A device suitable for automatic rejection of unqualified products in a primary detonator production line

Abstract

The application discloses a device suitable for automatic rejection and replacement of unqualified products in a foundation detonator production line in the technical field of automatic production of civilian explosive materials, and relates to an installation workbench, a conveying and positioning mechanism, a clamping and executing mechanism and a control system; the installation workbench is provided with a work station; the conveying and positioning mechanism is arranged on the installation workbench and is used for positioning a combined mold carrying foundation detonators on the work station and moving the combined mold out of the work station after work is completed; the clamping and executing mechanism is arranged on the installation workbench and located above the work station and comprises a driving assembly and a clamping piece driven by the driving assembly; the driving assembly is used for driving the clamping piece to move in a three-dimensional space; and the clamping piece is used for grabbing the foundation detonators. The application can automatically complete the whole process operation from rejection to replacement of unqualified products, can complete replacement in real time after unqualified products are rejected, and effectively improves the overall production efficiency of the production line.

Description

Technical Field

[0001] This invention relates to a device for automatically rejecting and replacing defective products in a basic detonator production line, belonging to the field of automated production technology for civil explosives. Background Technology

[0002] In the production of basic detonators, the traditional production process mainly relies on manual labor to remove and refill defective products. This manual operation is not only inefficient, slowing down the overall production line's processing pace, but also poses significant safety hazards because operators directly handle the semi-finished detonators, easily leading to accidents. Furthermore, manual operation is prone to oversights, resulting in missed removals or refills, affecting the final product's pass rate and failing to meet the demands for automated, large-scale, and safe production of basic detonators.

[0003] Currently, automated rejection equipment has been gradually popularized in the civil explosives industry to replace manual labor in the rejection of defective products. However, most existing devices adopt a single fixed-point rejection structure, which can only realize the simple function of grabbing and rejecting defective products. They are not equipped with a synchronous automatic replacement structure. After rejection, the empty space of the carrier cannot be replenished in real time, causing the production line to be empty and seriously reducing the effective production utilization rate and disrupting the continuous operation rhythm of the production line. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a device for automatically removing and replacing defective products in a basic detonator production line. This device can automatically complete the entire process of removing defective products, emptying die holes, and refilling qualified products, without requiring personnel intervention in hazardous areas, thus completely eliminating the safety hazards of manual operation. Simultaneously, it can fill die hole gaps in real time, ensuring continuous and efficient operation of the production line, increasing production capacity, and without requiring hardware replacement. It can be adapted to the production of multiple detonator specifications through parameter adjustments, meeting flexible production needs and effectively solving various drawbacks of existing technologies.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0006] In a first aspect, the present invention provides an automatic defective product rejection device suitable for a basic detonator production line, comprising an installation workbench, a conveying and positioning mechanism, a clamping and actuating mechanism, and a control system;

[0007] The installation workbench is equipped with a work station;

[0008] The conveying and positioning mechanism is located on the installation workbench and is used to position the combined mold carrying the base detonator at the work station and to move the combined mold out of the work station after the work is completed.

[0009] The gripping actuator is mounted on the installation workbench and located above the work station. It includes a drive component and a gripping component driven by the drive component. The drive component is used to drive the gripping component to move in three-dimensional space. The gripping component is used to grip the basic detonator.

[0010] The installation workbench is also equipped with a scrapping and repair area for storing qualified products and a waste box for collecting unqualified products. The movement trajectory of the clamping parts covers the work station, the scrapping and repair area and the waste box.

[0011] The control system is electrically connected to the conveying and positioning mechanism and the gripping and executing mechanism, respectively. It is used to receive the position information of the non-conforming products detected by the previous process and control the conveying and positioning mechanism and the gripping and executing mechanism to coordinate their actions to perform the rejection operation of moving the non-conforming products from the work station to the waste box and moving the qualified products from the rejection and replacement area to the work station.

[0012] Furthermore, the conveying and positioning mechanism includes a connecting groove, a lateral positioning servo motor, a support plate, and a longitudinal ejection device;

[0013] The connecting groove is fixed to the installation workbench and is used to receive the assembly mold;

[0014] The lateral positioning servo motor is connected to the support plate through a lead screw mechanism. The support plate is slidably disposed at the bottom of the connecting groove to support and lock the combined mold.

