Automatic primer bottom screw coating and pre-screwing device

Abstract

This invention discloses an automatic coating and pre-tightening device for the base screw of an detonating device, comprising: a loading and unloading device equipped with a carrier and a clamping mechanism for flexibly clamping the pipe fittings on the carrier; a base screw loading device equipped with a feeding mechanism and a material handling mechanism for picking up the base screws from the feeding mechanism and transferring them to a transfer platform; a slurry loading device equipped with two loading jaws that can float synchronously in the horizontal direction and each has a channel, one end of the two channels being connected to a container and the other end opening on the opposite sides of the two loading jaws; and a material handling and rotation drive device equipped with a horizontally floating picking component, which can move the base screws between the two loading jaws and drive the base screws to rotate, coating the outer surface of the base screws with slurry. The picking component can also drive the base screws to press down and rotate relative to the mounting holes on the pipe fittings, screwing the base screws onto the pipe fittings. This equipment features high integration, automation, and intelligence, high processing accuracy and efficiency, and a high explosion-proof rating.

Description

Technical Field

[0001] This invention relates to the field of metal parts assembly processing technology, and in particular to an automatic coating and pre-tightening device for the bottom screw of an initiation device. Background Technology

[0002] The assembly process of the detonating device includes the step of assembling the pipe fittings and the base screw. The traditional method for this assembly involves manually applying a slurry (a viscous slurry made by mixing red lead powder, organic solvents, and modified alkyd resin) to the outer surface of the base screw, and then manually tightening the base screw onto the bottom of the pipe fitting. However, this manual method is not only labor-intensive, inefficient, and potentially hazardous, but also results in inconsistent processing quality, particularly in terms of the amount of slurry applied and the degree of tightening, making it difficult to control and thus unable to meet the demands of large-scale production.

[0003] To improve production efficiency and avoid manual intervention in high-risk work areas, the industry has developed processing equipment that automates the assembly of the bottom screw and the detonation device. While this improves assembly efficiency and processing safety to some extent, it still has the following shortcomings in practical applications: ① Existing pre-tightening mechanisms are prone to misalignment between the bottom screw and the pipe fitting, leading to problems such as the bottom screw easily falling off or slipping, resulting in poor pre-tightening quality and low processing efficiency. ② Existing slurry coating mechanisms have difficulty achieving uniform and quantitative application of slurry, causing the assembled parts to fail to meet product process standards.

[0004] In view of this, the present invention is hereby proposed. Summary of the Invention

[0005] To overcome the above-mentioned defects, the present invention provides an automatic coating and pre-tightening device for the bottom screw of an detonation device, which has the characteristics of high integration, automation and intelligence, high processing accuracy and efficiency, and high explosion-proof rating. It can be well applied to the assembly and processing of metal parts in flammable and explosive processing environments.

[0006] The technical solution adopted by this invention to solve its technical problem is: an automatic coating and pre-tightening device for the bottom screw of an initiation device, comprising: The loading and unloading device includes a carrier capable of reciprocating between the loading / unloading position and the pre-tightening position, a loading / unloading mechanism located at the loading / unloading position for transferring the pipe fittings of the detonating device to the carrier and transferring the assembly on the carrier away, and a clamping mechanism located at the pre-tightening position for flexibly clamping the pipe fittings on the carrier. The bottom screw feeding device is provided with a feeding mechanism for supplying bottom screws and a material handling mechanism for picking up bottom screws from the feeding mechanism and transferring them to a transfer platform; The slurry feeding device includes a container for holding slurry and two opposing feeding grippers that can move closer or further apart. Each of the two feeding grippers has a through channel; one end of each channel is connected to the container via a flexible hose, and the other end of each channel opens onto opposite sides of the two feeding grippers as a slurry inlet. The slurry conveying power is provided by a peristaltic pump. Furthermore, the two feeding grippers can float synchronously in the horizontal direction. The material handling and rotation drive device is equipped with a material picking component that can float horizontally. The material picking component can pick up the bottom screw from the transfer platform and move it between the two loading jaws. When the two loading jaws approach each other and move to a set gap with the bottom screw, the material picking component drives the bottom screw to rotate so that the outer surface of the bottom screw is coated with slurry. The material picking component can also align the slurry-coated bottom screw with the mounting hole on the flexible clamped pipe and drive the bottom screw to press down and rotate relative to the mounting hole on the pipe so that the bottom screw is screwed onto the pipe to obtain an assembly.

[0007] As a further improvement of the present invention, the material handling and rotation drive device is further provided with a rotation drive mechanism A, a lifting drive mechanism A capable of driving the rotation drive mechanism A to move up and down, and a transverse drive mechanism connected to the lifting drive mechanism A and capable of driving the rotation drive mechanism A to move in the horizontal direction. The rotation drive mechanism A is used to provide power for the material picking member to perform horizontal rotational movement. The material picking member is connected to the power output end of the rotation drive mechanism A through a floating tool holder.

[0008] As a further improvement of the present invention, the picking component is provided with a three-jaw cylinder, three contoured grippers A respectively fixedly connected to the three fingers of the three-jaw cylinder, and a pressure head elastically connected to the lower side of the cylinder body of the three-jaw cylinder. At the same time, the three contoured grippers A are also symmetrically arranged about the vertical center line of the pressure head. The rotary drive mechanism A is equipped with an explosion-proof servo motor A and a hollow rotary platform A that is drivenly connected to the output shaft of the explosion-proof servo motor A; the floating tool holder is a radially floating reamer and is connected between the turntable of the hollow rotary platform A and the upper side of the cylinder body of the three-jaw cylinder.

[0009] As a further improvement of the present invention, the transverse drive mechanism is used to provide power for the rotary drive mechanism A to reciprocate along a first horizontal direction; The slurry feeding device also includes a base, a base slidably disposed on the upper side of the base along a second horizontal direction perpendicular to the first horizontal direction, a power component for driving the base to reciprocate along the second horizontal direction, and a gripper cylinder A floatingly disposed on the upper side of the base along the first horizontal direction and the second horizontal direction, wherein the two gripping fingers of the gripper cylinder A are respectively fixedly connected to the two feeding grippers.

[0010] As a further improvement of the present invention, the slurry feeding device is further provided with a floating component. The floating component includes a base A fixedly disposed on the upper side of the base, two protrusions A respectively fixedly disposed on opposite sides of the base A along the first horizontal direction, a base B slidably disposed on the upper side of the base A along the first horizontal direction, two protrusions B respectively fixedly disposed on opposite sides of the base B along the second horizontal direction, and a base C slidably disposed on the upper side of the base B along the second horizontal direction. Springs B are respectively connected between the base C and the two protrusions B, and between the base B and the two protrusions A. In addition, the gripper cylinder A is fixedly disposed on the upper side of the base C.

