CN106144585B - A kind of basal detonator automatic fetching device - Google Patents
A kind of basal detonator automatic fetching device Download PDFInfo
- Publication number
- CN106144585B CN106144585B CN201610782587.5A CN201610782587A CN106144585B CN 106144585 B CN106144585 B CN 106144585B CN 201610782587 A CN201610782587 A CN 201610782587A CN 106144585 B CN106144585 B CN 106144585B
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- CN
- China
- Prior art keywords
- basal detonator
- cylinder
- reclaimer robot
- fetching device
- automatic fetching
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0276—Tubes and pipes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of basal detonator automatic fetching devices, including a movement module platform, a material-storing box, a reclaimer robot mechanism and a lifting cylinder, the material-storing box is set on the mobile module platform, the mobile module platform is set to the lower section of the reclaimer robot, and the reclaimer robot mechanism is connected to the lower end of the lifting cylinder and is driven by the lifting cylinder.The basal detonator automatic fetching device of the present invention can directly extract basal detonator out of small size standard material-storing box, and feeding is stablized, and efficiency is higher.
Description
Technical field
The present invention relates to machinery equipment field more particularly to a kind of basal detonator automatic fetching devices.
Background technology
Existing one kind " Nonel detonator integral intelligent assembling line ", needs vertical basal detonator from material-storing box
In take out and be put into modified gear.Existing Chinese patent 201310244936.4 discloses a kind of " infant industry basal detonator
Revolving die coding card waist all-in-one machine ", the feeding and revolving die process, the device for describing basal detonator are ejected from jig bottom with thimble
Then basal detonator is sucked oral area with magnet and carries out feeding.But the required jig volume of the feeding device is big, is taken up space
It is more, it is unfavorable for the storage and transport of large number of basal detonator, and reclaiming process is unstable.
Invention content
The technical problem to be solved by the present invention is to：A kind of basal detonator automatic fetching device is provided, it can be directly from corpusculum
Basal detonator is extracted in product standard material-storing box, feeding is stablized, and efficiency is higher.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：A kind of basal detonator automatic fetching device,
It is set to described including a movement module platform, a material-storing box, a reclaimer robot mechanism and a lifting cylinder, the material-storing box
On mobile module platform, the mobile module platform is set to the lower section of the reclaimer robot, the reclaimer robot mechanism
It is connected to the lower end of the lifting cylinder and is driven by the lifting cylinder.
The beneficial effects of the present invention are：The basal detonator automatic fetching device can be directly from small size standard material-storing box
Basal detonator is inside extracted, and feeding is stablized, efficiency is higher.
Description of the drawings
Fig. 1 is the overall structure figure of the present invention；
Fig. 2 is the explosive decomposition figure of reclaimer robot clamping jaw；
Fig. 3 is the structural schematic diagram after the displacement of reclaimer robot mechanism；
Label declaration：
1, mobile module platform；11, card slot；2, sliding rail；3, material-storing box；4, reclaimer robot mechanism；41, it fixes for first group
Pawl；41 ', second groups of fixed jaws；42, first group of movable claw；42 ', second groups of movable claws；43, pawl head；44, clamping cylinder；45、
Variable-position cylinder；5, lifting cylinder；6, transverse shifting cylinder；7, dust box is removed；8, guide plate is conjugated；81, Kong Wei；9, side positions
Guide plate.
Specific implementation mode
To explain the technical content, the achieved purpose and the effect of the present invention in detail, below in conjunction with embodiment and coordinate attached
Figure is explained.
The design of most critical of the present invention is:Directly material-storing box is placed on a movement module platform, and a feeding is set
Manipulator mechanism and a lifting cylinder can directly extract basal detonator from material-storing box.
Please refer to Fig. 1 and Fig. 2, a kind of basal detonator automatic fetching device, including a movement module platform, a storing
Box, a reclaimer robot mechanism and a lifting cylinder, the material-storing box are set on the mobile module platform, the mobile mould
Group platform is set to the lower section of the reclaimer robot, and the reclaimer robot mechanism is connected to the lower end of the lifting cylinder simultaneously
It is driven by the lifting cylinder.
As can be seen from the above description, the beneficial effects of the present invention are：Reclaimer robot mechanism can be directly from material-storing box
Basal detonator is extracted, and material-storing box can move on a mobile platform, so that the basal detonator to be extracted to be moved to
The underface of reclaimer robot mechanism facilitates reclaimer robot mechanism to capture.
Further, the reclaimer robot mechanism includes multiple fixed jaws and fixed jaw multiple activities correspondingly
Pawl, the odd bits and even bit of plurality of fixed jaw can relatively move, and the odd bits and even bit of multiple movable claws can be opposite
It is mobile.
