An automatic assembly device and method for initiating-charge igniter assembly

Abstract

An automatic assembly device and method for initiating assembly of a pyrotechnic igniter component, comprising a workbench, a high-precision linear transmission module, an assembly base limiting mechanism, a lower positioning tool assembly mechanism, a communication needle assembly mechanism, a pre-pressing mechanism, an insulator assembly mechanism, a shell assembly mechanism, an upper positioning tool assembly mechanism, an assembly body final pressing mechanism, and an assembly finished product unloading mechanism, each mechanism is sequentially arranged on the side of the workbench and the high-precision linear transmission module according to the assembly process, the assembly base limiting mechanism is driven by a motor to slide on the slide rail of the high-precision linear transmission module and sequentially pass through the lower positioning tool, the communication needle, the pre-pressing mechanism, the insulator, the shell, the upper positioning tool, the final pressing mechanism, and the finished product unloading station. The automatic assembly device and method for initiating assembly of a pyrotechnic igniter component without repeated positioning, grouping, and continuous assembly are especially suitable for automatic assembly of brittle non-metallic parts, needle-shaped parts with a large length-diameter ratio, and small-size parts with a large number of assembly and high assembly precision.

Description

Technical Field

[0001] This invention relates to an automatic assembly device and method for igniter components of pyrotechnic products, which is particularly suitable for the automated assembly of brittle non-metallic parts, needle-shaped parts with large aspect ratios, and small-sized parts with a large number of parts and high assembly precision. Background Technology

[0002] The igniter assembly for pyrotechnic products consists of a housing, a communication pin, and an insulator. In actual production, the housing, communication pin, and insulator are assembled using upper and lower positioning fixtures and then sintered at high temperature into a whole. Therefore, it is necessary to assemble five parts: the housing, the communication pin, the insulator, and the upper and lower positioning fixtures.

[0003] The insulator of the igniter assembly for pyrotechnics is a non-metallic part made of brittle glass, the upper and lower positioning fixtures are non-metallic parts made of high-temperature resistant graphite, and the outer shell and communication pins are metal parts. The assembly is characterized by high precision, large quantity, and small part size. The theoretical assembly gap between the communication pin and the positioning fixture is 0.05mm, and the theoretical assembly gap between the communication pin and the insulator is 0.05mm. A single igniter assembly requires 2 or 4 communication pins and 2, 4, or even 8 insulators. Both the communication pin and the insulator are small-sized parts with rotating structures. The communication pin is generally φ1×20mm, and the insulator is φ2.1×6mm. Currently, there are very few patent documents, literature reports, and application cases related to automatic assembly devices and methods for pyrotechnic igniter components. Military units still use traditional manual assembly methods for pyrotechnic igniter components. The operator uses tweezers to pick up the communication pin and insert it into the lower positioning fixture, then passes the outer shell through the communication pin and fits it into the lower positioning fixture. The tweezers then pick up the insulator and fit it onto the communication pin inside the outer shell, and finally inserts it into the upper positioning fixture to complete the assembly of one pyrotechnic igniter component. This method is inefficient, has poor traceability and reliability in the assembly process, and is not conducive to mass production. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide an automatic assembly device and method for igniter components of pyrotechnic products, which is suitable for the production organization characteristics of small batches, multiple batches and multiple varieties of pyrotechnic products, and meets the needs of automated assembly of brittle non-metallic parts and small-sized parts with large quantity and high precision.

[0005] The technical solution of the present invention is as follows: Firstly, an automatic assembly device for pyrotechnic igniter components, wherein the pyrotechnic igniter component includes a lower positioning fixture, a communication pin, an insulator, a housing, and an upper positioning fixture; the automatic assembly device includes a worktable, a linear transmission module, and, in accordance with the assembly process, an assembly base plate limiting mechanism, a lower positioning fixture assembly mechanism, a communication pin assembly mechanism, a pre-pressing mechanism, an insulator assembly mechanism, a housing assembly mechanism, an upper positioning fixture assembly mechanism, an assembly final pressing mechanism, and an assembly finished product unloading mechanism, which are sequentially arranged on the worktable and the side of the linear transmission module.

[0006] The linear transmission module is a slide rail structure, used to drive the assembly base plate limiting mechanism via a motor and to limit and fix it.

[0007] The assembly base plate limiting mechanism is mounted on the linear transmission module and slides on the linear transmission module driven by a motor, passing in sequence through the lower positioning tooling assembly mechanism, the communication pin assembly mechanism, the pre-pressing mechanism, the insulator assembly mechanism, the shell assembly mechanism, the upper positioning tooling assembly mechanism, the assembly body final pressing mechanism, and the assembly finished product unloading mechanism.

[0008] The lower positioning tooling assembly mechanism serves as a workstation for assembling the lower positioning tooling. After the assembly base plate limiting mechanism is fixed at this workstation, the lower positioning tooling is aligned and assembled onto the assembly base plate limiting mechanism.