[0015] The longitudinal ejection device is installed at the discharge end of the connecting groove and is used to eject the combined mold along the connecting groove.

[0016] Furthermore, the conveying and positioning mechanism also includes a cylinder mounting plate, which is fixed to the discharge end of the connecting groove, and the longitudinal pushing device is a cylinder, the cylinder body of which is fixed to the cylinder mounting plate.

[0017] Furthermore, the gripping actuator includes a support frame, a longitudinal positioning servo motor, a gripper mounting plate, and grippers;

[0018] The support frame is fixed to the installation workbench and spans the work station;

[0019] The longitudinal positioning servo motor is mounted on the support frame, and its power output end is connected to the gripper mounting plate through a screw mechanism.

[0020] The gripper is mounted on the bottom of the gripper mounting plate and serves as the gripping component.

[0021] Furthermore, the support frame has a portal frame structure, and the longitudinal positioning servo motor is fixed to the middle of the top crossbeam of the support frame, so that the vertical movement trajectory of the gripper covers the work station, the material removal and replenishment area and the waste box.

[0022] Furthermore, the control system is also equipped with a dynamic error compensation module, an adaptive clamping force control module, and a replenishment life prediction module. The dynamic error compensation module is used to calculate the final target coordinates of the clamped part, the adaptive clamping force control module is used to calculate the output clamping force of the clamped part, and the replenishment life prediction module is used to calculate the remaining available time of the replenishment area.

[0023] Furthermore, the dynamic error compensation module is configured to calculate the final target coordinates Pfinal using the following formula:

[0024]

[0025] In the formula: Pfinal is the final target coordinate of the gripper; Pnominal is the nominal theoretical coordinate; ΔPvision is the real-time visual compensation amount; Kvib is the vibration transfer function coefficient; t is the time window length from the start of vibration sampling to the current time; A(f) is the vibration amplitude at a specific frequency f; λ is the damping factor; τ is the integral dummy element; α is the linear thermal expansion coefficient of the support arm; ΔT is the real-time temperature rise; Lref is the reference length.

[0026] Furthermore, the adaptive clamping force control module is configured to calculate the output clamping force Fgrip using the following formula:

[0027]

[0028] Fgrip is the theoretical output clamping force of the gripper; k is the safety margin coefficient; E is the elastic modulus of the detonator shell material; I is the moment of inertia of the detonator shell section; δsafe is the allowable deformation; R is the radius of the detonator shell; meff is the equivalent mass of the detonator; amax is the maximum acceleration of the gripper; Ffriction is the minimum static friction threshold.

[0029] Furthermore, the replenishment life prediction module is configured to calculate the remaining available time (Tremain) using the following formula:

[0030]

[0031] In the formula: Tremain is the estimated usable time of the current full mold of qualified products in the replacement area; Ninit is the total number of qualified products initially loaded in the replacement area; xi is the number of non-conforming products recorded in the i-th production cycle; n is the number of replacement cycles completed; λavg is the consumption rate corresponding to the historical average non-conforming rate; σ is the standard deviation of the non-conforming rate.

[0032] Furthermore, the opening and closing stroke of the gripper is automatically adjusted by the control system based on the diameter parameters of the base detonator currently being produced.

[0033] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0034] 1. This device can automatically complete the entire process of rejecting and refilling defective products. No personnel are required to enter the hazardous work area during the entire process, which completely eliminates the safety hazards caused by manual operation and meets the safety requirements of civil explosives production. This device ensures production continuity. The device has a built-in rejection and refill area that can provide qualified products to be refilled. After rejecting defective products, refilling can be completed in real time without any empty space. There is no need for subsequent shutdown for refilling, which maintains the original production rhythm and effectively improves the overall production efficiency of the production line.

[0035] Second, this device uses a servo motor to drive positioning and gripping, requiring no modification to the hardware structure. Only the control parameters need to be adjusted to adapt to the production of basic detonators of different lengths and diameters, significantly reducing the time spent on changeover and debugging. It can meet the flexible production needs of multiple specifications of products on the same line. The accuracy of automatic positioning, gripping, and replenishment of this device is far higher than that of manual operation, eliminating the problems of missed rejection and replenishment that are prone to occur in manual operation. It can effectively reduce the error rate in the rejection and replenishment process, improve the qualification rate of the final product, and meet the requirements of large-scale and automated production of basic detonators. Attached Figure Description

[0036] The accompanying drawings, which form part of this specification, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0037] Figure 1 This is an overall structural diagram of a device for automatically rejecting and replacing defective products in a basic detonator production line, provided by an embodiment of the present invention.

