Automatic explosive dispensing equipment for initiating explosive devices

Abstract

The utility model belongs to the technical field of initiating explosive device production, and particularly relates to automatic explosive dispensing equipment for initiating explosive devices. The XZ double-axis moving module is arranged at the position, far away from the first fixed circulation line, of the rack, so that automatic medicine dispensing operation of the multiple loading holes in the rectangular array in the carrier plate can be achieved, the structure is more stable, and the accuracy is higher, and due to the fact that in the medicine dispensing process, the transferring line is far away from the first fixed circulation line and the second fixed circulation line, the medicine dispensing efficiency is improved. And the medicine dispensing position is wider. By arranging the structure of the positioning hole plate and the lifting supporting base on the transfer line, when the carrier plate moves to the position below the positioning hole plate, the lifting supporting base is controlled to jack the carrier plate upwards, so that first through holes of the positioning hole plate correspond to loading holes of the carrier plate one to one, and the upper edge of the initiating explosive device shell is pressed against the lower portion of the positioning hole plate to be fixed; therefore, the initiating explosive device shell is prevented from shaking in the explosive dispensing process, the explosive dispensing production efficiency of the initiating explosive device is effectively improved, and the explosive dispensing position accuracy is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of initiating explosive device production, and particularly relates to an automatic initiating explosive device medicine dropping equipment. Background Art

[0002] Medicine dropping is a common process for initiating explosive devices. At present, most of the medicine dropping for initiating explosive devices is manual. Glue liquid is added to the medicine to configure it into a colloidal ignition medicine, and then the ignition medicine is manually dropped on the ignition position of the initiating explosive device using a thin wooden stick. A major problem with this method is that the medicine dropping position is inaccurate, the medicine amount control is not precise, and the product performance processed by different people varies greatly. Only unqualified products can be removed through means such as later weighing and appearance inspection, resulting in a low qualified rate and unstable quality. Content of the Utility Model

[0003] The technical problem to be solved by the utility model is: how to improve the production efficiency of initiating explosive device medicine dropping and improve the accuracy of the medicine dropping position.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0005] An automatic initiating explosive device medicine dropping equipment, comprising:

[0006] A frame;

[0007] A first fixed transfer line, the first fixed transfer line is connected to the frame, and the first fixed transfer line is provided with a first conveyor belt with a conveying direction of X;

[0008] A second fixed transfer line, the second fixed transfer line is connected to the frame, the second fixed transfer line is provided with a second conveyor belt with a conveying direction of X, the second fixed transfer line is located in the X direction of the first fixed transfer line, and there is a gap between the first fixed transfer line and the second fixed transfer line;

[0009] A Y-direction screw rod guide rail assembly, the Y-direction screw rod guide rail assembly is arranged between the first fixed transfer line and the second fixed transfer line;

[0010] A transfer line, the transfer line includes a moving seat, the moving seat is slidably connected to the Y-direction screw rod guide rail assembly; a lifting support seat is connected to the moving seat, a positioning hole plate is fixedly connected to the moving seat, a plurality of first through holes are arranged in a rectangular array on the positioning hole plate, the positioning plate is located directly above the lifting support seat, and third conveyor belts with a conveying direction of X are arranged on both sides of the lifting support seat;

[0011] A carrier plate, the carrier plate is provided with loading holes corresponding to the first through holes one by one, and the loading holes are used for positioning and loading the initiating explosive device housing;

[0012] XZ two-axis moving module, the XZ two-axis moving module is located above the Y-direction screw guide assembly, and the XZ two-axis moving module is located on the Y-direction side of the first fixed transfer line;

[0013] Camera, the camera is connected to the XZ two-axis moving module, and the projection direction of the camera is vertically downward;

[0014] Medicine dropping device, the medicine dropping device includes a medicine dropping cylinder, the medicine dropping cylinder is connected to the XZ two-axis moving module, and a vertically downward medicine outlet is provided at the lower part of the medicine dropping cylinder.