[0009] The communication pin assembly mechanism serves as a workstation for assembling communication pins. After the assembly base plate limiting mechanism is fixed at this workstation, the group of communication pins is installed into the preset positions of the upper and lower positioning fixtures of the assembly base plate limiting mechanism.

[0010] The pre-compression mechanism serves as a workstation for pre-compression of insulator assembly. After the assembly base plate limiting mechanism is fixed at this workstation, the pre-compression mechanism pre-compresses the communication pin installed on the lower positioning fixture to ensure that the communication pin is assembled in place.

[0011] The insulator assembly mechanism serves as a workstation for insulator assembly. After the assembly base plate limiting mechanism is fixed at this workstation, the insulator is aligned and assembled onto the communication pin at a preset position.

[0012] The outer shell assembly mechanism serves as a workstation for assembling the outer shell. After the assembly base plate limiting mechanism is fixed at this workstation, the outer shell is aligned and assembled onto the combination of the upper and lower positioning fixtures of the assembly base plate limiting mechanism, the communication pin, and the insulator.

[0013] The upper positioning fixture assembly mechanism serves as a workstation for assembling the upper positioning fixture. After the assembly base plate limiting mechanism is fixed at this workstation, the upper positioning fixture is aligned and assembled onto the assembly base plate limiting mechanism, the upper and lower positioning fixtures, the communication pin, the insulator, and the outer shell.

[0014] The assembly final pressing mechanism serves as a workstation for the final pressing of the assembly. After the assembly base plate limiting mechanism is fixed at this workstation, it performs final pressing on the combination of the upper and lower positioning fixtures of the assembly base plate limiting mechanism, the communication pin, the insulator, the shell, and the upper positioning fixture to form a finished product, ensuring that each assembly part is assembled in place.

[0015] The assembly and finishing material unloading mechanism is used for unloading finished products.

[0016] Furthermore, the lower positioning tooling assembly mechanism includes:

[0017] The material tray is used to regularly discharge the positioning tooling material, which is then conveyed to the tooling base by a motor via direct vibration.

[0018] The vertical vibration, as the conveyor of the lower positioning tooling material, is connected to the material tray and the tooling base at both ends respectively. It limits the lower positioning tooling that regularly discharges material from the material tray and conveys it to the tooling base.

[0019] The three-axis module is used to move the gripper. In conjunction with the position of the assembly base plate limiting mechanism, it moves the gripper holding the lower positioning fixture to the set position of the assembly base plate limiting mechanism.

[0020] A visual inspection camera is used to identify features of the lower positioning tooling material and send the identified visual recognition information to the tooling base.

[0021] The tooling base is used to clamp the lower positioning tooling material, and rotates and aligns the lower positioning tooling material according to the visual recognition information under the drive of the base motor;

[0022] The gripper is used to grab the lower positioning tooling material, move it through the three-axis module, and assemble it onto the assembly base plate limiting mechanism.

[0023] Furthermore, the upper positioning tooling assembly mechanism and the lower positioning tooling assembly mechanism have the same structure.

[0024] Furthermore, the linear transmission module is equipped with a limit block, a limit plate, a lead screw, and a motor. After the lower positioning tooling is loaded into the assembly base plate limiting mechanism, the limit block and the limit plate move backward and open under the drive of the motor. The motor drives the lead screw to rotate and drive the linear transmission module to move forward. The transmission distance between workstations is set according to the mechanism design. After moving to the next workstation, the limit block and the limit plate move forward under the drive of the motor to fix the assembly base plate limiting mechanism again.

[0025] Furthermore, the communication pin assembly mechanism includes:

[0026] The feeding tray is used to regularly dispense communication needle material, which is then conveyed to the communication needle funnel by a motor via direct vibration.

[0027] The linear vibrator serves as the conveyor for the communication needle material, with the material tray and communication needle funnel connected at both ends. A photoelectric sensor switch is installed at the end of the linear vibrator to count the output communication needles, ensuring that only one communication needle material enters each funnel slot at a time.

[0028] The communication needle funnel is used to hold a specific number of communication needles. When the assembly base plate limiting mechanism enters the communication needle assembly station and is fixed, the funnel opens and the communication needles enter the communication needle delivery tube.

[0029] The communication needle delivery tube, as a communication needle material delivery pipeline, is connected to the communication needle funnel and the communication needle module at both ends respectively; the center distance of the holes at the end of the communication needle delivery tube matches the center distance of the holes in the lower positioning fixture, ensuring that the communication needle falls naturally into the lower positioning fixture after passing through the communication needle delivery tube and the communication needle module.

[0030] The communication needle module is used to fix the communication needle delivery tube, ensuring the positional accuracy of the communication needle delivery tube and the matching accuracy between the center distance of the end hole and the center distance of the lower positioning fixture hole.

[0031] Furthermore, the insulator assembly mechanism has the same structure as the communication pin assembly mechanism.