Seen from the above description, drive two rows of moveable jaws, the two rows movable claw that can be close to by clamping cylinder
Or far from two rows of fixed jaws, the reclaimer robot mechanism can clamp or release basal detonator, complete taking-up action；Folder
Next all pawl heads are located at same straight line and can guarantee that reclaimer robot mechanism can once capture the basal detonator positioned at same row.
Further, the reclaimer robot mechanism further includes clamping cylinder, multiple movable claws and the clamping cylinder phase
Even.
Seen from the above description, the reclaimer robot mechanism includes ten pairs of pawl heads, can once capture and be stored up positioned at standard
The basal detonator of an entire row on magazine.
Further, further include a transverse shifting cylinder, the lifting cylinder is connected on the transverse shifting cylinder.
Seen from the above description, when the reclaimer robot clamps and takes out basal detonator, the transverse shifting cylinder energy
Enough reclaimer robot mechanism is driven to shift to next station.
Further, further include dust box, the lower section for going dust box to be set to the transverse shifting cylinder.
Seen from the above description, described to go dust box be by the remaining explosive powder in the outer surface of the basal detonator of taking-up
It gets rid of, keeps the subsequent production process of basal detonator safer.
Further, the reclaimer robot mechanism further includes a variable-position cylinder, and the variable-position cylinder connects single digit
Or fixed jaw and the corresponding movable claw of even bit.
Seen from the above description, when the reclaimer robot mechanism moves on to next station with basal detonator, the displacement
Cylinder can drive one pair of which claw to move, to which the intensive basal detonator of a row is dispersed into uniform two rows, after convenient
The operation of continuous station.
Further, further include a displacement guide plate, the displacement guide plate is set to the outlet for removing dust box
End.
Seen from the above description, the displacement guide plate is used to place the basal detonator after displacement.
Further, there are one side positioning guiding plates for the outside setting of the material-storing box.
Seen from the above description, because free state of the basal detonator in material-storing box is that comparison is loose, basal detonator
It will appear swing, inclined basal detonator righting can be convenient for reclaimer robot by the side positioning guiding plate on the outside of material-storing box
Mechanism accurately captures basal detonator.
Further, the pawl head lower end bevellings Jun You of the fixed jaw and movable claw.
Seen from the above description, bevelling is set in the lower end of the pawl head, is put in inside basal detonator convenient for pawl head.
Further, the nearly movable claw side of the pawl head of the fixed jaw is set as the arc-shaped of evagination, and the movable claw is close
Fixed jaw side is set as the arc-shaped of indent.
Seen from the above description, when gripping basal detonator, two rows of fixed jaws are the inner walls for being adjacent to basal detonator, and two rows are living
Pawl is to be adjacent to the outer wall of basal detonator, and the circular arc of evagination and indent is arranged on fixed jaw and movable claw respectively, can make claw
There are more contact areas, guarantee to stably accomplish crawl with basal detonator.
Fig. 1 is please referred to, the embodiment of the present invention one is：A kind of basal detonator automatic fetching device, including a movement module
Platform 1 and a material-storing box 3, the mobile module platform 1 are set on sliding rail 2 and can be moved along the sliding rail 2.The movement
Module platform 1 includes a card slot 11, and the card slot 11 is for material-storing box 3 described in clamping position.The outside of the material-storing box 3 is arranged
There are one side positioning guiding plates 9, and the side positioning guiding plate 9 is arranged at intervals with multiple on an edge of material-storing box 3
Roundlet arc groove, the quantity of the circular groove are equal to the quantity of row's basal detonator on material-storing box 3, two neighboring roundlet
The spacing of arc groove is equal to the spacing of two neighboring basal detonator.The material-storing box 3 moves close to the side along sliding rail 2 to be determined
When the guide plate 9 of position, outermost row basal detonator can be against in the groove of the side positioning guiding plate 9, to outermost
The basal detonator of side will keep a vertical state will not run-off the straight.
The top of the mobile module platform 1 is provided with a reclaimer robot mechanism 4, the reclaimer robot mechanism 4
Upper end is connected with a lifting cylinder 5, and the lifting cylinder 5 can drive the reclaimer robot mechanism 4 to move up and down.
The basal detonator automatic fetching device further includes a transverse shifting cylinder 6, and the lifting cylinder 5 is connected to described
On transverse shifting cylinder 6, and can transverse shifting cylinder 6 drive under transverse shifting；The lower section of the transverse shifting cylinder 6 is arranged
There is dust box 7, it is described to go that palm fiber is housed in dust box 7, it is described that the upper surface of dust box 7 is gone to be equipped with a fluting；It is described to go
The outlet end of dust box 7 is provided with a displacement guide plate 8, and multiple hole positions 81, and the hole are provided on the displacement guide plate 8
The spacing of position 81 is more than the spacing in the hole for placing basal detonator on the material-storing box 3.The displacement guide plate 8 is for putting
Set the basal detonator of taking-up.