[0015] Preferably, two first lifting limit columns arranged and distributed along the X direction are further provided on the upper part of the moving seat of the transfer line. The distance between the two first lifting limit columns is equal to the X-direction width of the carrier board. When the first lifting limit columns are in the rising state and the X-direction end of the carrier board abuts against the X-direction reverse side of one first lifting limit column, the X-direction reverse side of the carrier board abuts against the X-direction side of the other first lifting limit column, and the loading holes on the carrier board are aligned with the first through holes of the positioning hole plate one by one.

[0016] Preferably, a sealing cover is detachably connected to the upper part of the medicine dropping cylinder, the sealing cover is connected with a ventilation pipe, and the ventilation pipe is connected with a gas source.

[0017] Preferably, a chamfer is provided at the upper part of the first through hole.

[0018] Preferably, in the automatic detonator medicine dropping equipment, the central axis of the projection direction of the camera and the central axis of the medicine outlet of the medicine dropping cylinder are located in the same vertical plane, and the vertical plane is perpendicular to the Y direction.

[0019] Preferably, the XZ two-axis moving module includes a gantry bracket, an X-direction screw guide assembly, a first sliding seat, a Z-direction screw guide assembly and a second sliding seat. The gantry bracket is erected on the frame, and the gantry bracket straddles both sides of the Y-direction screw guide assembly. The X-direction screw guide assembly is connected to the gantry bracket, the first sliding seat is slidably connected to the X-direction screw guide assembly, the Z-direction screw guide assembly is connected to the first sliding seat, the second sliding seat is slidably connected to the Z-direction screw guide assembly, and the camera and the medicine dropping cylinder are both connected to the second sliding seat.

[0020] Preferably, a limit mounting seat for mounting the medicine dropping cylinder is provided on the second sliding seat, and a locking mechanism for locking the medicine dropping cylinder is provided on the limit mounting seat.

[0021] The beneficial effects of the present utility model are as follows: By setting an XZ biaxial movement module at a position on the frame away from the first fixed transfer line, the automatic medicine - dropping operation for multiple loading holes in a rectangular array on the carrier plate can be realized. The structure is more stable and the accuracy is higher. During the medicine - dropping process, since the transfer line is far from the first fixed transfer line and the second fixed transfer line, the position for medicine - dropping is more open. By setting the structure of a positioning hole plate and a lifting support seat on the transfer line, when the carrier plate rotates to below the positioning hole plate, the carrier plate is lifted upward by controlling the lifting support seat, so that the first through - holes of the positioning hole plate correspond to the loading holes of the carrier plate one by one, and the upper edge of the initiator housing is pressed against the lower part of the positioning hole plate for fixation. Thus, when medicine - dropping, the initiator housing is prevented from shaking, effectively improving the production efficiency of initiator medicine - dropping and enhancing the accuracy of the medicine - dropping position. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 FIG. 1 is a schematic structural diagram of a first perspective of an initiator automatic medicine - dropping device according to a specific embodiment of the present utility model;

[0023] Figure 2 is Figure 1 an enlarged view of part A of

[0024] Figure 3 FIG. 2 is a schematic structural diagram of a second perspective of an initiator automatic medicine - dropping device according to a specific embodiment of the present utility model;

[0025] Figure 4 is Figure 3 an enlarged view of part B of

[0026] Figure 5 is Figure 3 an enlarged view of part C of

[0027] Figure 6 FIG. 3 is a schematic structural diagram of a third perspective of an initiator automatic medicine - dropping device according to a specific embodiment of the present utility model;

[0028] Figure 7 is Figure 6 an enlarged view of part D of

[0029] Figure 8 FIG. 4 is a schematic structural diagram of a medicine - dropping device of an initiator automatic medicine - dropping device according to a specific embodiment of the present utility model;

[0030] Reference Numerals:

[0031] 1. Frame;

[0032] 2. First fixed transfer line; 21. First conveyor belt;

[0033] 3. Second fixed transfer line; 31. Second conveyor belt;

[0034] 4. Y-axis lead screw guide rail assembly;