[0032] Furthermore, the housing assembly mechanism includes:

[0033] The housing slide rail is used to slide the housing gripper that has grasped the housing through the three-axis module;

[0034] The three-axis module is used to move along the outer shell slide rail to the visual recognition camera, identify the structural feature information in the outer shell structural feature image, and drive the outer shell gripper mechanism to move along the outer shell slide rail to the upper part of the assembly base plate limiting mechanism after the outer shell is rotated and aligned, thereby completing the outer shell assembly.

[0035] Shell tray, used for regularly placing shells;

[0036] The outer shell gripper mechanism, mounted on the three-axis module, is used to grip the outer shell on the outer shell tray and rotate and align it according to the structural feature information and the position information of the combination of the lower positioning fixture, communication pin and insulator.

[0037] The guide rail is used after the housing is assembled. The assembly base plate limiting mechanism and the linear transmission module slide along the guide rail under the drive of the motor and return to the original position of the linear transmission module.

[0038] A visual recognition camera is used to capture images of the structural features of the outer shell;

[0039] The motor is used to drive the assembly base plate limiting mechanism and the linear transmission module to slide along the guide rail 87.

[0040] Furthermore, the assembled finished product unloading mechanism includes:

[0041] The three-axis module is used to slide along the unloading guide rail to the upper part of the assembly base plate limiting mechanism to grab the assembled finished product.

[0042] Finished product unloading motor is used to drive the finished product unloading gripper to rotate and align;

[0043] Finished product unloading grippers are used to grab assembled finished products and place them in the finished product unloading tray according to the settings;

[0044] The unloading guide rail is used for the movement of the three-axis module and the finished product unloading gripper to realize the gripping of the assembly.

[0045] Secondly, a method for automatically assembling a pyrotechnic igniter assembly using the aforementioned automatic assembly device for pyrotechnic igniter assemblies includes:

[0046] After the lower positioning fixture assembly mechanism is fixed, the lower positioning fixture is aligned and assembled onto the assembly base plate limiting mechanism.

[0047] After the assembly base plate limiting mechanism moves to the communication pin assembly mechanism and is fixed, the group of communication pins is installed into the preset position of the upper and lower positioning tooling of the assembly base plate limiting mechanism.

[0048] After the assembly base plate limiting mechanism moves to the pre-compression mechanism and is fixed, the pre-compression mechanism pre-compresses the communication pin installed on the lower positioning fixture to ensure that the communication pin is assembled in place.

[0049] After the assembly base plate limiting mechanism moves to the insulator assembly mechanism and is fixed, the insulator is aligned and assembled on the communication needle at the preset position.

[0050] After the assembly base plate limiting mechanism moves to the outer shell assembly mechanism and is fixed, the outer shell is aligned and assembled onto the assembly base plate limiting mechanism upper and lower positioning fixtures, communication pins and insulators.

[0051] After the assembly base plate limiting mechanism moves to the upper positioning fixture assembly mechanism and is fixed, the upper positioning fixture is aligned and assembled on the assembly base plate limiting mechanism upper and lower positioning fixtures, communication pin, insulator and shell combination.

[0052] After the assembly base plate limiting mechanism moves to the final pressing mechanism of the assembly body and is fixed, the assembly base plate limiting mechanism, the upper and lower positioning fixtures, the communication pin, the insulator, the outer shell, and the upper positioning fixture are finally pressed to form a finished product, ensuring that each assembly part is assembled in place.

[0053] The assembly base plate limiting mechanism moves to the finished product unloading mechanism, and the finished product is unloaded.

[0054] Thirdly, a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the automatic assembly method for the pyrotechnic igniter assembly.

[0055] The advantages of this invention compared to the prior art are:

[0056] (1) The present invention adopts an assembly base plate suitable for the product structure characteristics. The assembly base plate is transported by a high-precision conveyor belt and is strictly limited to serve as the assembly reference for each station part, so as to realize the rapid and repeated assembly of each station part, avoid the need for repeated visual inspection, positioning, rotation, and transmission in single-piece assembly line, and greatly improve the assembly efficiency.

[0057] (2) The present invention uses a three-axis module and a conveying pipe structure to assemble communication needles and insulators instead of the traditional method of using a robotic arm or gripper to achieve group assembly, avoiding the need for repeated gripping and assembly by the traditional robotic arm, which affects the assembly efficiency. At the same time, it avoids the breakage problem caused by the robotic arm gripping brittle insulators.