[0011] As a further improvement of the present invention, the power component adopts a pen-shaped cylinder, the two feeding claws are arranged opposite each other along the first horizontal direction, and the shapes of the two opposite sides of the two feeding claws are adapted to the shape of the bottom screw; in addition, a CCD vision inspection module for visual inspection of the bottom screw coated with slurry is also positioned above the machine base, and a collection tank for collecting slurry waste is also provided below the two feeding claws.

[0012] As a further improvement of the present invention, the transverse drive mechanism is used to provide power for the rotary drive mechanism A to reciprocate along the first horizontal direction; the upper and lower material positions and the pre-tightening position are spaced apart along the first horizontal direction, and the pre-tightening position is close to the slurry feeding device. The loading and unloading mechanism includes at least one set of material picking components for picking up pipes and assemblies of the detonation device, a rotary drive mechanism B fixedly mounted above the loading and unloading position via a stand A and capable of driving the material picking components to rotate horizontally, and a lifting drive mechanism B connected to the rotary drive mechanism B and capable of driving the material picking components to move up and down. The clamping mechanism has two sets of clamping assemblies located at the pre-tightening position. Each set of clamping assemblies has a drive cylinder and a contouring clamp. Two of the contouring clamps in the two sets of clamping assemblies are spaced apart and opposite to each other along a second horizontal direction perpendicular to the first horizontal direction. Meanwhile, the contouring clamp in one set of clamping assemblies is rotatably connected to the output end of the drive cylinder, while the contouring clamp in the other set of clamping assemblies is floatingly connected to the output end of the drive cylinder. In addition, the loading and unloading device also has a linear drive module for driving the carrier to reciprocate along the first horizontal direction.

[0013] As a further improvement of the present invention, the rotary drive mechanism B is provided with an explosion-proof servo motor B, a hollow rotary platform B that is drivenly connected to the output shaft of the explosion-proof servo motor B, and a mounting plate fixedly connected to the turntable of the hollow rotary platform B; the lifting drive mechanism B is configured in two sets and spaced apart on the upper side of the mounting plate, each set of the lifting drive mechanism B is provided with a slide cylinder that can provide power for the material picking assembly to move up and down; correspondingly, the material picking assembly is also configured in two sets, each set of the material picking assembly is provided with a gripper cylinder B and a pair of contour grippers B that are fixedly connected to the two gripper fingers of the gripper cylinder B, and the two gripper cylinders B are respectively connected to the sliders of the two slide cylinders one-to-one; The two clamping assemblies are defined as clamping assembly A and clamping assembly B, respectively. Clamping assembly A is further provided with a transmission block A fixedly connected to one end of the piston rod of the driving cylinder, and the end of the transmission block A facing away from the driving cylinder is rotatably connected to the contour clamping block. Clamping assembly B is further provided with a transmission block B connected to one end of the piston rod of the driving cylinder through a floating joint, and the end of the transmission block B facing away from the driving cylinder is fixedly connected to the contour clamping block. In addition, the linear drive module is equipped with a rodless cylinder, and an accordion cover is provided on the outside of the rodless cylinder.

[0014] As a further improvement of the present invention, the transverse drive mechanism is used to provide power for the rotary drive mechanism A to reciprocate along a first horizontal direction; The feeding mechanism includes a main drive module A and a tray loading mechanism. The tray loading mechanism is used to transfer a first tray fully loaded with bottom screws onto the main drive module A. The main drive module A is used to drive the first tray to move along a second horizontal direction perpendicular to the first horizontal direction. The material handling mechanism includes a linear drive mechanism mounted above one side of the main drive module A via a gantry frame and a pickup component for picking up bottom screws. The pickup component is connected to the execution end of the linear drive mechanism and can move along the first horizontal direction and the vertical direction under the drive of the linear drive mechanism.

[0015] As a further improvement of the present invention, a transfer mechanism is also provided between the main drive module A and the slurry feeding device. The transfer mechanism is provided with a transfer table for receiving the bottom screw transferred by the material handling mechanism, a second carrier for receiving the defective products transferred by the picking device, and a main drive module B for driving the transfer table and the second carrier together to reciprocate along the second horizontal direction. In addition, the linear drive mechanism is also provided above one side of the transfer mechanism.

[0016] The beneficial effects of this invention are: ① On the one hand, the automatic coating and pre-tightening equipment for the detonation device bottom screw provided by this invention integrates multiple functions such as "automatic loading and unloading," "high-precision coating," and "high-precision and high-stability pre-tightening," achieving a high degree of integration, automation, and intelligence, as well as high processing accuracy and efficiency. On the other hand, the various devices in this equipment are organically coordinated and highly compatible, and each device is equipped with explosion-proof / protective measures, which can significantly improve the explosion-proof rating of the equipment (e.g., reaching T4 to T6), making the equipment well-suited for metal parts assembly and processing in flammable and explosive processing environments. ② In production applications, the entire processing process is automated mechanical operation, eliminating the need for manual intervention in high-risk workstations, completely avoiding the safety risks of manual operation, and achieving human-machine isolation production. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the automatic coating and pre-tightening equipment for the bottom screw of the detonation device described in this invention; Figure 2 for Figure 1 The schematic diagram of the loading and unloading device shown in the figure is viewed from a first perspective. Figure 3 for Figure 2 An enlarged structural diagram of part A shown in the image; Figure 4 for Figure 1 A schematic diagram of the loading and unloading device shown in the second view. Figure 5 for Figure 4 An enlarged structural diagram of section B shown in the figure; Figure 6 for Figure 1 A schematic diagram of the bottom screw feeding device shown in the figure from a first-view perspective; Figure 7 for Figure 1 A schematic diagram of the bottom screw feeding device shown in the second view. Figure 8 for Figure 7 An enlarged structural diagram of section C shown in the figure; Figure 9 for Figure 1The diagram shows the assembly structure of the material handling and rotation drive device, the slurry feeding device, and the transfer mechanism when they are assembled together. Figure 10 for Figure 9 A schematic diagram of the material handling and rotation drive device shown in the figure; Figure 11 for Figure 10 A schematic cross-sectional view of the material handling and rotation drive device shown in the diagram; Figure 12 for Figure 11 An enlarged structural diagram of part E shown in the figure; Figure 13 for Figure 9 A schematic diagram of the slurry feeding device shown in the diagram from a first-view perspective; Figure 14 for Figure 13 An enlarged structural diagram of section F shown in the figure; Figure 15 for Figure 14 A schematic diagram of the structure of part F after removing the bottom screw; Figure 16 for Figure 9 A schematic diagram of the slurry feeding device shown in the diagram from a second perspective; Figure 17 for Figure 16 An enlarged structural diagram of section H shown in the figure.

