Technical Report

Contents
INTRODUCTION........................................................................................................... 2
VITAL STEPS............................................................................................................ 2
Description.............................................................................................................. 3
Display panel commands:.................................................................................... 3

Title
Dispensing Energetic Material to a detonator using high-precision desktop robot
system controlled by instrumentation software.

INTRODUCTION
The dispensing of the energetic material from a high-precise syringe into the
detonator is done througha robotic equipmentequipped with a vision camera. Two
conveyor beltsviz.Robot Conveyor(RC) and Detonator Conveyor(DC) are used.
The dispensing of the energetic material is done using syringes held by the bots on
RC to the detonators on DC.The filling is done in batches say of n robots and n
detonators at a time. As a result, more detonators are filled with reduced number of
human errors. While one batch is undergoing the process, the other undergoes
cleaning of loose components that may be adhered in the inner walls of the
detonator tubeduring the filling and pressing operations.After every such iteration,
new batch arrives. Various stages of this process are monitored and respective
commands are displayed on the screen.

VITAL STEPS
The following important steps are to be followed and observed during an iteration:
1. Alignment Check- Ensure that the robot syringe aligns with the tube head.
2. Choosing Of Batch -Choose the exact number n of robot and detonator.
3. Precision Check of Alignment (Y/N) -Check the alignment of the robot
syringe and the detonator mouth. Y: Weigh mass of empty detonator using
analytical balance (m1). N: Number of misalignments>30%? Y: Get new batch
and go to Step1; N: align the batch using optical tooling and go to step4.
4. Dispensing of Energetic Material Ensure aslurry of energetic material
(45mg) is dispensed into detonator very efficiently.
5. Checking Weight Of Filled Detonator -Mass of filled detonator tube is
measured (m2) and m2-m1 is calculated for accuracy of material dispensed.
Check if mass=45mg? Y: Go for pressing N: Go to rejection tray.
6. Pressing Of Detonator Cap Ensure the cap of detonator(1.9mm
diameter), which is attached tothe robot arm is placed on the mouth of
detonator tube by air compression technique.
7. Inspection Of Energetic Material In Detonator By Height
Measurement Check if Height= 6.5mm. (Y/N); when material is filled in the

tube it must show 6.5mm height in the tube. Y: Go for cleaning N: Go to

rejection tray.
8. Move First Batch Ahead and Get New Batch - Command is sent by
software on PC to move first batch to the next step and a new batch is to be
arrived.
9. First Batch Undergoes Cleaning of Surplus Material on the Surface of
the Detonator, while the New Batch Undergoes Filling (Step1) -To
remove surplus material on detonator walls cleaning is done using acetone
solution.
10.After Cleaning Process Chip Is Implanted -Chip and detonator axis must
perfectly coincide during the implant. This assessment is done and verified by
the installed camera.
11.Good Detonators Are Placed In Collection Tray - The detonators that
pass steps 1 through 10are termed good and are sent to the collection tray,
while the faulty ones are sent to rejection tray.

Description
High-end robot with advanced processor capabilities is used to perform the task of
dispensing precisely the energetic material into the detonators. Instrumentation
software for the same is installed onto PC, where the robots and detonators are
programmed. The software sends command to robotic dispenser to open highprecision syringe valve for a specific amount of time to allow dispensing of slurry in
detonator tube. Robot precisely moves dispensing syringe over the detonator and
dispenses the slurry as soon as it receives dispensing pulse from the software. A
pre-set quantity of Nano-explosive slurry is filled intothe detonator and is checked
for accuracy and precision. The filled detonator tube is then covered by placing its
cap. A desktop robot with vision camera having microscopic lens is installed on the
same robot, which is used for precise positioning of dispensing syringe
needle.Taking into consideration the advantages of Semiconductor Bridge (SCB), it
is used for initiation of explosives.

Display panel commands:

The following is the list of Display Panel commands:

Batch no.

Alignment OK(Y/N)

Mass of empty detonator m1=

Mass after filling detonator m2=

M2-M1=45mg? Y=Good detonator; N =Reject detonator

Height in tube=6.5mm? Y=Good detonator; N =Reject detonator

Cap placed.

New batch arrived no.

START

Initialize system & display initial

parameter of batch using optical
tooling

Check for
alignment
(If A > 30)
Get Next Batch
NO
Align 30% not aligned

YES

Weight empty
D= 45??

Rejection Tray
NO
YES
Dispense 25mg PENT into D tube

YES

Weight of
filled D= M2M1??
NO
Rejection Tray

Pressing of PENT by air compression

by using p.nger

YES

Fill 20mg Pb(N3)2 &

Press content

NO

Height = 6.5
mm of filled
material

Rejection Tray

Move 1st batch for cleaning

ahead.

Get New batch Count

YES