, and then the feeding moving seat rises along the Z direction so that the other end of the rotated pyrotechnic material is aligned and adsorbed by the docking suction cup 109, thereby achieving the purpose of flipping the pyrotechnic material. Then, the docking suction cup 109 is driven to rotate above the input end of the conveying mechanism 8 by the rotating arm, and the docking lifting cylinder 110 descends to send the flipped pyrotechnic material into the conveying mechanism 8.

[0038] like Figure 3 As shown, in this embodiment, the feeding assembly includes a feeding X-axis module 102, a feeding Y-axis module 103, and a feeding Z-axis module 104. Two feeding Y-axis modules 103 are arranged parallel to each other on a feeding frame. The two ends of the feeding X-axis module 102 are driven to move by the corresponding feeding Y-axis modules 103. The feeding Z-axis module 104 is mounted on the feeding X-axis module 102 and is driven to move by the feeding X-axis module 102. The feeding moving seat is driven to rise and fall by the feeding Z-axis module 104. In this embodiment, the feeding X-axis module 102, feeding Y-axis module 103, and feeding Z-axis module 104 can all adopt a rodless cylinder or a motor lead screw and nut structure.

[0039] like Figure 4As shown, in this embodiment, the material box assembly 108 includes a lower slide plate 1083 and an upper slide plate 1082. The lower slide plate 1083 is driven to move by a lower cylinder, and the lower cylinder is mounted on a lower cylinder seat 1084. An upper cylinder is provided on the upper side of the lower slide plate 1083. The upper slide plate 1082 is slidably connected to the lower slide plate 1083 and is driven to move by the upper cylinder. The pyrotechnic material box 1086 is disposed on the upper slide plate 1082, and the pyrotechnic material box 1086 is provided with a plurality of pyrotechnic slots 1081 for accommodating pyrotechnics. In addition, the upper slide plate 1082 is provided with an upper pad 1085 fixed by bolts to limit the position of the pyrotechnic material box 1086. In operation, when a pyrotechnic item is removed from a pyrotechnic item slot 1081, the upper sliding plate 1082 slides a set distance to move the pyrotechnic item in the next slot 1081 to the loading station. When all pyrotechnic items in the pyrotechnic item box 1086 are removed, the lower sliding plate 1083 and the upper sliding plate 1082 move together to fully extend the pyrotechnic item box 1086 for replacement. Additionally, as... Figure 3 As shown, this embodiment has two material box assemblies 108. When one set of material box assemblies 108 is replaced with the pyrotechnic material box 1086, the other set of material box assemblies 108 can continue to feed materials, thereby achieving the purpose of feeding materials without stopping the machine. In addition, an explosion-proof partition is provided between the two material box assemblies 108 to achieve explosion-proof separation. At the same time, the pyrotechnic material feeding mechanism 1 is placed in a protective cover 101 to further ensure safety.

[0040] like Figure 7 As shown, in this embodiment, the conveying mechanism 8 includes a conveying module, a conveying slider 802, and a conveying workbench 801. The conveying slider 802 is driven to move by the conveying module, and the conveying workbench 801 is disposed on the conveying slider 802. The pyrotechnic item is placed on the conveying workbench 801 to realize the transfer between the pyrotechnic item feeding mechanism 1 and the pyrotechnic item transfer mechanism 5. In this embodiment, the conveying module can adopt a rodless cylinder or a motor lead screw and nut structure.

[0041] like Figures 5-6 As shown, in this embodiment, the main body component loading mechanism 2 includes an industrial robot 201, and the end of the industrial robot 201 is provided with an end support 208. The end support 208 is provided with a suction cup conversion cylinder 206 and a suction cup conversion seat 209. The suction cup conversion seat 209 is driven to rotate by the suction cup conversion cylinder 206. One side of the suction cup conversion seat 209 is provided with a main body component loading suction cup 207 and the other side is provided with a finished product unloading suction cup 205.