[0038] Figure 2 A schematic diagram of a conveying and positioning component for an automatic rejection device for defective products in a basic detonator production line, provided as an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of a clamping and replacement component for an automatic rejection device for defective products in a basic detonator production line, provided in an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the gripper part of a device for automatically rejecting defective products in a basic detonator production line, provided as an embodiment of the present invention.

[0041] In the diagram: 1. Installation workbench; 2. Connecting groove; 3. Longitudinal ejection device; 4. Cylinder mounting plate; 5. Lateral positioning servo motor; 6. Support plate; 7. Scrap box; 8. Support frame; 9. Longitudinal positioning servo motor; 10. Gripper mounting plate; 11. Gripper; 12. Replenishment area; 13. Work station. Detailed Implementation

[0042] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0043] The following detailed description is exemplary and intended to provide further detailed explanation of the invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this invention is for describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention.

[0044] Example:

[0045] Please see Figures 1 to 4 This solution proposes an automatic defective product rejection device suitable for a basic detonator production line, including an installation workbench 1, a conveyor positioning component, and a gripping and replacement component. The conveyor positioning component includes a connecting groove 2, installed on the surface of the installation workbench 1, for pushing and connecting materials between the conveyor belt and the workstation; a longitudinal ejection device 3, for ejecting the full-mold basic detonator after rejection from the workstation; a cylinder mounting plate 4, for mounting a longitudinal ejection cylinder; a transverse positioning servo motor 5, for transverse positioning of the combined mold basic detonator; a support plate 6, connected to the transverse servo motor screw mounting plate, for supporting and positioning the combined mold; and a waste box 7, for temporary storage of defective products. The gripping and replacement component includes a support frame 8, for supporting the entire component; a longitudinal positioning servo motor 9, for driving the gripper to longitudinally seek and fix its position; a gripper mounting plate 10, connected to the longitudinal servo motor screw mounting plate, for fixing the rejection gripper; and a gripper 11, for gripping and rejecting the basic detonator.

[0046] After the basic detonators in the first mold assembly are filled and pressed, they enter the replacement material area 12 of this station. Before production begins, this mold automatically detects and identifies each loading and pressing process, recording the positions of any defective basic detonators in the assembly. During replacement, the recorded basic detonators are automatically skipped and not used for replacement with qualified products. In subsequent mold assemblies, automatic detection and recording are performed during the filling process. When a defective product appears in a mold, the system automatically locates and grabs the defective basic detonator, placing it in the waste box 7 on the conveying and positioning component. Then, a qualified basic detonator is grabbed from the replacement material area 12 and placed in the corresponding position in the mold assembly, completing the automatic replacement of the defective product. Once all qualified products in the replacement material area 12 have been replaced, the system automatically removes the mold assembly from the station and automatically replaces it with the next mold assembly for subsequent replacement.

[0047] The workflow of this device is specifically divided into the following steps: First, the combined mold to be rejected flows into the working station 13 of this device along with the production line. The horizontal positioning servo motor 5 drives the support plate 6 to move, accurately positioning the combined mold in the working area and locking the position of the combined mold to ensure the subsequent gripping and positioning accuracy. Second, the control system retrieves the coordinate information of the defective products in the combined mold recorded by the previous process detection system, and controls the vertical positioning servo motor 9 to drive the gripper mounting plate 10 and gripper 11 to move to the corresponding position of the defective product. The gripper 11 clamps the defective base detonator. Then, the vertical positioning servo motor 9 drives the gripper 11 to move above the waste box 7, and the gripper 11 releases. First, the defective product is placed into the scrap box 7 to complete the rejection. Then, the longitudinal positioning servo motor 9 moves to the position of the qualified product in the rejection and replenishment area 12. After the gripper 11 picks up the qualified product to be replenished, it moves to the empty mold hole position in the combination mold and accurately puts the qualified product into the mold hole to complete the rejection and replenishment operation of a single defective product. If there are multiple defective products in the combination mold, the above rejection-replenishment action is repeated until all the defective products recorded in the combination mold are rejected and replenished. Finally, after all rejection and replenishment operations are completed, the longitudinal ejection cylinder is activated, and the full mold combination mold that has completed rejection and replenishment is pushed out of this station through the longitudinal ejection device 3, so that it can enter the next production stage and complete a single operation cycle of this station.