[0058] (3) The assembly base plate, communication pin and insulator conveying device can be replaced according to the structure of each component, and different product assembly procedures can be set to realize the assembly of different types of pyrotechnic igniter components. The replacement operation is simple and convenient, which is suitable for the small-batch, multi-batch and multi-type production characteristics of pyrotechnic igniter components. Attached Figure Description

[0059] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0060] Figure 1 This is a simplified diagram of the mechanism of the present invention;

[0061] Figure 2 A simplified diagram of the high-precision conveyor belt and assembly base plate limiting mechanism;

[0062] Figure 3 A simplified diagram of the upper and lower positioning tooling assembly mechanism;

[0063] Figure 4 A simplified diagram of the communication needle and insulator assembly mechanism;

[0064] Figure 5 A simplified diagram of the shell assembly and finished product unloading mechanism;

[0065] Figure 6 This is a schematic diagram of the assembled finished product. Detailed Implementation

[0066] To better understand the above technical solutions, the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solutions of the present invention, rather than limitations on the technical solutions of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0067] The following description, in conjunction with the accompanying drawings, provides a more detailed account of an automatic assembly device and method for igniter assemblies of pyrotechnic devices provided by embodiments of the present invention. Figure 1 The specific implementation may include: an automatic assembly device for pyrotechnic igniter components, wherein the pyrotechnic igniter components include a lower positioning fixture 11, a communication pin 12, an insulator 13, a housing 14, and an upper positioning fixture 15; the automatic assembly device includes a workbench 1, a linear transmission module 2, and an assembly base plate limiting mechanism 3, a lower positioning fixture assembly mechanism 4, a communication pin assembly mechanism 5, a pre-pressing mechanism 6, an insulator assembly mechanism 7, a housing assembly mechanism 8, an upper positioning fixture assembly mechanism 9, an assembly final pressing mechanism 10, and an assembly finished product unloading mechanism 20, which are sequentially arranged on the workbench 1 and the side of the linear transmission module 2 according to the assembly process.

[0068] The linear transmission module 2 is a slide rail structure, used to drive the assembly base plate limiting mechanism 3 by a motor and to limit and fix it.

[0069] The assembly base plate limiting mechanism 3 is mounted on the linear transmission module 2 and slides on the linear transmission module 2 driven by a motor, passing in sequence through the lower positioning tooling assembly mechanism 4, the communication pin assembly mechanism 5, the pre-pressing mechanism 6, the insulator assembly mechanism 7, the shell assembly mechanism 8, the upper positioning tooling assembly mechanism 9, the assembly body final pressing mechanism 10, and the assembly finished product unloading mechanism 20.

[0070] The lower positioning tooling assembly mechanism 4 serves as a workstation for assembling the lower positioning tooling 11. After the assembly base plate limiting mechanism 3 is fixed at this workstation, the lower positioning tooling 11 is aligned and assembled onto the assembly base plate limiting mechanism 3.

[0071] The communication needle assembly mechanism 5 serves as a workstation for assembling communication needles. After the assembly base plate limiting mechanism 3 is fixed at this workstation, the group of communication needles is installed into the preset position of the upper and lower positioning fixture 11 of the assembly base plate limiting mechanism 3.

[0072] The pre-compression mechanism 6 serves as a workstation for pre-compression of insulator assembly. After the assembly base plate limiting mechanism 3 is fixed at this workstation, the pre-compression mechanism pre-compresses the communication pin 12 installed on the lower positioning fixture 11 to ensure that the communication pin 12 is assembled in place.

[0073] The insulator assembly mechanism 7 serves as a workstation for insulator assembly. After the assembly base plate limiting mechanism 3 is fixed at this workstation, the insulator is aligned and assembled on the communication pin 12 at a preset position.

[0074] The outer shell assembly mechanism 8 serves as a workstation for assembling the outer shell. After the assembly base plate limiting mechanism 3 is fixed at this workstation, the outer shell 14 is aligned and assembled onto the assembly base plate limiting mechanism 3, the upper and lower positioning fixture 11, the communication pin 12 and the insulator 13.

[0075] The upper positioning fixture assembly mechanism 9 serves as a workstation for assembling the upper positioning fixture. After the assembly base plate limiting mechanism 3 is fixed at this workstation, the upper positioning fixture is aligned and assembled onto the assembly base plate limiting mechanism 3, the upper and lower positioning fixtures 11, the communication pin 12, the insulator 13, and the outer shell 14.

[0076] The assembly final pressing mechanism 10 serves as a workstation for the final pressing of the assembly. After the assembly base plate limiting mechanism 3 is fixed at this workstation, it performs final pressing on the assembly base plate limiting mechanism 3, the upper and lower positioning fixtures 11, the communication pin 12, the insulator 13, the outer shell 14, and the upper positioning fixture 15 to form a finished product, ensuring that each assembly part is assembled in place.

[0077] The assembly finished product unloading mechanism 20 is used for unloading finished products.

[0078] In the solution provided in the embodiments of the present invention, the mechanism includes a workbench, a high-precision linear transmission module, an assembly base plate and a limiting mechanism, a lower positioning tooling assembly mechanism, a communication pin assembly mechanism, a pre-pressing mechanism, an insulator assembly mechanism, a shell assembly mechanism, an upper positioning tooling assembly mechanism, an assembly final pressing mechanism, and an assembly finished product unloading mechanism.