[0035] 5. Transfer line; 51. Moving seat; 52. Lifting support seat; 53. Positioning hole plate; 531. First through hole; 532. Chamfer; 54. Third conveyor belt; 55. First lifting limit post;

[0036] 6. Carrier plate; 61. Loading hole;

[0037] 7. XZ double-axis moving module; 71. Gantry bracket; 72. X-axis lead screw guide rail assembly; 73. First sliding seat; 74. Z-axis lead screw guide rail assembly; 75. Second sliding seat; 751. Limit mounting seat; 752. Locking mechanism;

[0038] 8. Camera;

[0039] 9. Medicine dropping device; 91. Medicine dropping cylinder; 92. Medicine outlet; 93. Sealing cover; 94. Vent pipe;

[0040] 10. Limit strip;

[0041] 11. Initiator housing. Detailed implementation manners

[0042] To describe in detail the technical content, achieved objectives and effects of the present utility model, the following is described in conjunction with the implementation manners and with reference to the drawings.

[0043] Please refer to Figures 1 to 8 , the detailed implementation manner of the present utility model relates to an automatic medicine dropping device for initiators, including:

[0044] Frame 1;

[0045] First fixed transfer line 2, the first fixed transfer line 2 is connected to the frame 1, and the first fixed transfer line 2 is provided with a first conveyor belt 21 with a conveying direction of X-axis;

[0046] Second fixed transfer line 3, the second fixed transfer line 3 is connected to the frame 1, the second fixed transfer line 3 is provided with a second conveyor belt 31 with a conveying direction of X-axis, the second fixed transfer line 3 is located in the X-axis direction of the first fixed transfer line 2, and there is a gap between the first fixed transfer line 2 and the second fixed transfer line 3;

[0047] Y-axis lead screw guide rail assembly 4, the Y-axis lead screw guide rail assembly 4 is arranged between the first fixed transfer line 2 and the second fixed transfer line 3;

[0048] Transfer line 5, the transfer line 5 includes a moving seat 51, the moving seat 51 is slidably connected to the Y-direction screw guide assembly 4; a lifting support seat 52 is connected to the moving seat 51, the moving seat 51 is fixedly connected with a positioning hole plate 53, and a plurality of first through holes 531 are distributed in a rectangular array on the positioning hole plate 53. The positioning plate is located directly above the lifting support seat 52, and third conveyor belts 54 with a conveying direction of X-direction are arranged on both sides of the lifting support seat 52;

[0049] Carrier plate 6, the carrier plate 6 is provided with loading holes 61 corresponding to the first through holes 531 one by one, and the loading holes 61 are used for positioning and loading the initiator housing 11;

[0050] XZ two-axis moving module 7, the XZ two-axis moving module 7 is located above the Y-direction screw guide assembly 4, and the XZ two-axis moving module 7 is located on the Y-direction side of the first fixed transfer line 2;

[0051] Camera 8, the camera 8 is connected to the XZ two-axis moving module 7, and the projection direction of the camera 8 is vertically downward;

[0052] Priming device 9, the priming device 9 includes a priming cylinder 91, the priming cylinder 91 is connected to the XZ two-axis moving module 7, and a vertically downward medicine outlet 92 is arranged at the lower part of the priming cylinder 91;

[0053] The automatic priming and conveying method of initiators includes the following steps:

[0054] S1: Control the moving seat 51 of the transfer line 5 to move to the position between the first fixed transfer line 2 and the second fixed transfer line 3, so as to form a continuous conveying channel between the first conveyor belt 21, the third conveyor belt 54 and the second conveyor belt 31;

[0055] S2: Place the carrier plate 6 with the initiator housing 11 loaded in the loading hole 61 on the first fixed transfer line 2, and the first fixed transfer line 2 transfers the carrier plate 6 to the conveyor belt of the transfer line 5;

[0056] S3: When the carrier plate 6 moves to the position between the lifting support seat 52 and the positioning hole plate 53, control the lifting support seat 52 to move upward, so that the upper edge of the initiator housing 11 on the carrier plate 6 presses against the lower part of the positioning hole plate 53, and make the first through holes 531 align with the loading holes 61 one by one;