[0048] During the gripping and positioning process, the opening and closing stroke of the gripper 11 can be automatically adjusted by the control system according to the diameter parameters of the basic detonator currently being produced. This eliminates the need for manual replacement of the gripper 11 or structural adjustments, ensuring stable gripping of detonators of different specifications and meeting production changeover requirements. Once all qualified molded products in the replenishment area 12 have been replenished, the control system triggers the longitudinal ejection device 3 to remove the empty replenishment mold from the workstation. Simultaneously, the feeding mechanism delivers the next batch of qualified basic detonators into the replenishment area 12, achieving automatic replenishment of the material source without the need for manual material replenishment, ensuring continuous operation of the device.

[0049] This solution provides an automatic defective product rejection device that is adaptable to multiple product specifications and can automatically complete the entire rejection process. It completely replaces manual operation in hazardous areas, eliminating the safety hazards of manual operation. At the same time, it enables online real-time material replenishment, preventing empty spaces after rejection from flowing with the production line, ensuring continuous and stable production rhythm, and improving the overall output efficiency of the production line. It can be adapted to the production of basic detonators of different specifications without changing the hardware structure, shortening the changeover and debugging time, meeting the needs of flexible co-line production of multiple product specifications, and ultimately reducing the error rate of defective product rejection, improving the pass rate of basic detonator finished product production, and adapting to the unmanned, continuous, and highly reliable production requirements of civil explosives production lines.

[0050] It should be noted that this embodiment further proposes an intelligent rejection scheme for defective products in a basic detonator production line. This scheme achieves full-process intelligence from positioning, gripping, rejection to replenishment by introducing machine vision guidance, dynamic error compensation algorithms, adaptive clamping force control models, and replenishment life prediction mechanisms. The core of this scheme lies in establishing three key mathematical calculation models:

[0051] (i) Dynamic path planning model based on multidimensional error coupling: used to calculate the final target coordinates of the gripper, integrating visual deviation, mechanical thermal deformation and vibration spectrum data.

[0052] (ii) Adaptive clamping force control model based on material stiffness identification: used to calculate the optimal driving force of the clamp to prevent the detonator from deforming due to overpressure or falling off due to underpressure.

[0053] (III) Markov chain-based model for predicting the remaining lifespan of the replenishment source: used to predict the remaining usage time of the replenishment zone in full state, and to realize proactive early warning and switching of replenishment.

[0054] Through the above model, this solution can significantly improve the accuracy of defective products, protect product integrity, achieve seamless integration of the logistics system, completely replace manual labor, and improve the continuity and reliability of the production line.

[0055] I. Device Composition

[0056] In addition to the original device's structural foundation, this solution also integrates a high-precision laser displacement sensor, a vision camera, and a temperature sensor for data acquisition.

[0057] II. Core Calculation Formulas and Physical Meaning

[0058] Before executing the rejection action, the control system of this solution (the main execution body is the production line main control PLC and motion control card) will call the following three formulas for calculation:

[0059] Formula 1: Dynamic Path Planning Coordinate Correction Formula

[0060] The absolute coordinates used to calculate the final movement of the gripper are used to eliminate errors caused by mechanical vibration and thermal drift.

[0061]

[0062] In the formula: Pfinal is the final target coordinate of the gripper, executed by the motion control card, used to generate the pulse sequence for driving the motor; Pnominal is the nominal theoretical coordinate, the data source is the CAD coordinate data pre-taught and entered; ΔPvision is the real-time visual compensation amount, the data source is the image recognition result of the industrial camera above the workstation on the current mold hole position, the physical meaning is to correct the placement deviation caused by the mechanical clearance of the combined mold; Kvib is the vibration transfer function coefficient, the data source is the system identification and calibration, the physical meaning is to describe the attenuation ratio of the frame vibration transmitted to the end gripper; t is the time window length from the vibration sampling start time to the current time; τ is The integral dummy element, in physical terms, is the "backtracking time from the current moment"; A(f) is the vibration amplitude at a specific frequency f, with data sourced from an accelerometer mounted on the support frame, and in physical terms, it collects the real-time vibration state of the mechanical body during operation; λ is the damping factor, with data sourced from a material property library, and in physical terms, it characterizes the mechanical structure's ability to dissipate vibration energy; α is the linear thermal expansion coefficient of the support arm, with data sourced from a material handbook; ΔT is the real-time temperature rise, with data sourced from a PT1000 temperature sensor mounted near the support plate, and in physical terms, it quantifies the thermal deformation elongation caused by long-term operation of the equipment; Lref is the reference length, i.e., the lever arm length from the support plate to the gripper.