[0079] like Figure 1 The diagram shows a simplified structure of an automatic assembly device for igniter components of pyrotechnic products according to the present invention. The device includes a workbench 1, a high-precision linear transmission module 2, an assembly base plate limiting mechanism 3, a lower positioning fixture assembly mechanism 4, a communication pin assembly mechanism 5, a pre-pressing mechanism 6, an insulator assembly mechanism 7, a shell assembly mechanism 8, an upper positioning fixture assembly mechanism 9, an assembly final pressing mechanism 10, and an assembly finished product unloading mechanism 20. The above mechanisms are arranged sequentially on the workbench 1 and the side of the high-precision linear transmission module 2 according to the assembly process.

[0080] like Figure 2 The assembly base plate limiting mechanism 3 is placed on the slide rail of the high-precision linear transmission module 2. Driven by the motor, it slides on the slide rail of the high-precision linear transmission module 2 and passes through the lower positioning fixture, communication pin, pre-pressing, insulator, shell, upper positioning fixture, final pressing, and finished product unloading station in sequence.

[0081] like Figure 3After the lower positioning fixture 11 is regularly discharged from the material tray 41 of the lower positioning fixture assembly mechanism 4, it is transported to the fixture base 46 by the motor via the direct vibration 42. After the fixture is clamped by the fixture base 46, the vision inspection camera 45 performs feature recognition on the lower positioning fixture 11. The fixture base 46 rotates and aligns according to the visual recognition information under the drive of the base motor. After alignment, the gripper 47 grabs the lower positioning fixture 11 and moves it through the three-axis module 44 and assembles it on the assembly base plate limiting mechanism 3. All lower positioning fixtures 11 are assembled on the assembly base plate limiting mechanism 3 according to the above process.

[0082] After all the lower positioning fixtures 11 are installed into the assembly base plate limiting mechanism 3, the limiting block 21 and the limiting plate 22 move backward and open under the drive of the motor. The motor 24 drives the lead screw 23 to rotate and drives the high-precision linear transmission module 2 to move forward. The transmission distance is programmed according to the mechanism design. The assembly base plate limiting mechanism 3 is transported to the communication needle assembly mechanism 5. The limiting block 21 and the limiting plate 22 move forward under the drive of the motor to fix the assembly base plate limiting mechanism 3 again, and the assembly of the communication needle 12 begins.

[0083] like Figure 4 After the communication needle 12 is regularly discharged from the feeding tray 51 in the communication needle assembly mechanism 5, it is conveyed to the communication needle funnel 53 by the motor via the direct vibration 52. The end of the direct vibration 52 is equipped with a photoelectric sensor switch to count the output communication needles 12, ensuring that only one communication needle 12 enters each funnel slot of the communication needle funnel 53 at a time. When the assembly base plate limiting mechanism 3 enters the communication needle 12 assembly station and is fixed, the funnel slot of the communication needle funnel 53 opens, and the communication needle 12 enters the communication needle conveying pipe 54 and falls naturally through the communication needle module 55. The center distance of the hole at the end of the communication needle conveying pipe 54 matches the center distance of the hole in the lower positioning fixture 11, ensuring that the communication needle 12 falls into the lower positioning fixture 11 after falling naturally through the communication needle conveying pipe 54 and the communication needle module 55. All communication needles 12 are assembled on the lower positioning fixture 11 according to the above process.

[0084] After all the communication pins 12 are assembled on the lower positioning fixture 11, the assembly base plate limiting mechanism 3 continues to transmit the pins to the next station via the high-precision linear transmission module 2. The specific transmission process is the same as above and will not be repeated here.

[0085] After the assembly base plate limiting mechanism 3 is fixed at the pre-pressing mechanism 6, the pre-pressing plate 62 slides down along the slide rod 61 under the drive of the motor to pre-press the communication pin 12 installed on the lower positioning fixture 11, ensuring that the communication pin 12 is assembled in place.

[0086] After the communication pin 12 is pre-pressed, the assembly base plate limiting mechanism 3 continues to transmit it to the next station via the high-precision linear transmission module 2. The specific transmission process is the same as above and will not be repeated here.

[0087] After the mounting base plate limiting mechanism 3 is fixed at the insulator assembly mechanism 7, the assembly of insulator 13 begins. Since insulator 13 and communication pin 12 are both rotating, small-sized, and numerous parts, their assembly requirements are basically the same. Therefore, the design of insulator assembly mechanism 7 and communication pin assembly mechanism 5 are the same, and their assembly processes are also the same. The specific assembly process of insulator 13 is carried out with reference to the above-mentioned assembly process of communication pin 12.

[0088] After all insulators 13 are assembled on the communication pins 12, the assembly base plate limiting mechanism 3 continues to transmit them to the next station via the high-precision linear transmission module 2. The specific transmission process is the same as described above and will not be repeated here.