[0042] In operation, the industrial robot 201 can both load the main body components and unload the finished product after the pyrotechnic item and the main body component are connected. When loading the main body components, the industrial robot 201 first drives the end support 208 to move to the main body component feeding device and uses the lower main body component loading suction cup 207 to pick up one main body component. Then, the industrial robot 201 drives the end support 208 to move above the workstation turntable 701. Then, the suction cup conversion cylinder 206 drives the suction cup conversion seat 209 to rotate, causing the finished product unloading suction cup 205 to rotate downwards. At this time, the workstation turntable 701 rotates a set of positioning fixture components holding the finished product to the intersection... At the material changing station, the finished product unloading suction cup 205 is driven by the industrial robot 201 to first descend and pick up the finished product. Then, the industrial robot 201 is raised to a specified height, and the suction cup conversion seat 209 rotates to turn the loading suction cup 207 carrying the main body component to the lower position. Then, the industrial robot 201 drives the loading suction cup 207 to descend to a specified height and places the picked-up main body component in the same set of positioning tooling components. Then, the industrial robot 201 is raised to a specified height again and the suction cup conversion seat 209 is rotated to turn the finished product unloading suction cup 205 carrying the finished product to the lower position. Then, the industrial robot 201 drives the finished product to the corresponding mechanism on the unloading station.

[0043] like Figure 5 As shown, in this embodiment, the main body component feeding device includes a storage hopper 203, a vibrator is provided on the lower side of the storage hopper 203, and a feeding vibrating plate 202 is provided on one side of the vibrator. Additionally, a camera bracket is provided on the outside of the main body component feeding device, and a feeding recognition camera is mounted on the camera bracket. During operation, the main body components fall from the storage hopper 203 into the vibrating plate 202 and disperse after being vibrated by the vibrating plate 202. The feeding recognition camera identifies the position of each main body component and guides the industrial robot 201 to move through the control system so that the main body component feeding suction cup 207 can accurately pick up individual main body components. In this embodiment, the industrial robot 201, the main body component feeding device, and the feeding recognition camera are all commercially available products. Furthermore, this invention provides a throwing box 204 on one side of the station turntable mechanism 7. Unqualified main body components identified by the feeding recognition camera and unfinished products from the overall machine cleaning stage can be fed into the throwing box 204 by the industrial robot 201.

[0044] like Figure 1 As shown, in this embodiment, a riveting mechanism 6 is provided on the side of the workstation turntable mechanism 7 away from the pyrotechnic material feeding mechanism 1 to complete the riveting operation in accordance with the corresponding pyrotechnic material model, such as... Figure 21As shown, in this embodiment, the riveting mechanism 6 includes a riveting head cylinder 601, and the power end of the riveting head cylinder 601 is provided with a riveting head 603. After the lower end of the pyrotechnic item is bonded to the main body component and the bottom adhesive is cleaned by the cotton swab adhesive wiping mechanism 4, the station turntable mechanism 7 drives the pyrotechnic item and the main body component to rotate at the riveting mechanism 6. Then, the riveting head cylinder 601 starts to drive the riveting head 603 to align with the pyrotechnic item and press down to complete the riveting and pressing operation.

[0045] like Figure 21 As shown, in this embodiment, the power end of the riveting cylinder 601 is provided with a riveting cover 604, and the riveting head 603 is disposed in the riveting cover 604. The riveting cover 604 shields the fixture containing the main body component during riveting, providing protection. Additionally, the riveting cylinder 601 is mounted on a riveting support 602, and the riveting support 602 has a riveting stop 605 on the side near the station turntable mechanism 7. The riveting stop 605 blocks the main body component when the riveting head 603 is lifted, preventing it from detaching from the fixture. The station turntable 701 of the station turntable mechanism 7 has a riveting station support 606 on its lower side, and the riveting station support is driven to rise and fall by a support cylinder 607. Thus, during riveting, the riveting station support 606 can rise and press against the positioning fixture assembly on the lower side of the main workpiece, providing sufficient support. Figure 21 As shown in this embodiment, the riveting support 602 is provided with a riveting control module 608 on its upper side for controlling the riveting action of the mechanism.