[0063] Formula 2: Adaptive Clamping Force Control Formula

[0064] Used to calculate the driving force output by the gripper cylinder to accommodate the physical characteristics of detonators of different specifications.

[0065]

[0066] Fgrip represents the theoretical output clamping force of the gripper, and the actuator is a pneumatic servo valve used to regulate the air pressure. k is the safety margin coefficient, ranging from 1.5 to 2.0, sourced from process safety specifications, and its physical meaning is to prevent slippage caused by surface oil contamination or parameter fluctuations. E is the elastic modulus of the detonator shell material, sourced from the material database automatically retrieved by the MES system based on the current product batch number, and its physical meaning is to characterize the material's resistance to deformation. I is the moment of inertia of the detonator shell section, calculated based on the detonator's outer diameter D and inner diameter d. The physical meaning of δ_safe is the geometric characteristic reflecting the shell's resistance to bending deformation; δ_safe is the allowable deformation, with data sourced from product quality standards, and its physical meaning is the maximum allowable indentation of the detonator shell without plastic deformation; R is the radius of the detonator shell, with data sourced from real-time measurement by a laser micrometer; meff is the equivalent mass of the detonator, with data sourced from the BOM list, and its physical meaning is the inertial force generated during accelerated motion; amax is the maximum acceleration of the gripper, with data sourced from the current speed planning curve of the motion controller, and its physical meaning is to prevent the detonator from flying out during sudden stops or high-speed reversals; Ffriction is the minimum static friction threshold, with data sourced from experimental determination, and its physical meaning is the minimum normal force conversion value required to overcome gravity or small external forces.

[0067] Formula 3: Formula for Predicting the Remaining Life of the Feed Source

[0068] It is used to predict the remaining available time in the material replenishment area, enabling proactive scheduling of logistics.

[0069]

[0070] In the formula: Tremain is the estimated usable time of the current full mold of qualified products in the rejection and replenishment area. The execution body is the host computer SCADA system, which is used to trigger replenishment commands or alarms; Ninit is the total number of qualified products initially loaded in the rejection and replenishment area. The data source is the counting signal transmitted from the previous station; xi is the number of defective products recorded in the i-th production cycle. The data source is the online detection instrument of the previous process; n is the number of rejection and replenishment cycles completed. The data source is the counter; λavg is the consumption rate corresponding to the historical average defect rate. The data source is the Poisson distribution mean obtained from the historical production database; σ is the standard deviation of the defect rate. The data source is historical data statistics. Its physical meaning is to characterize the stability fluctuation of the production process.

[0071] Taking the production of a batch of Φ6.0mm basic detonators as an example, the workflow and formula application of this solution are explained in detail:

[0072] Initialization and Positioning: A module flows into workstation 13, and the lateral positioning servo motor 5 drives the support plate 6 to lock its position. The vision system captures the edge of the module and measures a lateral deviation ΔPvision = +0.05mm. At this time, the temperature sensor reports ΔT = 8K (temperature rise during continuous operation of the equipment). The control system calls Formula 1, substituting Pnominal = 100.00mm and Kvib = 0.8. With Lref=500mm, Pfinal=100.00+0.05+0.008+0.092=100.15mm is calculated. The motion control card then drives the longitudinal positioning servo motor 9 to move the gripper 11 precisely to 100.15mm, instead of the original 100.00mm, effectively offsetting thermal deformation and vibration errors.

[0073] Picking up defective products: The control system retrieves the defect coordinates of the module and prepares to pick up the product. The laser micrometer measures the current detonator radius R=3.0mm. The MES system, based on the batch number, identifies the material as aluminum with an elastic modulus E=70GPa. The wall thickness is used to calculate the I value. The allowable deformation δsafe=0.02mm is set. The maximum acceleration of the gripper is amax=5m / s². The control system calls formula two to calculate Fgrip=1.8N. The pneumatic servo valve receives the command and precisely outputs the corresponding pressure, causing gripper 11 to close. This force ensures that the detonator does not fall off during high-speed movement and is far below the yield limit of the aluminum shell, avoiding indentations or deformation of the tube body caused by traditional constant force clamping. Subsequently, gripper 11 places the defective product into the waste bin 7.