[0089] like Figure 5 After the assembly base plate limiting mechanism 3 is fixed at the work station of the outer shell assembly mechanism 8, the assembly of the outer shell 14 begins. The assembly base plate limiting mechanism 3 and the high-precision linear transmission module 2 slide along the guide rail 87 under the drive of the motor 89. The outer shell assembly plate 81, the outer shell gripper motor 83, the outer shell gripper fixing rod 82, and the outer shell gripper 84 are connected and fixed by nuts and then installed on the three-axis module. The three-axis module can move along the outer shell slide rail 85. The outer shell gripper 84 is driven by the outer shell gripper motor 83 to grab the outer shell that has been neatly placed on the outer shell material tray 86 by humans. The shell 14 is moved along the shell slide rail 85 to the vision recognition camera 88 to identify the structural features of the shell 14. After identification, the shell gripper 84 is driven by the shell gripper motor 83 to rotate and align with the position information of the assembly on the lower positioning fixture 11. The three-axis module drives the shell gripper 84 to continue moving along the shell slide rail 85 to the upper part of the assembly base plate limiting mechanism 3 to complete the assembly of the shell 14. Following the above process, all shells 14 are assembled on the assembly of the lower positioning fixture 11, communication pin 12 and insulator 13.

[0090] After all the outer shells 14 are assembled, the assembly base plate limiting mechanism 3 and the high-precision linear transmission module 2 slide along the guide rail 87 under the drive of the motor 89, return to the original position of the conveyor belt, and continue to be transmitted to the next station. The specific transmission process is the same as above and will not be repeated.

[0091] After the assembly base plate limiting mechanism 3 is fixed at the station of the upper positioning fixture assembly mechanism 9, the assembly of the upper positioning fixture 15 begins. Since both the upper positioning fixture 15 and the lower positioning fixture 11 are bosses and graphite parts, their assembly requirements are basically the same. Therefore, the lower positioning fixture assembly mechanism 4 and the upper positioning fixture assembly mechanism 9 have the same design and the same assembly process. The specific assembly process of the upper positioning fixture 15 is executed with reference to the assembly process of the lower positioning fixture 11 described above.

[0092] After all the upper positioning fixtures 15 are assembled, the assembly base plate limiting mechanism 3 continues to be transferred to the next station via the high-precision linear transmission module 2. The specific transmission process is the same as above and will not be repeated here.

[0093] After the assembly base plate limiting mechanism 3 is fixed at the position of the assembly final pressing mechanism 10, the final pressing plate 102 slides downward along the slide rod 101 under the drive of the motor to perform final pressing on the assembly, ensuring that each assembly part is assembled in place, and the final assembled product is as follows: Figure 6 As shown.

[0094] like Figure 1 As shown, after final pressing, the assembled finished product continues to be transferred to the next station via the high-precision linear transmission module 2 through the assembly base plate limiting mechanism 3. The specific transmission process is the same as above and will not be repeated. After the assembly base plate limiting mechanism 3 is fixed at the station of the finished product unloading mechanism 20, it slides along the unloading guide rail 204. The finished product unloading motor 202 drives the finished product unloading gripper 203 to rotate and move along the slide rail together with the three-axis module 201. The specific process is the same as the loading process of the outer shell 14 and will not be repeated, thus completing the unloading of the finished product. Finally, the assembly base plate limiting mechanism 3 continues to be transferred via the high-precision linear transmission module 2, ultimately realizing the continuous assembly of the pyrotechnic igniter assembly.