[0046] like Figures 1-2 As shown in this embodiment, the above-mentioned mechanisms can be centrally located on a base.

[0047] The working principle of this invention is as follows: The present invention includes the following steps in operation: Step 1: The industrial robot 201 in the body component loading mechanism 2 starts and uses the body component loading suction cup 207 on the lower side of the end support to pick up a single body component and place it in the corresponding set of positioning fixtures on the station turntable mechanism 7. For example... Figure 5 As shown, in this step, the vibrating plate 202 in the main body component feeding device vibrates to disperse the main body components. Then, the loading recognition camera identifies the position of each main body component, and the industrial robot 201 is guided to move by the control system so that the main body component loading suction cup 207 can accurately pick up a single main body component.

[0048] Step Two: The station turntable mechanism 7 is activated, and the station turntable 701 rotates to send the main body component to the glue application mechanism 3 for glue application. The glue mixing component 301 in the glue application mechanism 3 mixes the glue. After mixing, the glue dispensing nozzle 3018 in the glue application mechanism 3 moves and inserts into the inner hole of the main body component. Then, the switch control valve 3017 is activated to control the quantitative glue dispensing. During glue application, on the one hand, the corresponding workpiece turntable 702 on the station turntable 701 can rotate to ensure uniform glue application to the inner wall of the main body component; on the other hand... Figure 16 As shown, the lower end of the dispensing nozzle 3018 has multiple dispensing holes 30181 evenly distributed along the circumferential direction to ensure uniform dispensing.

[0049] In addition, since the product targeted by this invention requires a small amount of adhesive, this invention utilizes the adhesive wiping nozzle gripper 305 and the paper tape reel assembly 303 to work together. On the one hand, this ensures thorough wiping of the adhesive dispensing nozzle 3018, and on the other hand, the residual adhesive remaining in the adhesive mixing assembly 301 can also be periodically discharged through the adhesive wiping nozzle gripper 305 and the paper tape reel assembly 303.

[0050] Step 3: After the inner hole of the main body component is coated with adhesive, it is rotated through the workstation turntable 701 to the pyrotechnic material loading station. The pyrotechnic material loading system of the present invention includes a pyrotechnic material loading mechanism 1, a conveying mechanism 8, and a pyrotechnic material transfer mechanism 5 connected in sequence. In addition to loading pyrotechnic materials by cooperating with the pyrotechnic material box 1086 in the material box assembly 108, the pyrotechnic material loading mechanism 1 can also use the loading suction cup 107 and the docking suction cup 109 to achieve pyrotechnic material flipping according to the type of pyrotechnic material, thereby improving the flexibility and applicability of the present invention. The pyrotechnic material transfer mechanism 5 includes a movable transfer seat, and the transfer seat is provided with a transfer suction cup 5053 and a pyrotechnic material pressing head 506. The transfer suction cup 5053 is used to pick up the pyrotechnic material and place it on the corresponding main body component on the workstation turntable 701. Then the pyrotechnic material pressing head 506 descends and presses the pyrotechnic material, thereby achieving the adhesion between the pyrotechnic material and the main body component.

[0051] Step 4: After the pyrotechnic pressing head 506 presses the pyrotechnic and the main body component together, the cotton swab 401 in the cotton swab adhesive wiping mechanism 4 rises and wipes the residual adhesive flowing out from the bottom of the main body component. During wiping, the workpiece turntable 702 on the workstation turntable 701 can rotate to ensure complete wiping.