[0018] Referring to the accompanying drawings, the following explanations are provided: 10. Carrier; 100. Carrier base; 101. Storage cylinder; 11. Loading / unloading mechanism; 110. Picking assembly; 1100. Gripper cylinder B; 1101. Contouring gripper B; 111. Frame A; 112. Explosion-proof servo motor B; 113. Hollow rotary platform B; 114. Mounting plate base; 115. Slide cylinder; 12. Clamping mechanism; 120. Drive cylinder; 121. Contouring clamping block; 122. Transmission block A; 123. Floating joint; 124. Transmission... Moving block B; 125, rotating shaft; 13, rodless cylinder; 14, bellows cover; 20, feeding mechanism; 200, main drive module A; 2000, receiving plate; 201, pallet loading mechanism; 2010, support plate seat; 2011, bracket A; 2012, bracket B; 2013, pin; 2014, L-shaped plate; 2015, tray structure; 2016, electric cylinder; 2017, lifting plate; 21, transfer table; 22, material handling mechanism; 220, gantry frame; 221. Pick-up component; 222. First linear drive module; 223. Second linear drive module; 23. Second carrier plate; 24. Main drive module B; 30. Container; 31. Feeding gripper; 310. Paint inlet; 32. Peristaltic pump; 33. Base; 34. Base; 35. Power component; 36. Gripper cylinder A; 37. Floating assembly; 370. Base A; 371. Protrusion A; 372. Base B; 373. Protrusion B; 374. Base C; 375. 38. Spring B; 39. CCD vision inspection module; 30. Collection trough; 311. Stand B; 312. Displacement stage; 40. Pick-up component; 400. Three-jaw cylinder; 401. Contouring gripper A; 402. Mounting component; 403. Spring A; 404. Pressure head; 41. Rotary drive mechanism A; 410. Explosion-proof servo motor A; 411. Hollow rotary platform A; 42. Lifting drive mechanism A; 43. Lateral drive mechanism; 44. Floating tool holder; 45. Connecting component. Detailed Implementation

[0019] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0020] Example:

[0021] This embodiment provides an automatic coating and pre-tightening device for the base screw of an detonating device. It is used to coat the surface of the base screw with a slurry in flammable and explosive processing environments, and then pre-tighten the slurry-coated base screw to the pipe fitting of the detonating device. The base screw can be understood as a screw installed at the bottom of a pipe fitting, which has a conical cylindrical structure and is not filled with gunpowder. The slurry is a viscous slurry prepared by mixing red lead powder, organic solvents, and modified alkyd resin. It is understood that the base screw, pipe fitting, and slurry are all conventional configurations in the field of detonating devices and are not the technical points to be protected in this application. This application aims to provide a fully automated device capable of achieving multiple functions with high precision, including "coating the surface of the base screw with slurry" and "preliminarily tightening the base screw to the pipe fitting of the detonating device."

[0022] Please see the appendix Figure 1 To be continued Figure 17 As shown, the implementation structure of the automatic coating and pre-tightening equipment for the detonating device's bottom screw provided in this embodiment is as follows: it includes a loading and unloading device, a bottom screw loading device, a slurry loading device, and a material handling and rotation drive device. The loading and unloading device includes a carrier 10 capable of reciprocating between the loading / unloading position and the pre-tightening position; a loading / unloading mechanism 11 located at the loading / unloading position for transferring the pipe fittings (not shown in the figure) of the detonating device onto the carrier 10 and transferring the assemblies (specific definitions below) on the carrier 10 away; and a clamping machine located at the pre-tightening position for flexibly and adaptively clamping the pipe fittings on the carrier 10. Structure 12; The bottom screw feeding device is provided with a feeding mechanism 20 for supplying bottom screws D2 and a material handling mechanism 22 for picking up bottom screws D2 from the feeding mechanism 20 and transferring them to the transfer platform 21; The slurry feeding device is provided with a container 30 for holding slurry and two oppositely arranged feeding claws 31 that can move close to or away from each other. Both feeding claws 31 are provided with through channels. One end of each channel is connected to the container 30 through a hose and communicates with it. The other end of each channel opens on the opposite sides of the two feeding claws 31 to serve as a coating port 310 (see attached diagram). Figure 15 As shown in the figure), the slurry conveying power is provided by the peristaltic pump 32 (i.e., the slurry is conveyed by the peristaltic pump 32 acting on the hose). In addition, the two loading jaws 31 can also float synchronously in the horizontal direction (i.e., the two loading jaws 31 have a floating amount in the horizontal direction); the material handling and rotation drive device is provided with a material picking member 40 that can float in the horizontal direction (i.e., the material picking member 40 also has a floating amount in the horizontal direction). The material picking member 40 can pick up the bottom screw D2 from the transfer table 21 and move it between the two loading jaws 31. When the two loading jaws 31 approach each other and move to a set gap with the bottom screw D2 (as shown in the figure), Figure 14As shown), the material pickup 40 drives the bottom screw D2 to rotate so that the outer surface of the bottom screw D2 is coated with slurry; then, the material pickup 40 can also align the slurry-coated bottom screw D2 with the mounting hole on the flexible clamped pipe, and drive the bottom screw D2 to press down and rotate relative to the mounting hole on the pipe, so that the bottom screw D2 is initially screwed onto the pipe of the detonation device to obtain the assembly.

[0023] As can be seen from the above, the processing method of the automatic coating and pre-tightening equipment for the bottom screw of the detonation device described in this embodiment is as follows: S1: The loading and unloading mechanism 11 picks up the pipe from an external device (such as a conveyor line A for conveying pipes for a detonation device) and places it on the carrier 10 which is paused at the loading and unloading position; the carrier 10 moves the pipe to the pre-tightening position, and the clamping mechanism 12 is activated to flexibly and adaptively clamp the pipe.

[0024] S2: The material handling mechanism 22 picks up the bottom screw D2 from the feeding mechanism 20 and transfers it to the transfer table 21. It is understood that in actual production, the processing sequence of the loading / unloading device and the bottom screw loading device is not limited to the above method; they can operate simultaneously or in a predetermined order. This application does not impose any restrictions.

[0025] S3: The picking component 40 picks up the bottom screw D2 from the transfer table 21 and moves it between the two feeding claws 31. When the two feeding claws 31 move closer to each other and move to a set gap with the bottom screw D2, the picking component 40 drives the bottom screw D2 to rotate so that the outer surface of the bottom screw D2 is coated with slurry.

[0026] Understandably, ① in this S3, the material pickup 40 always maintains the state of clamping the bottom screw D2. ② Regarding the "gap between the two opposing sides (i.e., the inner sides of the two material pickup claws 31) and the bottom screw D2", this application does not impose any restrictions, as long as the gap can meet the following requirements: it does not affect the rotation of the bottom screw D2 by the material pickup 40, and it allows the slurry to be coated on the bottom screw D2; specifically, this application designs the above gap to be about 0.1mm according to production needs. ③ During the slurry coating process, the peristaltic pump 32 can accurately control the slurry delivery volume, so that the slurry is quantitatively and uniformly coated on the outer surface of the bottom screw D2, ensuring the consistency and stability of the coating operation and meeting the product process standards. ④ According to production needs, this application also installs solenoid valves on the two hoses and near the two ports of the channels respectively, so as to more accurately control the slurry output volume.