[0095] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0096] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. An automatic assembly device for a pyrotechnic igniter assembly, the pyrotechnic igniter assembly comprising a lower positioning fixture (11), a communication pin (12), an insulator (13), a housing (14), and an upper positioning fixture (15), characterized in that, The automatic assembly device includes a workbench (1), a linear transmission module (2), and an assembly base plate limiting mechanism (3), a lower positioning tooling assembly mechanism (4), a communication pin assembly mechanism (5), a pre-pressing mechanism (6), an insulator assembly mechanism (7), a shell assembly mechanism (8), an upper positioning tooling assembly mechanism (9), an assembly final pressing mechanism (10), and an assembly finished product unloading mechanism (20), which are arranged sequentially on the workbench (1) and the side of the linear transmission module (2) according to the assembly process. The linear transmission module (2) is a slide rail structure, used to drive the assembly base plate limiting mechanism (3) by a motor and limit and fix it; The assembly base plate limiting mechanism (3) is placed on the linear transmission module (2) and slides on the linear transmission module (2) driven by a motor, passing through the lower positioning tooling assembly mechanism (4), the communication pin assembly mechanism (5), the pre-pressing mechanism (6), the insulator assembly mechanism (7), the shell assembly mechanism (8), the upper positioning tooling assembly mechanism (9), the assembly body final pressing mechanism (10), and the assembly finished product unloading mechanism (20) in sequence. The lower positioning tool assembly mechanism (4) serves as a workstation for assembling the lower positioning tool (11). After the assembly base plate limiting mechanism (3) is fixed at this workstation, the lower positioning tool (11) is aligned and assembled onto the assembly base plate limiting mechanism (3). The communication needle assembly mechanism (5) serves as a workstation for assembling communication needles. After the assembly base plate limiting mechanism (3) is fixed at this workstation, the group of communication needles are installed into the preset position of the upper and lower positioning fixture (11) of the assembly base plate limiting mechanism (3). The pre-pressing mechanism (6) is used as a work station for pre-pressing the insulator assembly. After the assembly base plate limiting mechanism (3) is fixed at this work station, the pre-pressing mechanism pre-presses the communication pin (12) installed on the lower positioning fixture (11) to ensure that the communication pin (12) is assembled in place. The insulator assembly mechanism (7) serves as a workstation for insulator assembly. After the assembly base plate limiting mechanism (3) is fixed at this workstation, the insulator is aligned and assembled on the communication pin (12) at a preset position. The outer shell assembly mechanism (8) serves as a workstation for assembling the outer shell. After the assembly base plate limiting mechanism (3) is fixed at this workstation, the outer shell (14) is aligned and assembled onto the combination of the upper and lower positioning fixture (11), communication pin (12) and insulator (13) of the assembly base plate limiting mechanism (3). The upper positioning fixture assembly mechanism (9) serves as a workstation for assembling the upper positioning fixture. After the assembly base plate limiting mechanism (3) is fixed at this workstation, the upper positioning fixture is aligned and assembled on the assembly base plate limiting mechanism (3) and the combination of the upper and lower positioning fixtures (11), communication needle (12), insulator (13) and shell (14). The assembly final pressing mechanism (10) serves as a workstation for the final pressing of the assembly. After the assembly base plate limiting mechanism (3) is fixed at this workstation, it performs final pressing on the assembly base plate limiting mechanism (3) and the combination of the upper and lower positioning fixtures (11), communication pin (12), insulator (13), shell (14), and upper positioning fixture (15) to form a finished product and ensure that each assembly part is assembled in place. The assembly finished product unloading mechanism (20) is used for unloading finished products.

2. The automatic assembly device for igniter components of pyrotechnic devices according to claim 1, characterized in that, The lower positioning tooling assembly mechanism (4) includes: The material tray (41) is used to regularly discharge the positioning tooling material, which is then conveyed to the tooling base (46) by a motor via a direct vibration (42); The vertical vibration (42) serves as the conveyor for the lower positioning tooling material. Both ends are connected to the material tray (41) and the tooling base (46) respectively. It limits the lower positioning tooling that regularly discharges material from the material tray (41) and conveys it to the tooling base (46). The three-axis module (44) is used to move the gripper (47), and in conjunction with the position of the assembly base plate limiting mechanism (3), moves the gripper (47) holding the lower positioning fixture (11) to the set position of the assembly base plate limiting mechanism (3). A visual inspection camera (45) is used to identify features of the lower positioning tooling material and send the identified visual recognition information to the tooling base (46). The tooling base (46) is used to clamp the lower positioning tooling material and rotate and align the lower positioning tooling material according to the visual recognition information under the drive of the base motor; The gripper (47) is used to grip the lower positioning tooling material, which is moved by the three-axis module (44) and assembled on the assembly base plate limiting mechanism (3).

3. The automatic assembly device for igniter components of pyrotechnic devices according to claim 2, characterized in that, The upper positioning tooling assembly mechanism (9) and the lower positioning tooling assembly mechanism (4) have the same structure.

4. The automatic assembly device for igniter components of pyrotechnic devices according to claim 1, characterized in that, The linear transmission module (2) is equipped with a limiting block (21), a limiting plate (22), a lead screw (23), and a motor (24). After the lower positioning tooling is loaded into the assembly base plate limiting mechanism (3), the limiting block (21) and the limiting plate (22) move backward and open under the drive of the motor (24). The motor (24) drives the lead screw (23) to rotate and drive the linear transmission module (2) to move forward. The transmission distance between workstations is set according to the mechanism design. After moving to the next workstation, the limiting block (21) and the limiting plate (22) move forward under the drive of the motor (24) to fix the assembly base plate limiting mechanism (3) again.

5. The automatic assembly device for igniter components of pyrotechnic devices according to claim 1, characterized in that, The communication pin assembly mechanism (5) includes: The feeding tray (51) is used to regularly feed communication needle material, which is then conveyed to the communication needle funnel (53) by a motor via direct vibration (52); The linear vibrator (52) serves as a conveyor for the communication needle material, with the material tray (51) and the communication needle funnel (53) connected at both ends respectively. A photoelectric sensor switch is installed at the end of the linear vibrator (52) to count the output communication needles (12) and ensure that only one communication needle material enters each funnel slot of the communication needle funnel (53) at a time. The communication needle funnel (53) is used to hold a specific number of communication needles (12). When the assembly base plate limiting mechanism (3) enters the communication needle (12) assembly station and is fixed, the funnel (53) opens and the communication needles (12) enter the communication needle delivery tube (54). The communication needle delivery pipe (54) serves as a communication needle material delivery pipe, with the communication needle funnel (53) and the communication needle module (55) connected at both ends respectively; the center distance of the holes at the end of the communication needle delivery pipe (54) matches the center distance of the holes in the lower positioning fixture (11), ensuring that the communication needle (12) falls naturally into the lower positioning fixture (11) after passing through the communication needle delivery pipe (54) and the communication needle module (55); The communication needle module (55) is used to fix the communication needle delivery tube (54) to ensure the position accuracy of the communication needle delivery tube (54) and the matching accuracy of the end hole center distance with the hole center distance of the lower positioning fixture (11).