[0052] Other examples Figure 8As shown, the cotton swab adhesive wiping mechanism 4 of the present invention uses a cotton swab gripper 402 to pick up a single cotton swab 401 from the cotton swab feeding device 407 to complete the material picking. At the same time, the cotton swab gripper 402 has multiple degrees of freedom such as movement, lifting, and rotation. In this way, while ensuring the accurate adjustment of the position of the cotton swab 401, it can also realize the action of the cotton swab 401 picking up the wiping liquid output by the peristaltic pump 409, and can also realize the action of throwing the wiped cotton swab 401 into the cotton swab throwing box 404.

[0053] Step 5: After the pyrotechnic component and the main body component are glued together, it can be selected whether to enter the riveting mechanism 6 depending on the product type. If so, the station turntable 701 rotates, driving the glued pyrotechnic component and the main body component to the riveting mechanism 6 for riveting. Then, it is transferred to the unloading station and unloaded by the industrial robot 201 in the main body component loading mechanism 2. For example... Figure 6 As shown, at this time, the suction cup conversion seat 209 at the end of the industrial robot 201 rotates to make the finished product unloading suction cup 205 rotate to the lower side to adsorb the finished product. If the product does not need to be riveted, the station turntable 701 will directly rotate to drive the glued firework and the main body component to move to the unloading station and be picked up by the finished product unloading suction cup 205.

Claims

1. An automatic assembly unit for adhesive bonding and riveting of pyrotechnic products, characterized in that: The system includes a pyrotechnics feeding system, a main body component feeding mechanism (2), a station turntable mechanism (7), a glue application mechanism (3), and a cotton swab glue application mechanism (4). The station turntable mechanism (7) includes a station turntable (701), and the station turntable (701) is provided with multiple positioning fixtures along the circumferential direction. The main body component output by the main body component feeding mechanism (2) is first fed into the corresponding positioning fixtures for fixation, and then rotated through the station turntable (701) to be sent to the glue application mechanism (3). The glue application mechanism (3) includes a glue mixing component (301), a paper tape reel component (303), a glue application rotating seat, and a glue application nozzle gripper (305). The glue mixing component (301) is provided with a movable glue outlet (3018), and the inner hole of the main body component is glued through the glue outlet (3018). The paper tape reel component (303) is provided with a release and rewind mechanism. The paper tape and two opening and closing adhesive-wiping mouth grippers (305) are provided on the adhesive-wiping rotating seat and the inner side is provided with paper tape grooves (3051) to guide the paper tape through; the pyrotechnics feeding system includes a pyrotechnics transfer mechanism (5) and the pyrotechnics transfer mechanism (5) is provided with a movable transfer seat. The transfer seat is provided with a pyrotechnics transfer suction head (505) and a pyrotechnics pressing head (506). After the body component that has been coated with adhesive is rotated and sent to the pyrotechnics transfer mechanism (5) through the station turntable (701), the pyrotechnics are first moved by the pyrotechnics transfer suction head (505) and placed on the body component, and then pressed and glued to the body component by the pyrotechnics pressing head (506); the cotton swab adhesive-wiping mechanism (4) includes a movable cotton swab (401), and when the pyrotechnics are pressed and glued to the body component, the residual adhesive flowing out from the bottom of the body component is wiped by the cotton swab (401).

2. The automatic assembly unit for adhesive bonding and riveting of pyrotechnic products according to claim 1, characterized in that: The glue application mechanism (3) includes a movable and adjustable glue application seat. The glue mixing assembly (301) is provided with a glue mixing mounting plate (3014), and the glue mixing mounting plate (3014) is fixed on the glue application seat. The glue mixing mounting plate (3014) is provided with a glue dispensing device, a switch control valve (3017), and an adjusting slide (3019). The glue dispensing device is provided with multiple glue pumps and multiple glue cylinders on one side and a glue mixing pipe (3016) on the other side. The glue mixing pipe (3016) is connected to the switch control valve through a pipeline. The input end of the control valve (3017) is connected, the glue dispensing nozzle (3018) is driven to move by the adjusting slide (3019), and the glue dispensing nozzle (3018) is connected to the output end of the switch control valve (3017) through the pipeline; the lower end of the glue dispensing nozzle (3018) has a plurality of glue dispensing holes (30181) evenly distributed along the circumferential direction, and the inner side of the glue wiping nozzle gripper (305) is provided with a backflow groove (3052) that is narrow at the top and wide at the bottom and is in the shape of a semi-hole, and paper tape grooves (3051) are provided on both sides of the backflow groove (3052).