The present embodiment basal detonator automatic fetching device groundwork process is as follows：The material-storing box 3 of basal detonator will be filled
It is put on mobile module platform 1, mobile module platform 1 is moved to 4 lower section of reclaimer robot mechanism, and basal detonator is made to contact
Side positioning guiding plate 9, to ensure that basal detonator is in plumbness.The reclaimer robot is put down in the decline of lifting cylinder 5
Mechanism 4, after reclaimer robot mechanism 4 clamps out of material-storing box 3 and takes out row's basal detonator, the rising of lifting cylinder 5 lifts base
Plinth detonator, the transverse shifting cylinder 6 drive the lifting cylinder 5 and the reclaimer robot mechanism 4 to move forward together, move
During dynamic, the fluting of the basal detonator through past dust box 7, the palm fiber gone in dust box 7 can be by basal detonator
The retained drug powder of outer surface is got rid of, and then leaves dust box from outlet end；The reclaimer robot mechanism 4 is moved to described
When conjugating the top of guide plate 8, reclaimer robot mechanism 4 is put down in the decline of lifting cylinder 5, and basal detonator is put by manipulator release
In the hole position 81 for conjugating guide plate 8, to complete reclaiming process.
It is especially noted that the basal detonator that reclaimer robot mechanism 4 is got from material-storing box is an entire row, such as
It is 10 in the present embodiment, but is then two rows of after being put into displacement guide plate 8, often arranges each 5, this is to adapt to front and back flow
The difference of basal detonator is required.In order to realize the variation before and after above-mentioned feeding, the reclaimer robot mechanism 4 of the present embodiment it is more
A pawl is designed as to relatively move.Specifically, the claw exploded perspective view of reclaimer robot mechanism 4 is illustrated in figure 2, wherein wrapping
Include 10 fixed jaws and with one-to-one 10 movable claws of fixed jaw, wherein fixed jaw and movable claw press odd bits and even number
Position is divided into relatively-movable two groups, i.e. first group of fixed jaw, 41, second groups of fixed jaws 41 ', first group of movable claw 42 and second
Group movable claw 42 ', first group of fixed jaw 41 and first group of movable claw 42 are correspondingly arranged, second group of fixed jaw 41 ' and second group of work
Pawl 42 ' is correspondingly arranged.
As shown in figure 3, reclaimer robot mechanism 4 further includes two clamping cylinders 44 and a variable-position cylinder 45, two clampings
Cylinder 44 is connected with first group of movable claw 42 and second group of movable claw 42 ' respectively, and movable claw can be driven to be moved；Conjugate gas
Cylinder 45 is then connected with one group of fixed jaw and corresponding movable claw, for example, with first group of fixed jaw 41 and first group of 42 phase of movable claw
Even.When reclaimer robot mechanism 4 will capture basal detonator from material-storing box, clamping cylinder 44 and variable-position cylinder 45 make institute two together
Group fixed jaw and two groups of movable claws are in same straight line, and preferably the centre-to-centre spacing of adjacent two pawls head 43 is 6.8-7.5MM at this time,
Basal detonator is clamped under the clamping action of fixed jaw and movable claw.When basal detonator is put into displacement guide plate 8, gas is conjugated
Cylinder 45 drives first group of fixed jaw 41 and first group of movable claw 42 to move, and makes itself and another group of dislocation, to make basal detonator become
At with displacement guide plate 8 hole position 81 corresponding two rows, and the spacing of basal detonator and hole position 81 spacing it is corresponding, basic thunder
After pipe is put into hole position 81, two 44 activities of clamping cylinder make fixed jaw and movable claw unclamp basal detonator.
In order to avoid causing to damage to basal detonator, 43 lower end of pawl head of fixed jaw and movable claw is equipped with bevelling；Into
One step, the fixed jaw is the arc-shaped of evagination close to movable claw side, and the activity is indent close to fixed jaw side
Arc-shaped, described arc-shaped consistent with the circular arc of basal detonator, fixed jaw is in basal detonator, and movable claw is in basal detonator
Outside, the two cooperation can fix basal detonator.
In conclusion basal detonator automatic fetching device provided by the invention can be directly out of, small size standard material-storing box
Basal detonator is extracted, and feeding is stablized；More basal detonators can be once taken out, feeding is efficient；It can be by base after feeding
The position spacing of plinth detonator becomes larger, process operations after convenience；The retained drug powder of the outer surface of basal detonator is got rid of simultaneously, is grasped
Make safe.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalents made by bright specification and accompanying drawing content are applied directly or indirectly in relevant technical field, include similarly
In the scope of patent protection of the present invention.