[0057] S4: Control the transfer line 5 to move in the Y-direction, so that the axes of one row of unprimed loading holes 61 of the carrier plate 6 and the axis of the medicine outlet 92 of the priming cylinder 91 are located in the same vertical plane, and the vertical plane is perpendicular to the Y-direction;

[0058] S5: The XZ two-axis moving module 7 drives the camera 8 to move above each loading hole 61 in one row in sequence to obtain the medicine-dropping position information, and the XZ two-axis moving module 7 drives the medicine-dropping device 9 to drop medicine at the positions where medicine needs to be dropped in each loading hole 61 in one row in sequence;

[0059] Repeat S4 - S5 until medicine has been dropped in each loading hole 61 on the carrier plate 6;

[0060] S6: Control the transfer line 5 to move in the reverse Y direction to the position between the first fixed transfer line 2 and the second fixed transfer line 3, so as to form a continuous conveying channel between the first conveyor belt 21, the third conveyor belt 54 and the second conveyor belt 31;

[0061] S7: Control the lifting support base 52 to move downward, so that the carrier plate 6 moves downward and is supported on the third conveyor belt 54;

[0062] S8: The transfer line 5 transfers the medicine-dropped carrier plate 6 to the second conveyor belt 31 of the second fixed transfer line 3 through the third conveyor belt 54. At the same time, place the carrier plate 6 with the explosive device housing 11 in the loading hole 61 on the first fixed transfer line 2, and the first fixed transfer line 2 transfers the carrier plate 6 to the conveyor belt of the transfer line 5;

[0063] Repeat S3 - S8.

[0064] In the above embodiments, it should be noted that the lifting support base 52 includes a jacking plate, and the jacking plate is connected to the upper part of the moving seat 51 through a plurality of hydraulic cylinders and can be lifted and lowered by controlling the lifting of the hydraulic cylinders.

[0065] In the above embodiments, since the moving seat 51 of the transfer line 5 can move along the Y-direction screw guide rail assembly 4, the transfer line 5 can be switched between two states. In the first state, the moving seat 51 of the transfer line 5 moves to the position between the first fixed transfer line 2 and the second fixed transfer line 3, so as to form a continuous conveying channel between the first conveyor belt 21, the third conveyor belt 54 and the second conveyor belt 31, which is convenient for the in-line transfer of the carrier plate 6. In the second state, the moving seat 51 of the transfer line 5 moves along the Y-direction screw guide rail assembly 4 to a position far away from the first fixed transfer line 2 and the second fixed transfer line 3. Since the Y-direction screw guide rail assembly 4 provides the single-axis movement of the carrier plate 6, only the XZ two-axis moving module 7 needs to be set at a position on the frame 1 far away from the first fixed transfer line 2 to realize the automatic medicine-dropping operation for the multiple loading holes 61 in the rectangular array on the carrier plate 6. Compared with the method of directly setting the XYZ three-axis moving module on the frame 1, the structure is more stable and the accuracy is higher. Since the transfer line 5 is far away from the first fixed transfer line 2 and the second fixed transfer line 3 during the medicine-dropping process, the position for medicine-dropping is more open, which is convenient for manual inspection of the medicine-dropping situation;

[0066] In the above embodiments, the shape of the initiator housing 11 is a cylindrical housing with an open upper part. When it is installed in the loading hole 61 of the carrier plate 6, the upper edge of the initiator housing 11 will protrude above the loading hole 61. If the upper edge of the initiator housing 11 is not fixed during ignition, it is easy to cause deviation of the ignition position due to the shaking of the initiator housing 11 during ignition. By setting the structure of the positioning hole plate 53 and the lifting support base 52 on the transfer line 5, when the carrier plate 6 rotates to below the positioning hole plate 53, the carrier plate 6 is lifted upward by controlling the lifting support base 52, so that the first through holes 531 of the positioning hole plate 53 and the loading holes 61 of the carrier plate 6 correspond one by one, and the upper edge of the initiator housing 11 is pressed against the lower part of the positioning hole plate 53 to be fixed, thus avoiding the shaking of the initiator housing 11 during ignition.