3. The automatic assembly unit for adhesive bonding and riveting of pyrotechnic products according to claim 1, characterized in that: The paper tape reel assembly (303) includes a release paper tape reel, a paper tape guide block, a front guide wheel, a rear guide wheel, and a recycling paper tape reel. The paper tape is output from the release paper tape reel on the corresponding side, passes through the paper tape guide block and the front guide wheel on the corresponding side, enters the paper tape groove (3051) of the wiping nozzle gripper (305) on the corresponding side, and then passes through the rear guide wheel on the corresponding side and is wrapped around the recycling paper tape reel on the corresponding side. The recycling paper tape reel is driven to rotate by a recycling reel motor (3037) to realize the circumferential movement of the paper tape.

4. The automatic assembly unit for adhesive bonding and riveting of pyrotechnic products according to claim 1, characterized in that: The glue application mechanism (3) includes a glue application bracket (304), a glue application X-axis module (312), and a glue application Z-axis module (310). The glue application X-axis module (312) is mounted on the glue application bracket (304), and the glue application Z-axis module (310) is driven to move by the glue application X-axis module (312). The glue application moving seat is driven to rise and fall by the glue application Z-axis module (310). The glue application bracket (304) has a support plate (306) inside, and the paper tape reel assembly (303) and the glue application nozzle gripper (305) are both mounted on the support plate (306). 6) The adhesive application bracket (304) is equipped with a rotary cylinder (311) for applying adhesive, and the rotary adhesive application bracket is driven to rotate by the rotary cylinder (311). The rotary adhesive application bracket is equipped with a rotary adhesive application clamping cylinder (307), and the two adhesive application nozzle clamps (305) are driven to open and close by the rotary adhesive application clamping cylinder (307). The adhesive application bracket (304) is equipped with a baffle plate cylinder (309) and a baffle plate (308) on one side. The baffle plate (308) is driven to move by the baffle plate cylinder (309), and the main body component in the positioning tooling assembly is blocked and lifted by the baffle plate (308).

5. The automatic assembly unit for adhesive bonding and riveting of pyrotechnic products according to claim 1, characterized in that: The positioning fixture assembly includes a workpiece turntable (702), a support fixture (705), and a limiting fixture (706). The workpiece turntable (702) includes a rotating disk body (7023), and the support fixture (705) is disposed on the rotating disk body (7023). The limiting fixture (706) is disposed on the support fixture (705), and the limiting fixture (706) is provided with a contour hole for accommodating the main body component. The workpiece turntable (702) includes a rotary drive device (7021) and a transmission base (7022). The rotating disk body (7023) is driven to rotate by the rotary drive device (7021), and the rotary drive device (7021) transmits torque through the transmission mechanism in the transmission base (7022).

6. The automatic assembly unit for adhesive bonding and riveting of pyrotechnic products according to claim 1, characterized in that: The cotton swab adhesive wiping mechanism (4) includes a cotton swab horizontal movement module (410), a cotton swab lifting cylinder (406), a cotton swab rotating cylinder (403), and a cotton swab clamping cylinder (405). One end of the cotton swab horizontal movement module (410) is equipped with a cotton swab feeding device (407) and a wiping liquid peristaltic pump (409). The cotton swab horizontal movement module (410) is equipped with a cotton swab horizontal movement slide, and the cotton swab lifting cylinder (406) is located on the cotton swab horizontal movement slide. The upper end of the cotton swab lifting cylinder (406) is provided with a cotton swab lifting seat, and the cotton swab rotating cylinder (403) is provided on the cotton swab lifting seat. The power shaft end of the cotton swab rotating cylinder (403) is provided with a cotton swab rotating seat, and the cotton swab clamping cylinder (405) is provided on the cotton swab rotating seat. The two cotton swab grippers (402) are driven to open and close by the cotton swab clamping cylinder (405), and the cotton swab (401) is clamped by the cotton swab grippers (402).

