阅读说明：本技术 电子***装配自动剔除废品的方法及装置 (Method and device for automatically rejecting waste products in electronic detonator assembly ) 是由 陈世雄 聂祥进 杜伟兰 刘利黔 徐曼 黄明 柯郭勇 于 2020-06-12 设计创作，主要内容包括：本发明公开了一种电子雷管装配自动剔除废品的方法。本发明采用带有夹具的机械手来夹持雷管,并将电子雷管移动至机器视觉摄像头前进行图像采集,通过采集的图像来判断电子雷管是否合格,并将合格品与废品分离,实现电子雷管装配自动剔除废品。这样的方法不仅检测效率高,而且检测准确性好,且避免了人为接触的风险,提高了生产的自动化程度。(The invention discloses a method for automatically removing waste products in electronic detonator assembly. The invention adopts a manipulator with a clamp to clamp the detonator, moves the electronic detonator to a machine vision camera for image acquisition, judges whether the electronic detonator is qualified or not through the acquired image, and separates the qualified product from the waste product, thereby realizing automatic waste product elimination in electronic detonator assembly. The method has the advantages of high detection efficiency, good detection accuracy, avoidance of risk of artificial contact and improvement of the automation degree of production.)

1. A method for automatically rejecting waste products in electronic detonator assembly is characterized by comprising the following steps: the manipulator with the clamp is adopted for clamping the processed detonator product, the manipulator drives the clamped detonator product to move to the front of the machine vision camera, the machine vision camera acquires image information of the electronic detonator product, the image is detected and analyzed, whether the electronic detonator product is qualified or not is judged, the manipulator puts the qualified electronic detonator product in a qualified product collecting box according to a detection result, a waste product is put in a waste product collecting box, and the electronic detonator assembly is completed to automatically reject the waste product.

2. Method for automatic rejection of rejects in the assembly of electronic detonators according to claim 1, characterized in that: the image information comprises a code of the surface of the pipe shell, an image of the pipe shell opening tightening position and an image of the wire clamp.

3. Device for automatic rejection of rejects in the assembly of electronic detonators implementing the method according to claim 1, comprising a chassis (1), characterized in that: a mechanical arm (2) and a support (5) are mounted on a working table surface of the rack (1), a double-end arm clamp (3) is mounted at the front end of the mechanical arm (2), a machine vision camera (4) is arranged at the top of the support (5), and the machine vision camera (4) is connected with a vision camera module control device (6); the mechanical arm (2) can drive the double-end arm clamp (3) to move above the working table surface of the rack (1), and the double-end arm clamp (3) can be positioned right in front of the machine vision camera (4).

4. The apparatus of claim 3, wherein: the double-end arm clamp (3) comprises a rack assembly, the rack assembly comprises a rack (3-8) and a machine arm connecting piece (3-9), the machine arm connecting piece (3-9) is installed on the rack (3-8), more than one group of wire clamp finger cylinders (3-1) and detonator module finger cylinders (3-2) are arranged on the front side of the rack (3-8), wire clamp fingers (3-5) are arranged at the working end of the wire clamp finger cylinders (3-1), detection contacts are arranged on the wire clamp fingers (3-5), and detonator fingers (3-4) are arranged at the working end of the detonator module finger cylinders (3-2); more than one group of leg line finger cylinders (3-3) are arranged on the back of the frame (3-8), and leg line fingers (3-7) are connected with the working ends of the leg line finger cylinders (3-3); the positions of the wire clamp finger cylinder (3-1), the detonator module finger cylinder (3-2) and the foot wire finger cylinder (3-3) in the same group correspond to each other.

Technical Field

The invention relates to the technical field of initiating explosive devices, in particular to a method and a device for automatically removing waste products in electronic detonator assembly.

Background

At present, in the production of electronic detonators, the process operations such as waist clamping, bayonet clamping and the like are required to be carried out on a tube shell, and the operations can cause the appearance of the tube shell to be changed or the size of the bayonet to be unqualified; in addition, the pipe shell and the wire clamp need to be marked, the marked image is possibly unclear or wrong, and the conditions can cause the detonator to become waste products. Therefore, the appearance quality of the shell of the detonator, the definition of the coded image and the accuracy of information need to be detected so as to ensure the quality of the product. However, the existing detection methods all adopt manual detection, and the detection methods not only have low working efficiency, but also have unsatisfactory detection accuracy.

Disclosure of Invention

The purpose of the invention is: the method and the device for automatically rejecting the waste products in the electronic detonator assembly not only can efficiently and automatically detect the waste products in the electronic detonator, but also can automatically reject the waste products.