[0067] In the above embodiments, the camera 8 is connected to the visual positioning system, and the visual positioning system is linked with the XZ biaxial moving module 7 and the Y-direction screw guide assembly 4. After the transfer line 5 moves to the position of S5, the XZ biaxial moving module 7 is controlled to drive the camera 8 to move to the position of one of the loading holes 61, and the positions of the initiator housing 11 that need to be ignited are photographed and identified one by one. By controlling the adjustment of the XZ biaxial moving module 7 and the Y-direction screw guide assembly 4, the medicine outlet 92 of the medicine dispensing cylinder 91 is moved to the accurate ignition position; the accuracy of the ignition position can reach within 0.03 mm, with accurate position, high stability and good consistency.

[0068] As a preferred embodiment, on the upper part of the moving seat 51 of the transfer line 5 in the initiator automatic ignition device, there are also two first lifting limit columns 55 arranged and distributed along the X direction. The distance between the two first lifting limit columns 55 is equal to the X-direction width of the carrier plate 6. When the first lifting limit columns 55 are in the rising state and the X-direction end of the carrier plate 6 abuts against the X-direction reverse side of the first lifting limit column 55, the X-direction reverse side of the carrier plate 6 abuts against the X-direction side of the other first lifting limit column 55, and the loading holes 61 on the carrier plate 6 are aligned with the first through holes 531 of the positioning hole plate 53 one by one;

[0069] In the initiator automatic ignition conveying method, S3 is specifically: controlling the first lifting limit column 55 on the X-direction side to the rising state. When the carrier plate 6 moves until the X-direction end of the carrier plate 6 abuts against the X-direction reverse side of the first lifting limit column 55, controlling the other first lifting limit column 55 on the X-direction reverse side to rise, so that the carrier plate 6 is limited between the two first lifting limit columns 55, and controlling the lifting support base 52 to move upward, so that the upper edge of the initiator housing 11 on the carrier plate 6 is pressed against the lower part of the positioning hole plate 53, and the first through holes 531 are aligned with the loading holes 61 one by one;

[0070] S8 is specifically as follows: controlling the first lifting limit column 55 to a lowered state, disengaging from the abutment with the carrier plate 6, and the transfer line 5 transfers the carrier plate 6 after being charged to the second conveyor belt 31 of the second fixed circulation line 3 through the third conveyor belt 54; at the same time, the carrier plate 6 with the pyrotechnic shell 11 installed in the loading hole 61 is placed on the first fixed circulation line 2, and the first fixed circulation line 2 transfers the carrier plate 6 to the conveyor belt of the transfer line 5.

[0071] In the above embodiment, before the lifting support seat 52 lifts the carrier plate 6 upward, the carrier plate 6 is positioned by the two first lifting limit columns 55 to ensure that the first through holes 531 and the loading holes 61 correspond one to one.

[0072] As a preferred embodiment, in the automatic ignition device for explosives, the upper part of the ignition cartridge 91 is detachably connected with a sealing cover 93, the sealing cover 93 is connected with a vent pipe 94, and the vent pipe 94 is connected with an air source;

[0073] The specific step of firing in S5 of the automatic firing and delivery method for pyrotechnics is: controlling the gas source to quantitatively introduce gas into the firing cartridge 91 through the vent pipe 94 , so that the liquid in the firing cartridge 91 is fired into the loading hole 61 below through the discharge port 92 .

[0074] In the above implementation mode, the prepared ignition material is first loaded into the drug cartridge 91, connected to the gas source, and the gas volume and ventilation time are adjusted to control the amount of medicine discharged. The amount of medicine discharged each time is 0.5-0.6 mg. During the adjustment process, it is first adjusted to manually control the drug discharge amount of 5 times, and the accuracy of the drug discharge amount is measured until it meets the drug discharge amount requirements. The technical parameters are fixed in the software, and the drug discharge of the drug cartridge 91 is controlled by air pressure. There is no hard object contacting the drug discharge agent, and the safety is high.