[0027] S4: After the coating operation is completed, the peristaltic pump 32 stops working, the two feeding jaws 31 move away from each other, the picking member 40 transfers the bottom screw D2 coated with slurry to the pre-tightening position and aligns it with the mounting hole on the bottom of the flexible clamped pipe. At the same time, the picking member 40 drives the bottom screw D2 to press down and rotate relative to the mounting hole on the pipe, so that the bottom screw D2 is initially screwed onto the pipe to obtain the assembly.

[0028] S5: The carrier 10 moves the assembly to the loading / unloading position, and the loading / unloading mechanism 11 picks up the assembly from the carrier 10 and transfers it to external equipment (such as conveyor line B).

[0029] S6: Repeat steps S1 to S5 above until all metal parts are assembled.

[0030] Understandably, the automatic coating and pre-tightening equipment for the detonation device bottom screw described in this embodiment has the following advantages: ① On the one hand, the equipment integrates multiple functions such as "automatic loading and unloading," "high-precision coating," and "high-precision and high-stability pre-tightening," achieving a high degree of integration, automation, and intelligence, as well as high processing accuracy and efficiency. On the other hand, the various devices within the equipment are organically coordinated and highly compatible, and each device is equipped with explosion-proof / protective measures, which can significantly improve the explosion-proof rating of the equipment (e.g., reaching T4 to T6), making the equipment well-suited for metal parts assembly and processing in flammable and explosive processing environments. ② During production application, the entire processing process is automated mechanical operation, eliminating the need for manual intervention in high-risk workstations, completely avoiding the safety risks of manual operation, and achieving human-machine isolation production.

[0031] The following provides a detailed description of the specific structure of the automatic coating and pre-tightening equipment for the bottom screw of the detonation device.

[0032] First, regarding the loading and unloading device.

[0033] In this embodiment, the carrier 10 can adopt a carrier structure commonly used in automated production lines, such as: please refer to the appendix. Figure 4 As shown, the carrier 10 is provided with a base 100 and a storage cylinder 101 fixedly mounted on the base 100. During operation, the loading and unloading mechanism 11 picks up the pipe fittings and freely places them into the storage cylinder 101 in an inverted manner (i.e., the mounting holes on the bottom of the pipe fittings face upwards). At the same time, the bottom of the pipe fittings also extends out of the storage cylinder 101, so that the clamping mechanism 12 can flexibly clamp the pipe fittings.

[0034] Furthermore, in this embodiment, the structure for the carrier 10 to reciprocate between the loading / unloading position and the pre-tightening position is as follows: Please refer to the appendix. Figure 2 and attached Figure 4As shown, in this embodiment, the loading and unloading positions and the pre-tightening position are spaced apart along a first horizontal direction. According to production process requirements, the loading and unloading positions are also close to the aforementioned conveying flow lines A and B, and the pre-tightening position is close to the slurry feeding device. Correspondingly, the loading and unloading device is also equipped with a linear drive module for driving the carrier 10 to reciprocate along the first horizontal direction. Furthermore, the linear drive module is equipped with a rodless cylinder 13, with both ends extending into the loading and unloading positions and the pre-tightening position, respectively, and the slide on the rodless cylinder 13 is positioned and connected to the carrier 10.

[0035] In addition, this embodiment also provides an explosion-proof magnetic induction switch on the rodless cylinder 13 to improve the operational safety of the cylinder in flammable and explosive environments; and an anti-static bellows cover 14 is also provided on the outside of the rodless cylinder 13 to prevent slurry from dripping onto the rodless cylinder 13 during the pre-tightening operation, thereby avoiding slurry contamination and corrosion of the rodless cylinder 13, ensuring the stable operation of the rodless cylinder 13 and extending its service life.

[0036] In this embodiment, the preferred implementation structure of the loading and unloading mechanism 11 is as follows: Please refer to the appendix. Figure 2 and attached Figure 4 As shown, the loading and unloading mechanism 11 includes at least one set of picking-up components 110 for picking up pipes and assemblies of the detonation device, a rotary drive mechanism B fixedly mounted above the loading and unloading position via a stand A111 and capable of driving the picking-up components 110 to rotate horizontally, and a lifting drive mechanism B connected to the rotary drive mechanism B and capable of driving the picking-up components 110 to move up and down. It can be understood that the loading and unloading mechanism 11 integrates multiple actions of "horizontal rotation, vertical lifting, and end-effector gripping," enabling precise gripping and transfer of workpieces (pipes and assemblies).

[0037] Furthermore, the rotary drive mechanism B includes an explosion-proof servo motor B112, a hollow rotary platform B113 connected to the output shaft of the explosion-proof servo motor B112, and a mounting plate 114 fixedly connected to the turntable of the hollow rotary platform B113. It can be understood that: ① the rotary drive mechanism B can achieve rotational adjustment at a certain angle. ② Using an explosion-proof servo motor as the core power source not only provides precise control of speed and torque but also meets explosion-proof standards and satisfies safe processing requirements.

[0038] The lifting drive mechanism B and the picking assembly 110 are respectively configured as two sets. The two sets of lifting drive mechanisms B are spaced apart on the upper side of the mounting plate 114. Each set of lifting drive mechanisms B is provided with a slide cylinder 115 that can provide power for the picking assembly 110 to move up and down. Both sets of picking assemblies 110 are provided with a gripper cylinder B1100 (specifically, a parallel gripper cylinder) and a pair of contour grippers B1101 that are fixedly connected to the two gripper fingers of the gripper cylinder B1100. The two gripper cylinders B1100 are respectively connected to the sliders of the two slide cylinders 115 one-to-one. Understandably, ① based on the loading and unloading logic during production, the two slide cylinders 115 can independently or synchronously adjust their vertical positions, and in conjunction with the two sets of material picking components 110, can accurately grasp and move the pipes and assemblies of the detonation device; in addition, the two sets of lifting drive mechanisms B and the two sets of material picking components 110 can also simultaneously transfer the pipes and assemblies, greatly improving production efficiency. ② Both the slide cylinder 115 and the gripper cylinder B1100 are equipped with explosion-proof magnetic induction switches to improve the safety of the cylinders in flammable and explosive environments.

[0039] In this embodiment, the clamping mechanism 12 preferably adopts the following structure: Please refer to the appendix. Figure 2 To be continued Figure 5 As shown, the clamping mechanism 12 has two sets of clamping assemblies positioned at the pre-tightening position. Each set of clamping assemblies includes a drive cylinder 120 and a contouring clamping block 121. Two of the contouring clamping blocks 121 in each set are spaced apart and opposite to each other along a second horizontal direction perpendicular to the first horizontal direction. Simultaneously, one set of contouring clamping blocks 121 is rotatably connected to the output end of the drive cylinder 120, while the other set is floatingly connected to the output end of the drive cylinder 120. It is understood that this embodiment uses a combination of rotating and floating clamping blocks, which allows the clamping mechanism 12 to have flexible adaptive capabilities, perfectly adapting to the conical cylindrical shape of the pipe fitting and ensuring the stability and reliability of the pipe fitting during clamping.