The invention is realized by the following steps: the method for automatically rejecting the waste products during electronic detonator assembly comprises the steps of clamping processed detonator products by a manipulator with a clamp, driving the clamped detonator products to move to the front of a machine vision camera by the manipulator, enabling the machine vision camera to acquire image information of the electronic detonator products, detecting and analyzing the images to judge whether the electronic detonator products are qualified or not, placing the qualified electronic detonator products in a qualified product collecting box by the manipulator according to a detection result, placing the waste products in a waste product collecting box, and automatically rejecting the waste products during electronic detonator assembly.

The image information comprises a code of the surface of the pipe shell, an image of the pipe shell opening tightening position and an image of the wire clamp.

A mechanical arm and a support are arranged on a working table surface of the rack, a double-end arm clamp is arranged at the front end of the mechanical arm, a machine vision camera is arranged at the top of the support, and the machine vision camera is connected with a vision camera module control device; wherein the manipulator can drive the double-end arm anchor clamps and remove in the table surface top of frame to enable double-end arm anchor clamps and be in the dead ahead of machine vision camera.

The double-end arm clamp comprises a rack assembly, the rack assembly comprises a rack and a mechanical arm connecting piece, the mechanical arm connecting piece is installed on the rack, more than one group of wire clamp finger cylinders and detonator module finger cylinders are arranged on the front side of the rack, wire clamp fingers are arranged at the working end of each wire clamp finger cylinder, detection contacts are arranged on the wire clamp fingers, and detonator fingers are arranged at the working end of each detonator module finger cylinder; more than one group of foot line finger cylinders are arranged on the back of the frame, and the working end of each foot line finger cylinder is connected with a foot line finger; the positions of the wire clamp finger cylinder, the detonator module finger cylinder and the foot wire finger cylinder in the same group correspond to each other.

By adopting the technical scheme, the mechanical arm with the clamp is used for clamping the detonator, the electronic detonator is moved to the front of the machine vision camera for image acquisition, whether the electronic detonator is qualified or not is judged through the acquired image, the qualified product is separated from the waste product, and the automatic rejection of the waste product during the assembly of the electronic detonator is realized. The method has the advantages of high detection efficiency, good detection accuracy, avoidance of risk of artificial contact and improvement of the automation degree of production.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of the double-ended arm clamp of the present invention.

Detailed Description

The embodiment of the invention comprises the following steps: the method for automatically rejecting the waste products during electronic detonator assembly comprises the steps of clamping processed detonator products by a manipulator with a clamp, driving the clamped detonator products to move to the front of a machine vision camera by the manipulator, enabling the machine vision camera to acquire image information of the electronic detonator products, detecting and analyzing the images to judge whether the electronic detonator products are qualified or not, placing the qualified electronic detonator products in a qualified product collecting box by the manipulator according to a detection result, placing the waste products in a waste product collecting box, and automatically rejecting the waste products during electronic detonator assembly.

The image information comprises a code of the surface of the pipe shell, an image of the pipe shell opening tightening position and an image of the wire clamp.

A mechanical arm 2 and a support 5 are installed on a working table surface of the rack 1, a double-end arm clamp 3 is installed at the front end of the mechanical arm 2, a machine vision camera 4 is arranged at the top of the support 5, and the machine vision camera 4 is connected with a vision camera module control device 6; wherein the manipulator 2 can drive the double-end arm clamp 3 to move above the working table surface of the frame 1, and the double-end arm clamp 3 can be positioned right in front of the machine vision camera 4.

The double-end arm clamp 3 comprises a rack assembly, the rack assembly comprises a rack 3-8 and a mechanical arm connecting piece 3-9, the mechanical arm connecting piece 3-9 is installed on the rack 3-8, more than one group of wire clamp finger cylinders 3-1 and a detonator module finger cylinder 3-2 are arranged on the front side of the rack 3-8, a wire clamp finger 3-5 is arranged at the working end of the wire clamp finger cylinder 3-1, a detection contact is arranged on the wire clamp finger 3-5, and a detonator finger 3-4 is arranged at the working end of the detonator module finger cylinder 3-2; more than one group of leg wire finger cylinders 3-3 are arranged on the back of the frame 3-8, and leg wire fingers 3-7 are connected with the working ends of the leg wire finger cylinders 3-3; the positions of the wire clamp finger cylinder 3-1, the detonator module finger cylinder 3-2 and the foot wire finger cylinder 3-3 in the same group correspond to each other.

The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any way, and any simple modifications, equivalent variations and modifications made to the above embodiments according to the technical spirit of the invention may still fall within the scope of the invention.