7. The automatic assembly unit for adhesive bonding and riveting of pyrotechnic products according to claim 1, characterized in that: The pyrotechnic transfer suction head (505) includes a suction head fixing shaft (5051) and a transfer suction cup (5053), wherein the suction head fixing shaft (5051) is fixedly connected to the transfer seat, the transfer suction cup (5053) is connected to the suction head fixing shaft (5051), and a suction head limiting sleeve (5052) is fitted on the outer side of the connection between the transfer suction cup (5053) and the suction head fixing shaft; the pyrotechnic clamping head (506) includes a screw (5061), a locking nut (5062), and a rotating... A shaft connecting seat (5064) is provided with a damping shaft (5063) on the upper side and a contoured pressure block (5065) on the lower side. The upper end of the damping shaft (5063) is fixedly connected to the screw (5061). The transfer seat is provided with a pressure head support plate. The screw (5061) is provided with two locking nuts (5062). The screw (5061) is clamped to the pressure head support plate and fixed to the transfer seat by the two locking nuts (5062).

8. The automatic assembly unit for adhesive bonding and riveting of pyrotechnic products according to claim 1, characterized in that: The pyrotechnics feeding system includes a pyrotechnics feeding mechanism (1), and the pyrotechnics feeding mechanism (1) includes a material box assembly (108), a feeding assembly, and a docking adjustment assembly. The material box assembly (108) includes a movable pyrotechnics material box (1086), and the feeding assembly includes a movable and adjustable feeding seat. A feeding rotary cylinder (106) is provided on the feeding seat, and a feeding suction cup (107) is provided at the power end of the feeding rotary cylinder (106). The pyrotechnics in the pyrotechnics material box (1086) are fed through... The feeding suction cup (107) picks up the material; the docking adjustment assembly includes a docking lifting cylinder (110), a docking rotating cylinder (111), and a docking suction cup (109). The upper end of the docking lifting cylinder (110) is provided with a docking lifting seat, and the docking rotating cylinder (111) is located on the docking lifting seat. The rotating shaft end of the docking rotating cylinder (111) is provided with a rotating arm, and the end of the rotating arm is provided with a docking suction cup (109). When the pyrotechnic item is flipped, the end away from the feeding suction cup (107) is adsorbed by the docking suction cup (109).

9. The automatic assembly unit for adhesive bonding and riveting of pyrotechnic products according to claim 8, characterized in that: A conveying mechanism (8) is provided between the pyrotechnic material feeding mechanism (1) and the pyrotechnic material transfer mechanism (5); a riveting mechanism (6) is provided on the side of the workstation turntable mechanism (7) away from the pyrotechnic material feeding mechanism (1). The riveting mechanism (6) includes a riveting head electric cylinder (601), and the power end of the riveting head electric cylinder (601) is provided with a riveting head (603) and a riveting head cover (604). The riveting head (603) is located in the riveting head cover (604). The riveting head electric cylinder (601) is located on a riveting support (602), and the riveting support (602) is provided with a riveting baffle (605) on the side of the workstation turntable mechanism (7).

10. The automatic assembly unit for adhesive bonding and riveting of pyrotechnic products according to claim 1, characterized in that: The main body component loading mechanism (2) includes an industrial robot (201), and the end of the industrial robot (201) is provided with an end support (208). The end support (208) is provided with a suction cup conversion cylinder (206) and a suction cup conversion seat (209). The suction cup conversion seat (209) is driven to rotate by the suction cup conversion cylinder (206). The suction cup conversion seat (209) is provided with a main body component loading suction cup (207) on one side and a finished product unloading suction cup (205) on the other side.

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