[0074] Replenishment and Lifespan Management: The system prepares to retrieve qualified products from replenishment area 12 for replenishment. At this time, the SCADA system records that 120 rounds of qualified products have been consumed in this shift. Historical statistics show that the non-conforming rate fluctuates significantly under this reagent ratio, with a high σ value. The system calls formula three, given Ninit=200, ∑xi=120, λavg=10 rounds / min, and σ=2.5. The calculation yields... If the system determines that the remaining time is below the set safety threshold (10 minutes), it immediately sends a "pre-replenishment" request to the logistics scheduling system. The longitudinal ejection device 3 remains inactive, waiting for the next full mold to be in place before seamlessly switching over.

[0075] Cyclic operation: Repeat the above steps until all defects in the module are repaired. The longitudinal ejection device 3 then activates, ejecting the full mold and proceeding to the next stage.

[0076] Compared with existing technologies, this solution has the following significant technical advantages:

[0077] This solution completely eliminates the need for manual entry into hazardous materials production workshops through full-process automation and intelligent control, achieving physical isolation and human-machine separation of hazardous processes. This significantly improves the inherent safety level of the production process and aligns with the strategic direction of the civil explosives industry regarding "machine replacement of humans" and "lights-out factories." Unlike traditional open-loop control, the dynamic path planning model proposed in this solution introduces vibration integral and thermodynamic deformation compensation mechanisms. This enables the device to maintain micron-level repeatability under complex operating conditions such as long-term continuous operation, ambient temperature changes, and mechanical wear, solving the persistent problems of missed grabs and impact pins caused by thermal drift and vibration in traditional equipment.

[0078] This solution utilizes an adaptive clamping force control model, enabling the device to automatically identify product specifications and match optimal mechanical parameters. Seamless switching between detonators of different materials and diameters is achieved without manual replacement of hardware clamps. This "soft contact" characteristic effectively protects the microstructural integrity of pyrotechnic products, significantly reducing secondary scrap rates caused by mechanical stress. The solution introduces a probabilistic statistical-based replenishment life prediction mechanism, changing the traditional passive waiting-for-material-out-of-stock-alarm mode. The system can predict material consumption trends in advance and proactively trigger the replenishment process, ensuring continuous material supply at the replenishment station, avoiding production line downtime due to waiting for replenishment, and significantly improving the overall equipment efficiency (OEE) of the entire line. The entire replenishment process is not only the execution of physical actions but also a process of data collection and analysis. The system records key parameters such as replenishment position, clamping force, and consumption rate in real time, forming a big data chain for quality traceability. This provides strong data support for process optimization in upstream processes, promoting the transformation of quality management from "post-inspection" to "pre-prediction and in-process control."

[0079] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative and not exhaustive. All modifications within the scope of this invention or its equivalents are included in this invention.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A device for automatically rejecting and replacing defective products in a basic detonator production line, characterized in that, Includes a mounting workbench (1), a conveying and positioning mechanism, a gripping and executing mechanism, and a control system; The installation workbench (1) is equipped with a work station (13); The conveying and positioning mechanism is located on the installation workbench (1) and is used to position the combined mold carrying the base detonator at the work station (13) and move the combined mold out of the work station after the work is completed. The gripping actuator is located on the installation workbench (1) and above the work station (13), and includes a drive component and a gripping component driven by the drive component. The drive component is used to drive the gripping component to move in three-dimensional space, and the gripping component is used to grip the basic detonator. The installation workbench (1) is also provided with a scrapping area (12) for storing qualified products and a waste box (7) for collecting unqualified products. The movement trajectory of the clamping parts covers the work station (13), the scrapping area (12) and the waste box (7). The control system is electrically connected to the conveying and positioning mechanism and the clamping and execution mechanism respectively. It is used to receive the location information of the non-conforming products detected by the previous process and control the conveying and positioning mechanism and the clamping and execution mechanism to cooperate in order to perform the removal and repair operation of moving the non-conforming products from the work station (13) to the waste box (7) and moving the qualified products from the removal and repair area (12) to the work station (13).