6. The automatic assembly device for igniter components of pyrotechnic devices according to claim 5, characterized in that, The insulator assembly mechanism (7) has the same structure as the communication pin assembly mechanism (5).

7. The automatic assembly device for igniter components of pyrotechnic devices according to claim 1, characterized in that, The outer casing assembly mechanism (8) includes: The outer shell slide rail (85) is used to slide the outer shell gripper (84) that has gripped the outer shell (14) through the three-axis module; The three-axis module is used to move along the outer shell slide rail (85) to the visual recognition camera (88), recognize the structural feature information in the structural feature image of the outer shell (14), and drive the outer shell gripper mechanism to move along the outer shell slide rail (85) to the upper part of the assembly base plate limiting mechanism (3) after the outer shell (14) is rotated and aligned, so as to complete the assembly of the outer shell (14). Shell tray (86) for regularly placing shells (14); The outer shell gripper mechanism is mounted on the three-axis module and is used to grip the outer shell (14) on the outer shell tray (86) and rotate and align it according to the structural feature information and the position information of the combination of the lower positioning fixture (11), the communication pin (12) and the insulator (13). The guide rail (87) is used to slide along the guide rail (87) after the housing (14) is assembled, and the mounting base plate limiting mechanism (3) and the linear transmission module (2) slide under the drive of the motor (89) to return to the original position of the linear transmission module (2); A visual recognition camera (88) is used to acquire images of the structural features of the outer shell (14); The motor (89) is used to drive the assembly base plate limiting mechanism (3) and the linear transmission module (2) to slide along the guide rail 87.

8. The automatic assembly device for igniter components of pyrotechnic devices according to claim 1, characterized in that, The assembly finished product unloading mechanism (20) includes: The three-axis module (201) is used to slide along the unloading guide rail (204) to the upper part of the assembly base plate limiting mechanism (3) to grab the assembled finished product; The finished product unloading motor (202) is used to drive the finished product unloading gripper (203) to rotate and align; Finished product unloading gripper (203) is used to grab assembled finished products and place them in the finished product unloading tray according to the settings; The unloading guide rail (204) is used for the movement of the three-axis module (201) and the finished product unloading gripper (203) to realize the gripping of the assembly.

9. A method for automatically assembling a pyrotechnic igniter assembly using an automatic assembly device for pyrotechnic igniter assemblies as described in any one of claims 1 to 8, characterized in that, include: After the assembly base plate limiting mechanism (3) is fixed by the lower positioning tooling assembly mechanism (4), the lower positioning tooling (11) is aligned and assembled on the assembly base plate limiting mechanism (3); After the assembly base plate limiting mechanism (3) moves to the communication pin assembly mechanism (5) and is fixed, the group of communication pins is installed into the preset position of the upper and lower positioning fixture (11) of the assembly base plate limiting mechanism (3). After the assembly base plate limiting mechanism (3) moves to the pre-pressing mechanism (6) and is fixed, the pre-pressing mechanism pre-presses the communication pin (12) installed on the lower positioning fixture (11) to ensure that the communication pin (12) is assembled in place; After the mounting base plate limiting mechanism (3) moves to the insulator assembly mechanism (7) and is fixed, the insulator is aligned and assembled on the communication pin (12) at the preset position; After the assembly base plate limiting mechanism (3) moves to the outer shell assembly mechanism (8) and is fixed, the outer shell (14) is aligned and assembled onto the assembly base plate limiting mechanism (3) upper and lower positioning fixture (11), communication pin (12) and insulator (13) combination; After the assembly base plate limiting mechanism (3) moves to the upper positioning fixture assembly mechanism (9) and is fixed, the upper positioning fixture is aligned and assembled on the assembly base plate limiting mechanism (3) and the combination of the upper and lower positioning fixtures (11), communication needle (12), insulator (13) and shell (14). After the assembly base plate limiting mechanism (3) moves to the assembly final pressing mechanism (10) and is fixed, the assembly base plate limiting mechanism (3) and the combination of the upper and lower positioning fixtures (11), communication needle (12), insulator (13), shell (14) and upper positioning fixture (15) are finally pressed to form a finished product, ensuring that each assembly part is assembled in place. The assembly base plate limiting mechanism (3) moves to the assembly finished product unloading mechanism (20) and the finished product is unloaded.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in claim 9.

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