[0040] Furthermore, if the two sets of clamping components are defined as clamping component A and clamping component B respectively, wherein, in clamping component A, the driving cylinder 120 is a polygonal fixed cylinder, and the contouring clamping block 121 is rotatably connected to the output end of the driving cylinder 120; in clamping component B, the driving cylinder 120 is a square cylinder, and the contouring clamping block 121 is floatingly connected to the output end of the driving cylinder 120.

[0041] For further details, please refer to the appendix. Figure 3 and attached Figure 5 As shown, in the clamping assembly A, a transmission block A122 is also provided, which is fixedly connected to one end of the piston rod of the drive cylinder 120. The end of the transmission block A122 facing away from the drive cylinder 120 is rotatably connected to the contour clamping block 121 via a rotating shaft 125. In the clamping assembly B, a transmission block B124 is also provided, which is connected to one end of the piston rod of the drive cylinder 120 via a floating joint 123. The end of the transmission block B124 facing away from the drive cylinder 120 is fixedly connected to the contour clamping block 121.

[0042] In addition, an explosion-proof magnetic induction switch is also provided on the drive cylinder 120, and an explosion-proof photoelectric sensor for sensing the material arrival status and clamping status of the pipe is provided next to the clamping mechanism 12.

[0043] Next, regarding the bottom screw feeding device.

[0044] Please continue to refer to the appendix. Figure 6 To be continued Figure 8 As shown, in this embodiment, the preferred implementation structure of the feeding mechanism 20 is as follows: the feeding mechanism 20 is provided with a tray loading mechanism 201 and a main drive module A200. The tray loading mechanism 201 is used to transfer the first tray fully loaded with the bottom screw D2 onto the main drive module A200. The main drive module A200 is used to drive the first tray fully loaded with the bottom screw D2 to move along the second horizontal direction.

[0045] Furthermore, the main drive module A200 is equipped with an explosion-proof servo motor and a lead screw module. The lead screw module has a lead screw that is driven and connected to the explosion-proof servo motor, and multiple transmission nuts that are spaced apart along the axial direction of the lead screw. Each transmission nut is fixedly connected to a receiving plate 2000 for receiving the first carrier plate, and the receiving plate 2000 is also equipped with a positioning pin for positioning the first carrier plate. It is understood that the main drive module A200 adopts a linear drive module structure, receiving and positioning structure, etc., commonly used in the field of automation, which are conventional technical means and will not be described in detail here. It is further understood that the main drive module A200 not only has good safety, but also high operating accuracy and good cycle time, enabling each receiving plate 2000 to stop with high precision at the receiving position and the unloading position.

[0046] Please continue to refer to the appendix. Figure 7 and attached Figure 8As shown, the pallet loading mechanism 201 includes a support plate base 2010, two brackets A2011, two brackets B2012, and a lifting drive module. The support plate base 2010 is fixedly disposed below the main drive module A200. The two brackets A2011 are disposed opposite each other on both sides of the main drive module A200 along the first horizontal direction. The two brackets A2011 can also move up and down relative to the support plate base 2010 under the drive of the lifting drive module. Furthermore, the top surfaces of both brackets A2011 are provided with a tool for inserting the first pallet. The pin 2013 is used for positioning; both brackets B2012 are fixedly mounted on the support plate seat 2010. At the same time, the two brackets B2012 are also positioned opposite each other on both sides of the main drive module A200 along the first horizontal direction. Each bracket B2012 has two L-shaped plates 2014 arranged at intervals along the second horizontal direction and two sets of tray structures 2015 (each tray structure 2015 is composed of a clamping block and a cylinder for driving the clamping block to extend and retract). Moreover, the four L-shaped plates 2014 together form a space for accommodating the first tray stack.

[0047] Understandably, the feeding mechanism 20 operates as follows: During the preparation phase, the first pallet stack fully loaded with bottom screws D2 can be placed manually or by a robotic arm into the space enclosed by the four L-shaped plates 2014. For ease of description, the multiple first pallets in the first pallet stack are distinguished from bottom to top by symbols P1, P2, ... ; simultaneously, the clamping blocks in the pallet-separating structure 2015 are all in an extended state to support and limit the lower side of the first pallet stack; when work begins, the main drive module A200 actuates, driving one of the receiving plates 2000 to move to the receiving position, and the two... The brackets A2011 move upward together and are engaged with the first carrier plate P1 by means of the pins 2013 on them. Then, the clamping block retracts and disengages from the first carrier plate stack. The two brackets A2011 move downward together with the first carrier plate stack until the first carrier plate P1 lands on the receiving plate 2000. Next, the clamping block extends and extends under the first carrier plate P2. The two brackets A2011 continue to move downward and separate from the first carrier plate P1. Then, the main drive module A200 actuates, conveying the first carrier plate P1 to its unloading side, waiting for the material handling mechanism 22 to pick up the bottom screws. The above operation is repeated until all bottom screws are fed.

[0048] Furthermore, the lifting drive module includes an electric cylinder 2016 and a lifting plate 2017. The electric cylinder 2016 is positioned below the main drive module A200. The motor in the electric cylinder 2016 is an explosion-proof servo motor, and the outer shell of the electric cylinder 2016 is also fixedly connected to the support plate seat 2010. The lifting plate 2017 is disposed between the support plate seat 2010 and the main drive module A200. The lifting plate 2017 is also fixedly connected to the power output end of the electric cylinder 2016. The lifting plate 2017 is also slidably connected to the support plate seat 2010 through a vertical guide rod, linear bearing, etc., and the two brackets A2011 are respectively fixedly mounted on the lifting plate 2017.

[0049] In addition, in this embodiment, the pallet feeding mechanism 201 is configured as two sets, and the two sets of pallet feeding mechanisms 201 can work alternately in sequence, or, after the first pallet stack in one set of pallet feeding mechanisms 201 is completely transferred away, the other set of pallet feeding mechanisms 201 starts to work.

[0050] Please continue to refer to the appendix. Figure 6 and attached Figure 7 As shown, in this embodiment, the preferred implementation structure of the material handling mechanism 22 is as follows: the material handling mechanism 22 is provided with a linear drive mechanism disposed above one side (i.e., the unloading side) of the main drive module A200 via a gantry frame 220 and a pickup component 221 for picking up the bottom screw D2. The pickup component 221 is connected to the execution end of the linear drive mechanism and can move along the first horizontal direction and the vertical direction under the drive of the linear drive mechanism.

[0051] Furthermore, the linear drive mechanism includes a first linear drive module 222 capable of driving the pickup 221 to reciprocate up and down, and a second linear drive module 223 connected to the first linear drive module 222 and capable of driving the first linear drive module 222 to reciprocate along the first horizontal direction. The first linear drive module 222 is equipped with a cylinder (with an explosion-proof magnetic induction switch mounted thereon), and the second linear drive module 223 is equipped with an explosion-proof servo motor and a lead screw module that is driven by the explosion-proof servo motor. It is understood that the linear drive mechanism adopts a two-axis linear drive mechanism commonly used in the field of automation, which is a conventional technical means, and therefore will not be described in detail here.