2. The device for automatic rejection and replacement of defective products in a basic detonator production line according to claim 1, characterized in that, The transmission and positioning mechanism includes a connecting groove (2), a horizontal positioning servo motor (5), a support plate (6), and a vertical ejection device (3). The connecting groove (2) is fixed on the installation workbench (1) and is used to receive the combined mold; The horizontal positioning servo motor (5) is connected to the support plate (6) through a lead screw mechanism. The support plate (6) is slidably disposed at the bottom of the connecting groove (2) to support and lock the combined mold. The longitudinal ejection device (3) is installed at the discharge end of the connecting groove (2) and is used to eject the combined mold along the connecting groove (2).

3. The device for automatic rejection of defective products in a basic detonator production line according to claim 2, characterized in that, The conveying and positioning mechanism also includes a cylinder mounting plate (4), which is fixed to the discharge end of the connecting groove (2). The longitudinal pushing device (3) is a cylinder, and its cylinder body is fixed on the cylinder mounting plate (4).

4. The device for automatic rejection and replacement of defective products in a basic detonator production line according to claim 1, characterized in that, The gripping actuator includes a support frame (8), a longitudinal positioning servo motor (9), a gripper mounting plate (10), and grippers (11). The support frame (8) is fixed on the installation workbench (1) and spans the work station (13). The longitudinal positioning servo motor (9) is mounted on the support frame (8), and its power output end is connected to the gripper mounting plate (10) through a screw mechanism. The gripper (11) is installed at the bottom of the gripper mounting plate (10) as the gripping component.

5. The device for automatic rejection of defective products in a basic detonator production line according to claim 4, characterized in that, The support frame (8) has a portal frame structure. The longitudinal positioning servo motor (9) is fixed in the middle of the top crossbeam of the support frame (8), so that the vertical movement trajectory of the gripper (11) covers the work station (13), the material removal and replenishment area (12) and the waste box (7).

6. The device for automatic rejection of defective products in a basic detonator production line according to claim 1, characterized in that, The control system is also equipped with a dynamic error compensation module, an adaptive clamping force control module and a replenishment life prediction module. The dynamic error compensation module is used to calculate the final target coordinates of the clamped part, the adaptive clamping force control module is used to calculate the output clamping force of the clamped part, and the replenishment life prediction module is used to calculate the remaining available time of the replenishment area (12).

7. The device for automatic rejection of defective products in a basic detonator production line according to claim 6, characterized in that, The dynamic error compensation module is configured to calculate the final target coordinates Pfinal using the following formula: In the formula: Pfinal is the final target coordinate of the gripper; Pnominal is the nominal theoretical coordinate; ΔPvision is the real-time visual compensation amount; Kvib is the vibration transfer function coefficient; t is the time window length from the start of vibration sampling to the current time; A(f) is the vibration amplitude at a specific frequency f; λ is the damping factor; τ is the integral dummy element; α is the linear thermal expansion coefficient of the support arm; ΔT is the real-time temperature rise; Lref is the reference length.

8. The device for automatic rejection of defective products in a basic detonator production line according to claim 6, characterized in that, The adaptive clamping force control module is configured to calculate the output clamping force Fgrip using the following formula: Fgrip is the theoretical output clamping force of the gripper; k is the safety margin coefficient; E is the elastic modulus of the detonator shell material; I is the moment of inertia of the detonator shell section; δsafe is the allowable deformation; R is the radius of the detonator shell; meff is the equivalent mass of the detonator; amax is the maximum acceleration of the gripper; Ffriction is the minimum static friction threshold.

9. The device for automatic rejection of defective products in a basic detonator production line according to claim 6, characterized in that, The replenishment life prediction module is configured to calculate the remaining available time Tremain using the following formula: In the formula: Tremain is the estimated usable time of the current full mold of qualified products in the replacement area; Ninit is the total number of qualified products initially loaded in the replacement area; xi is the number of non-conforming products recorded in the i-th production cycle; n is the number of replacement cycles completed; λavg is the consumption rate corresponding to the historical average non-conforming rate; σ is the standard deviation of the non-conforming rate.

10. The device for automatic rejection of defective products in a basic detonator production line according to claim 4, characterized in that, The opening and closing stroke of the gripper (11) is automatically adjusted by the control system according to the diameter parameters of the base detonator currently being produced.

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