[0075] As a preferred embodiment, in the automatic ignition device for explosives, the upper portion of the first through hole 531 is provided with an edge having a chamfer 532 .

[0076] As a preferred embodiment, in the automatic ignition device, the central axis of the projection direction of the camera 8 and the central axis of the discharge port 92 of the ignition cartridge 91 are located in the same vertical plane, and the vertical plane is perpendicular to the Y direction.

[0077] As a preferred embodiment, the XZ double-axis moving module 7 includes a gantry bracket 71, an X-axis screw guide assembly 72, a first sliding seat 73, a Z-axis screw guide assembly 74, and a second sliding seat 75. The gantry bracket 71 is mounted on the frame 1, and the gantry bracket 71 straddles both sides of the Y-axis screw guide assembly 4. The X-axis screw guide assembly 72 is connected to the gantry bracket 71. The first sliding seat 73 is slidably connected to the X-axis screw guide assembly 72. The Z-axis screw guide assembly 74 is connected to the first sliding seat 73. The second sliding seat 75 is slidably connected to the Z-axis screw guide assembly 74. The camera 8 and the medicine dispensing cylinder 91 are both connected to the second sliding seat 75.

[0078] As a preferred embodiment, a limit mounting seat 751 for mounting the medicine dispensing cylinder 91 is provided on the second sliding seat 75, and a locking mechanism 752 for locking the medicine dispensing cylinder 91 is provided on the limit mounting seat 751.

[0079] In the above embodiments, the medicine dispensing cylinder 91 can be a small disposable item, which is convenient for replacement. The detachable connection is realized through the locking mechanism 752. As Figure 8 shown, the locking mechanism 752 includes a limit sleeve and a locking bolt, which is convenient for disassembly and replacement, has a small on-line drug amount, and avoids potential safety hazards caused by a large amount of highly sensitive agents.

[0080] As a preferred embodiment, the first fixed transfer line 2 and the second fixed transfer line 3 have the same structure. The first fixed transfer line 2 is provided with limit strips 10 for the Y-side and the Y-reverse side of the carrier plate 6.

[0081] As a preferred embodiment, the transfer line 5 is provided with limit strips 10 for the Y-side and the Y-reverse side of the carrier plate 6.

[0082] In the above embodiments, the limit strips 10 are used for the lateral limit of the carrier plate 6 during the transfer process, so that when the lifting support seat 52 jacks up the carrier plate 6 upward, the loading holes 61 of the carrier plate 6 and the first through holes 531 of the positioning hole plate 53 can accurately correspond one by one.

[0083] In summary, by setting the XZ double-axis moving module at a position on the frame far from the first fixed transfer line, the automatic medicine dispensing operation for multiple loading holes in a rectangular array on the carrier plate can be realized, with a more stable structure and higher accuracy. Since the transfer line is far from the first fixed transfer line and the second fixed transfer line during the medicine dispensing process, the position for medicine dispensing is more open. By setting the structure of the positioning hole plate and the lifting support seat on the transfer line, when the carrier plate rotates to the lower part of the positioning hole plate, the carrier plate is jacked up upward by controlling the lifting support seat, so that the first through holes of the positioning hole plate and the loading holes of the carrier plate correspond one by one, and the upper edge of the initiator housing is pressed against the lower part of the positioning hole plate to be fixed, thereby avoiding the shaking of the initiator housing during medicine dispensing.

[0084] In the pyrotechnic device for automatic medicine dropping, a sealing cover is detachably connected to the upper part of the medicine dropping cylinder. The sealing cover is connected with a ventilation pipe, and the ventilation pipe is connected with a gas source. The medicine dropping of the medicine dropping cylinder is controlled by air pressure. Compared with the traditional medicine dropping method of directly extruding by a piston, there is no hard object contacting the medicine dropping agent in this solution, and the safety is high.