[0052] The picking component 221 may have the same structure as the picking component 40 described below (therefore it will not be described in detail here), or the three-jaw cylinder in the picking component 40 described below may be replaced with a two-finger cylinder.

[0053] In addition, this embodiment also includes a transfer mechanism between the main drive module A200 and the slurry feeding device. The transfer mechanism includes a transfer platform 21 for receiving the bottom screws transferred by the material handling mechanism 22, a second carrier plate 23 for receiving defective products (i.e., the bottom screws are not coated with slurry in a qualified state) transferred by the picking member 40, and a main drive module B24 for driving the transfer platform 21 and the second carrier plate 23 to reciprocate together along the second horizontal direction; see the appendix for details. Figure 7 As shown. Understandably, the transfer mechanism is used to cooperate with the material handling mechanism 22 and the material picking component 40, and integrates functions such as "temporarily storing and transferring bottom screws" and "temporarily storing defective products".

[0054] Furthermore, the main drive module B24 is equipped with an explosion-proof servo motor and a lead screw module that is connected to the explosion-proof servo motor. As mentioned above, the main drive module B24 is also a conventional linear drive module. In addition, in order to enable the transfer mechanism and the material handling mechanism 22 to work together better, the second linear drive module 223 is designed to extend to one side above the main drive module B24.

[0055] Next, regarding the material handling and rotation drive device.

[0056] Please continue to refer to the appendix. Figure 9 To be continued Figure 12 As shown, in this embodiment, in order to realize the functions of picking up, moving, and pre-tightening of the picking member 40, the material moving and rotating drive device is further provided with a rotating drive mechanism A41, a lifting drive mechanism A42 that can drive the rotating drive mechanism A41 to move up and down, and a transverse drive mechanism 43 connected to the lifting drive mechanism A42 and capable of driving the rotating drive mechanism A41 to move in the horizontal direction (specifically, reciprocating in the first horizontal direction). The rotating drive mechanism A41 is used to provide power for the picking member 40 to perform horizontal rotational movement, and the picking member 40 is connected to the power output end of the rotating drive mechanism A41 through a floating tool holder 44.

[0057] Furthermore, the preferred implementation structures of the picking component 40 and the rotary drive mechanism A41, and the preferred connection method between them, are as follows: Please refer to the appendix. Figure 10 To be continued Figure 12As shown, the material pickup 40 includes a three-jaw cylinder 400 (such as an MHS3 series three-finger cylinder), three contour grippers A401 respectively fixedly connected to the three fingers of the three-jaw cylinder 400, and a pressure head 404 elastically connected to the lower side of the cylinder body of the three-jaw cylinder 400 via a combination of a mounting piece 402 and a spring A403. The three contour grippers A401 are symmetrically arranged about the vertical center line of the pressure head 404. Furthermore, the three-jaw cylinder 400 is equipped with an explosion-proof magnetic induction switch to improve the cylinder's operational safety in flammable and explosive environments. Please refer to the appendix for further details. Figure 10 and attached Figure 11 As shown, the rotary drive mechanism A41 is equipped with an explosion-proof servo motor A410 and a hollow rotary platform A411 that is drively connected to the output shaft of the explosion-proof servo motor A410; the floating tool holder 44 is a radially floating reamer shank and is connected between the turntable of the hollow rotary platform A411 and the upper side of the cylinder body of the three-jaw cylinder 400. It can be understood that ① by cooperating with the contouring jaws A401 to clamp the bottom screw D2, automatic centering and uniform clamping of the bottom screw can be achieved, with strong clamping stability, completely avoiding problems such as bottom screw falling off, eccentricity, and slippage during pre-tightening, ensuring thread engagement accuracy, and ensuring a safe and controllable production process. ② The pressure head 404 can elastically press against the bottom screw D2, helping to ensure the stability of the bottom screw D2 during pre-tightening, further avoiding problems such as bottom screw falling off, eccentricity, and slippage. ③ The floating tool holder 44 can automatically return to the center and float radially 360° (0.8mm floating on one side). During pre-tightening operations, the floating tool holder 44 can perfectly compensate for the coaxiality deviation between the bottom thread D2 and the thread in the mounting hole of the pipe fitting, solving problems such as misalignment, thread jamming, and thread stripping during pre-tightening operations, ensuring that the bottom thread is smoothly screwed in with 3-4 threads, and greatly improving the success rate of pre-tightening operations. ④ The hollow rotary platform A411 can provide high torque and high precision rotary output, accurately controlling the number of pre-tightening turns (3-4 threads), which well meets the pre-tightening process requirements of the product.

[0058] Supplementary Explanation: ① Regarding the installation method of the pressure head 404, it can be understood as follows: a mounting part 402 is fixedly installed on the lower side of the cylinder body of the three-jaw cylinder 400; a bolt serving as a guide and stop is installed on the lower side of the mounting part 402; an auxiliary component is fixedly installed on the upper side of the mounting part 402; the pressure head 404 is ring-shaped and movably sleeved on the lower side of the mounting part 402; a step is formed on the inner wall of the pressure head 404; the head of the bolt can stop on the lower side of the step; in addition, a spring A403 is provided between the pressure head 404 and the auxiliary component to provide elastic restoring force to the pressure head 404. ② The upper end of the floating tool holder 44 is connected to the turntable of the hollow rotating platform A411 through a connector 45.

[0059] Furthermore, both the lifting drive mechanism A42 and the lateral drive mechanism 43 are equipped with explosion-proof servo motors and lead screw modules that are connected to the explosion-proof servo motors. It is understood that: ① the lifting drive mechanism A42 and the lateral drive mechanism 43 work together to drive the material pickup 40 to move precisely in both the horizontal and vertical directions, achieving high positioning accuracy and smooth movement. This allows for precise delivery of the bottom screw to the mounting hole of the pipe fitting, ensuring consistent pre-tightening position. ② The explosion-proof servo motor is used as the core power source because: firstly, it provides precise control over speed and torque, and with the closed-loop feedback of the lead screw module, the parameters of the entire pre-tightening process are controllable, ensuring that the pre-tightening depth and torque of each assembly fully meet the process standards; secondly, it meets explosion-proof standards, is suitable for production environments of flammable and explosive products, and meets safety requirements. In summary, the entire transmission chain in the material handling and rotation drive device is compactly designed with small transmission gaps, ensuring the accuracy and repeatability of the pre-tightening operation.

[0060] In addition, the material handling and rotation drive device is also equipped with multiple proximity switches for monitoring the horizontal / vertical movement position and rotation angle of the material pickup 40, further improving the motion accuracy and safety of the material pickup 40.

[0061] Next, regarding the slurry feeding device.