Claims (7)
1. a kind of basal detonator automatic fetching device, it is characterised in that：Including a movement module platform, a material-storing box, a feeding
Manipulator mechanism and a lifting cylinder, the material-storing box are set on the mobile module platform, and the mobile module platform is set
It is placed in the lower section of the reclaimer robot, the reclaimer robot mechanism is connected to the lower end of the lifting cylinder and is carried by described
Rise cylinder driving；The reclaimer robot mechanism includes multiple fixed jaws and fixed jaw multiple movable claws correspondingly, wherein
The odd bits and even bit of multiple fixed jaws can relatively move, and the odd bits and even bit of multiple movable claws can relatively move；
Wherein, the reclaimer robot mechanism further includes clamping cylinder, and multiple movable claws are connected with the clamping cylinder；
Wherein, the reclaimer robot mechanism further includes a variable-position cylinder, the variable-position cylinder connection odd bits or even bit
Fixed jaw and corresponding movable claw.
2. basal detonator automatic fetching device as described in claim 1, it is characterised in that：Further include a transverse shifting cylinder,
The lifting cylinder is connected on the transverse shifting cylinder.
3. basal detonator automatic fetching device as claimed in claim 2, it is characterised in that：Further include dust box, it is described
Dust box is gone to be set to the lower section of the transverse shifting cylinder.
4. basal detonator automatic fetching device as claimed in claim 3, it is characterised in that：Further include a displacement guide plate,
The displacement guide plate is set to the outlet end for removing dust box.
5. basal detonator automatic fetching device as described in claim 1 or 4, it is characterised in that：It is set on the outside of the material-storing box
Side positioning guiding plate there are one setting.
6. basal detonator automatic fetching device as described in claim 1, it is characterised in that：The pawl of the fixed jaw and movable claw
The head lower end bevellings Jun You.
7. basal detonator automatic fetching device as described in claim 1, it is characterised in that：The nearly movable claw side of the fixed jaw
It is set as the arc-shaped of evagination, the nearly fixed jaw side of the movable claw is set as the arc-shaped of indent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610782587.5A CN106144585B (en) | 2016-08-30 | 2016-08-30 | A kind of basal detonator automatic fetching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610782587.5A CN106144585B (en) | 2016-08-30 | 2016-08-30 | A kind of basal detonator automatic fetching device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106144585A CN106144585A (en) | 2016-11-23 |
| CN106144585B true CN106144585B (en) | 2018-10-09 |
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| CN201610782587.5A Active CN106144585B (en) | 2016-08-30 | 2016-08-30 | A kind of basal detonator automatic fetching device |
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| CN (1) | CN106144585B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107501021B (en) * | 2017-10-18 | 2022-05-31 | 深圳市创者自动化科技有限公司 | Detonator production line of detonating tube |
| CN109959313B (en) * | 2019-04-25 | 2021-09-03 | 辽宁工程技术大学 | Five-claw rapid detonator grabbing device |
| CN111257336B (en) * | 2020-03-26 | 2021-05-04 | 襄阳恩梯恩裕隆传动系统有限公司 | Visual detection device for bearing |
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| CN103342620A (en) * | 2013-06-20 | 2013-10-09 | 武汉纺织大学 | Novel mold-transferring, coding and waist-clamping integrated machine for industrial basic detonator |
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| CN206088321U (en) * | 2016-08-30 | 2017-04-12 | 东莞市创者自动化科技有限公司 | Automatic extracting device of basis detonator |
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| JPS581009B2 (en) * | 1977-09-05 | 1983-01-08 | 株式会社三宅製作所 | Arrangement conversion/orientation device for bottle boxes, etc. |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4444423A (en) * | 1980-11-10 | 1984-04-24 | E. P. Remy Et Cie | Variable configuration head for seizing and handling objects |
| CN103342620A (en) * | 2013-06-20 | 2013-10-09 | 武汉纺织大学 | Novel mold-transferring, coding and waist-clamping integrated machine for industrial basic detonator |
| CN203498279U (en) * | 2013-10-08 | 2014-03-26 | 贵州久联民爆器材发展股份有限公司 | Automatic assembling device for detonator igniting assemblies |
| CN104291110A (en) * | 2014-09-24 | 2015-01-21 | 昆山迈致治具科技有限公司 | Grabbing device for automatic plug cleaning |
| CN205222035U (en) * | 2015-11-26 | 2016-05-11 | 雅化集团绵阳实业有限公司 | Two dimension removes fixed point and supplies thing device |
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| CN106144585A (en) | 2016-11-23 |
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