[0085] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An explosive train automatic medicine - dosing device, characterized in that, Comprising: Frame; The first fixed transfer line, the first fixed transfer line is connected to the frame, and the first fixed transfer line is provided with a first conveyor belt with a conveying direction of X direction; The second fixed transfer line, the second fixed transfer line is connected to the frame, the second fixed transfer line is provided with a second conveyor belt with a conveying direction of X direction, the second fixed transfer line is located in the X direction of the first fixed transfer line, and there is a gap between the first fixed transfer line and the second fixed transfer line; Y-direction screw guide assembly, the Y-direction screw guide assembly is arranged between the first fixed transfer line and the second fixed transfer line; Transfer line, the transfer line includes a moving seat, the moving seat is slidably connected to the Y-direction screw guide assembly; a lifting support seat is connected to the moving seat, a positioning hole plate is fixedly connected to the moving seat, and a plurality of first through holes are arranged in a rectangular array on the positioning hole plate, the positioning hole plate is located directly above the lifting support seat, and third conveyor belts with a conveying direction of X direction are arranged on both sides of the lifting support seat; Carrier plate, the carrier plate is provided with loading holes corresponding to the first through holes one by one, and the loading holes are used for positioning and loading the initiator housing; XZ two-axis moving module, the XZ two-axis moving module is located above the Y-direction screw guide assembly, and the XZ two-axis moving module is located on the Y-direction side of the first fixed transfer line; Camera, the camera is connected to the XZ two-axis moving module, and the projection direction of the camera is vertically downward; Medicine-pointing device, the medicine-pointing device includes a medicine-pointing cylinder, the medicine-pointing cylinder is connected to the XZ two-axis moving module, and a vertically downward medicine outlet is arranged at the lower part of the medicine-pointing cylinder.

2. The initiator automatic medicine - dropping device according to claim 1, wherein, Two first lifting limit columns arranged in the X direction are also provided on the upper part of the moving seat of the transfer line, and the distance between the two first lifting limit columns is equal to the X-direction width of the carrier plate. When the first lifting limit columns are in the rising state and the X-direction end of the carrier plate abuts against the X-direction reverse side of the first lifting limit column, the X-direction reverse side of the carrier plate abuts against the X-direction side of the other first lifting limit column, and the loading holes on the carrier plate are aligned with the first through holes of the positioning hole plate one by one.

3. The initiating explosive device automatic medicine dropping equipment according to claim 1, characterized in that, A sealing cover is detachably connected to the upper part of the medicine-pointing cylinder, the sealing cover is connected with a ventilation pipe, and the ventilation pipe is connected with a gas source.

4. The initiating explosive device automatic medicine dropping equipment according to claim 1, characterized in that, A chamfer is provided on the upper edge of the first through hole.

5. The initiating explosive device automatic medicine-dropping equipment according to claim 1, characterized in that, In the initiator automatic medicine-pointing equipment, the central axis of the projection direction of the camera and the central axis of the medicine outlet of the medicine-pointing cylinder are located in the same vertical plane, and the vertical plane is perpendicular to the Y direction.

6. The initiating explosive device automatic medicine - dropping equipment according to claim 1, characterized in that, The XZ two-axis moving module includes a gantry bracket, an X-direction screw guide assembly, a first sliding seat, a Z-direction screw guide assembly and a second sliding seat. The gantry bracket is erected on the frame, and the gantry bracket straddles both sides of the Y-direction screw guide assembly. The X-direction screw guide assembly is connected to the gantry bracket, the first sliding seat is slidably connected to the X-direction screw guide assembly, the Z-direction screw guide assembly is connected to the first sliding seat, the second sliding seat is slidably connected to the Z-direction screw guide assembly, and the camera and the medicine-pointing cylinder are both connected to the second sliding seat.

7. The initiator automatic medicine-pointing device according to claim 6, wherein A limit mounting seat for mounting the medicine-pointing cylinder is provided on the second sliding seat, and the limit mounting seat is provided with a locking mechanism for locking the medicine-pointing cylinder.

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