[0062] Please continue to refer to the appendix. Figure 13 To be continued Figure 17As shown, in this embodiment, the slurry feeding device further includes a base 33, a base 34 slidably disposed on the upper side of the base 33 along a second horizontal direction perpendicular to the first horizontal direction (and by means of a combination of slide rail and slider), a power component 35 for driving the base 34 to reciprocate along the second horizontal direction, and a gripper cylinder A36 (equipped with an explosion-proof magnetic induction switch) floatingly disposed on the upper side of the base 34 along the first and second horizontal directions, and the two gripping fingers of the gripper cylinder A36 are respectively fixedly connected to the two feeding grippers 31. It is understood that the two feeding grippers 31 are floatingly disposed in both the first and second horizontal directions, which perfectly solves the problem of misalignment when the material handling and rotation drive device drives the bottom spiral to rotate the coating, avoiding problems such as uneven coating and jamming caused by coaxiality deviation, and is very suitable for the precision coating requirements of bottom screw threads.

[0063] Furthermore, the implementation structure for the gripper cylinder A36 to float on the upper side of the base 34 along the first horizontal direction and the second horizontal direction is as follows: Please refer to the appendix. Figure 14 Appendix Figure 15 and attached Figure 17 As shown, the slurry feeding device also includes a floating component 37. The floating component 37 includes a base A370 fixedly disposed on the upper side of the base 34, two protrusions A371 respectively fixedly disposed on opposite sides of the base A370 along the first horizontal direction, a base B372 slidably disposed on the upper side of the base A370 along the first horizontal direction (and by means of a combination of slide rail and slider), two protrusions B373 respectively fixedly disposed on opposite sides of the base B372 along the second horizontal direction, and a base C374 slidably disposed on the upper side of the base B372 along the second horizontal direction (and also by means of a combination of slide rail and slider). Springs B375 are respectively connected between the base C374 and the two protrusions B373, and between the base B372 and the two protrusions A371. In addition, the gripper cylinder A36 is fixedly disposed on the upper side of the base C374.

[0064] Furthermore, the power component 35 adopts a pen-shaped cylinder (equipped with an explosion-proof magnetic induction switch), and the two feeding claws 31 are arranged opposite each other along the first horizontal direction, and the shapes of the two opposite sides of the two feeding claws 31 are adapted to the shape of the bottom screw.

[0065] For further details, please refer to the appendix. Figure 9 and attached Figure 16As shown, this embodiment also includes a CCD vision inspection module 38 for visual inspection of the bottom screw coated with slurry, which is positioned above the base 33 via a stand B311, and a collection trough 39 for collecting slurry waste is provided below the two feeding claws 31.

[0066] Understandably, this embodiment uses a CCD vision inspection module 38, composed of a CCD camera, lens, and light source, to perform visual inspection on the coated bottom screws. If the inspection is qualified, the material handling and rotation drive device transfers the qualified product to the pre-tightening position; if the inspection is unqualified, the material handling and rotation drive device places the unqualified product into the second carrier tray 23. Additionally, a displacement stage 312 is provided, capable of micron-level position adjustment of the CCD camera (see attached diagram). Figure 13 As shown in the figure, this is to ensure the accuracy of visual inspection and the accuracy of coating position.

[0067] Finally, it should be noted that the prefixes "first," "second," etc., of the component names in this specification (such as first linear drive module, second linear drive module, etc.) and the suffixes "A," "B," "C," etc., of the component names (such as base A, base B, base C, etc.) are only for ease of description and are not intended to limit the scope of implementation of this invention.

[0068] In summary, the automatic coating and pre-tightening equipment for the bottom screw of the detonation device described in this invention has the characteristics of high integration, automation and intelligence, high processing accuracy and efficiency, and high explosion-proof level. It can be well applied to the assembly and processing of metal parts in flammable and explosive processing environments.

[0069] Many specific details have been set forth in the foregoing description to provide a thorough understanding of the present invention. However, the above description is merely a preferred embodiment of the present invention, and the present invention can be implemented in many other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed above. Furthermore, any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, using the methods and techniques disclosed above, without departing from the scope of the present invention. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the content of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. An automatic coating and pre-tightening device for the bottom screw of an initiation device, characterized in that: include: The loading and unloading device includes a carrier (10) capable of reciprocating between the loading / unloading position and the pre-tightening position, a loading / unloading mechanism (11) located at the loading / unloading position for transferring the pipe fittings of the detonating device to the carrier (10) and transferring the assembly on the carrier (10) away, and a clamping mechanism (12) located at the pre-tightening position for flexibly clamping the pipe fittings on the carrier (10). The bottom screw feeding device is provided with a feeding mechanism (20) for supplying bottom screws and a material handling mechanism (22) for picking up bottom screws from the feeding mechanism (20) and transferring them to the transfer platform (21). The slurry feeding device is provided with a container (30) for holding slurry and two feeding grippers (31) that are arranged opposite to each other and can move close to or away from each other; both feeding grippers (31) are provided with through channels, one end of each channel is connected to the container (30) through a hose, and the other end of each channel opens on the opposite sides of the two feeding grippers (31) to serve as a coating port (310), and the slurry conveying power is provided by a peristaltic pump (32); in addition, the two feeding grippers (31) can float synchronously in the horizontal direction; The material handling and rotation drive device is equipped with a material picking member (40) that can be floated in the horizontal direction; the material picking member (40) can pick up the bottom screw from the transfer table (21) and move it between the two loading jaws (31). When the two loading jaws (31) approach each other and move to a set gap with the bottom screw, the material picking member (40) drives the bottom screw to rotate so that the outer surface of the bottom screw is coated with slurry; the material picking member (40) can also align the bottom screw coated with slurry with the mounting hole on the flexible clamped pipe and drive the bottom screw to press down and rotate relative to the mounting hole on the pipe so that the bottom screw is screwed onto the pipe to obtain an assembly.

2. The automatic coating and pre-tightening equipment for the bottom screw of the detonation device according to claim 1, characterized in that: The material handling and rotation drive device is further provided with a rotation drive mechanism A (41), a lifting drive mechanism A (42) that can drive the rotation drive mechanism A (41) to move up and down, and a transverse drive mechanism (43) that is connected to the lifting drive mechanism A (42) and can drive the rotation drive mechanism A (41) to move in the horizontal direction. The rotation drive mechanism A (41) is used to provide power for the material picking member (40) to rotate horizontally. The material picking member (40) is connected to the power output end of the rotation drive mechanism A (41) through a floating knife holder (44).

3. The automatic coating and pre-tightening equipment for the bottom screw of the detonation device according to claim 2, characterized in that: The material picking component (40) is provided with a three-jaw cylinder (400), three contoured grippers A (401) respectively fixedly connected to the three fingers of the three-jaw cylinder (400), and a pressure head (404) elastically connected to the lower side of the cylinder body of the three-jaw cylinder (400). At the same time, the three contoured grippers A (401) are symmetrically arranged about the vertical center line of the pressure head (404). The rotary drive mechanism A (41) is equipped with an explosion-proof servo motor A (410) and a hollow rotary platform A (411) that is connected to the output shaft of the explosion-proof servo motor A (410). The floating tool holder (44) is a radially floating reamer and is connected between the turntable of the hollow rotary platform A (411) and the upper side of the cylinder body of the three-jaw cylinder (400).

4. The automatic coating and pre-tightening equipment for the bottom screw of the detonation device according to claim 2, characterized in that: The lateral drive mechanism (43) is used to provide power for the rotary drive mechanism A (41) to reciprocate along the first horizontal direction; The slurry feeding device is further provided with a base (33), a base (34) slidably disposed on the upper side of the base (33) along a second horizontal direction perpendicular to the first horizontal direction, a power component (35) for driving the base (34) to reciprocate along the second horizontal direction, and a gripper cylinder A (36) floatingly disposed on the upper side of the base (34) along the first horizontal direction and the second horizontal direction, wherein the two gripping fingers of the gripper cylinder A (36) are respectively fixedly connected to the two feeding grippers (31).

5. The automatic coating and pre-tightening equipment for the bottom screw of the detonation device according to claim 4, characterized in that: The slurry feeding device is further provided with a floating component (37). The floating component (37) is provided with a base A (370) fixedly disposed on the upper side of the base (34), two protrusions A (371) respectively fixedly disposed on opposite sides of the base A (370) along the first horizontal direction, a base B (372) slidably disposed on the upper side of the base A (370) along the first horizontal direction, two protrusions B (373) respectively fixedly disposed on opposite sides of the base B (372) along the second horizontal direction, and a base C (374) slidably disposed on the upper side of the base B (372) along the second horizontal direction. Springs B (375) are respectively connected between the base C (374) and the two protrusions B (373), and between the base B (372) and the two protrusions A (371). In addition, the gripper cylinder A (36) is fixedly disposed on the upper side of the base C (374).

6. The automatic coating and pre-tightening equipment for the bottom screw of the detonation device according to claim 4, characterized in that: The power component (35) adopts a pen-shaped cylinder, and the two feeding claws (31) are arranged opposite to each other along the first horizontal direction. The shapes of the two opposite sides of the two feeding claws (31) are adapted to the shape of the bottom screw. In addition, a CCD vision inspection module (38) for visual inspection of the bottom screw coated with slurry is positioned above the base (33), and a collection tank (39) for collecting slurry waste is provided below the two feeding claws (31).

7. The automatic coating and pre-tightening equipment for the bottom screw of the detonation device according to claim 2, characterized in that: The lateral drive mechanism (43) is used to provide power for the rotary drive mechanism A (41) to reciprocate along the first horizontal direction; The upper and lower material positions and the pre-tightening position are spaced apart along the first horizontal direction, and the pre-tightening position is close to the slurry feeding device; The loading and unloading mechanism (11) is provided with at least one set of picking-up components (110) for picking up pipe fittings and assemblies of the detonation device, a rotary drive mechanism B fixedly installed above the loading and unloading position by the upright A (111) and capable of driving the picking-up components (110) to perform horizontal rotation, and a lifting drive mechanism B connected to the rotary drive mechanism B and capable of driving the picking-up components (110) to perform vertical movement; The clamping mechanism (12) is provided with two sets of clamping components located at the pre-tightening position. Each set of clamping components is provided with a drive cylinder (120) and a contouring clamp (121). The two contouring clamps (121) in the two sets of clamping components are spaced apart and arranged opposite each other along a second horizontal direction perpendicular to the first horizontal direction. Meanwhile, the contouring clamp (121) in one set of clamping components is rotatably connected to the output end of the drive cylinder (120), and the contouring clamp (121) in the other set of clamping components is floatingly connected to the output end of the drive cylinder (120). In addition, the loading and unloading device is also provided with a linear drive module for driving the carrier (10) to reciprocate along the first horizontal direction.

8. The automatic coating and pre-tightening equipment for the bottom screw of the detonating device according to claim 7, characterized in that: The rotary drive mechanism B is provided with an explosion-proof servo motor B (112), a hollow rotary platform B (113) that is drivenly connected to the output shaft of the explosion-proof servo motor B (112), and a mounting plate (114) that is fixedly connected to the turntable of the hollow rotary platform B (113). The lifting drive mechanism B is configured in two groups and is spaced apart on the upper side of the mounting plate (114). Each group of the lifting drive mechanism B is provided with a slide cylinder (115) that can provide power for the material picking assembly (110) to move up and down. Correspondingly, the material picking assembly (110) is also configured in two sets. Each of the two sets of material picking assemblies (110) is provided with a gripper cylinder B (1100) and a pair of contour grippers B (1101) that are fixedly connected to the two gripper fingers of the gripper cylinder B (1100). The two gripper cylinders B (1100) are respectively connected to the sliders of the two slide cylinders (115). The two clamping assemblies are defined as clamping assembly A and clamping assembly B, respectively. Clamping assembly A is further provided with a transmission block A (122) fixedly connected to one end of the piston rod of the driving cylinder (120). The end of the transmission block A (122) facing away from the driving cylinder (120) is rotatably connected to the contour clamping block (121). Clamping assembly B is further provided with a transmission block B (124) connected to one end of the piston rod of the driving cylinder (120) through a floating joint (123). The end of the transmission block B (124) facing away from the driving cylinder (120) is fixedly connected to the contour clamping block (121). In addition, the linear drive module is equipped with a rodless cylinder (13), and a bellows cover (14) is provided on the outside of the rodless cylinder (13).

9. The automatic coating and pre-tightening equipment for the bottom screw of the detonating device according to claim 2, characterized in that: The lateral drive mechanism (43) is used to provide power for the rotary drive mechanism A (41) to reciprocate along the first horizontal direction; The feeding mechanism (20) is provided with a main drive module A (200) and a tray loading mechanism (201). The tray loading mechanism (201) is used to transfer the first tray fully loaded with bottom screws to the main drive module A (200). The main drive module A (200) is used to drive the first tray to move along a second horizontal direction perpendicular to the first horizontal direction. The material handling mechanism (22) is provided with a linear drive mechanism located above one side of the main drive module A (200) via a gantry frame (220) and a pickup component (221) for picking up the bottom screw. The pickup component (221) is connected to the execution end of the linear drive mechanism and can move along the first horizontal direction and the vertical direction under the drive of the linear drive mechanism.

10. The automatic coating and pre-tightening equipment for the bottom screw of the detonating device according to claim 9, characterized in that: A transfer mechanism is also provided between the main drive module A (200) and the slurry feeding device. The transfer mechanism is provided with a transfer table (21) for receiving the bottom screw transferred by the material handling mechanism (22), a second carrier plate (23) for receiving the defective product transferred by the picking member (40), and a main drive module B (24) for driving the transfer table (21) and the second carrier plate (23) to reciprocate together along the second horizontal direction. In addition, the linear drive mechanism is also provided above one side of the transfer mechanism.

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