CN107686438B - Robot automatic buckling system suitable for detonator production - Google Patents
Robot automatic buckling system suitable for detonator production Download PDFInfo
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- CN107686438B CN107686438B CN201710671534.0A CN201710671534A CN107686438B CN 107686438 B CN107686438 B CN 107686438B CN 201710671534 A CN201710671534 A CN 201710671534A CN 107686438 B CN107686438 B CN 107686438B
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- mould
- bayonet
- gripper
- mold
- grabbing
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- C—CHEMISTRY; METALLURGY
- C06—EXPLOSIVES; MATCHES
- C06C—DETONATING OR PRIMING DEVICES; FUSES; CHEMICAL LIGHTERS; PYROPHORIC COMPOSITIONS
- C06C7/00—Non-electric detonators; Blasting caps; Primers
- C06C7/02—Manufacture; Packing
Abstract
The invention provides a robot automatic bayonet system suitable for detonator production, which comprises a bayonet machine and a mould conveying mechanism, wherein the bayonet machine is a robot automatic bayonet machine, the mould conveying mechanism at least comprises a first mould conveying mechanism, a plurality of mould lifting tables and a pushing oil-gas cylinder matched with the mould lifting tables, so that moulds on the mould conveying mechanism are conveyed to mould working tables of the bayonet machine, the used moulds on the mould working tables are conveyed to the corresponding mould conveying mechanism, the bayonet machine comprises a leg wire grabbing mechanism used for grabbing leg wires from leg wire moulds and a manipulator arm used for driving the leg wire grabbing mechanism to move, and a front claw device, a magnetic force wire grabbing mechanism and a gripper wire grabbing mechanism are arranged on the leg wire grabbing mechanism. The invention not only improves the production efficiency and the product quality, but also does not need field operation personnel, avoids the risk brought to the field operation personnel, and realizes the automatic operation of the detonator bayonet.
Description
Technical Field
The invention relates to a robot automatic buckling system suitable for detonator production, and belongs to the technical field of industrial machinery.
Background
The existing detonator bayonet machine is a single machine and is provided with a bayonet mechanism and a pipe-jacking mechanism, the working mode is that a bayonet part of a detonator pipe shell is inserted into a longitudinal through hole of a bayonet disc through the pipe-jacking mechanism, a detonator leg wire provided with a solid ignition element is manually inserted on the detonator pipe shell, and the bayonet mechanism executes bayonet action to complete bayonet operation of a detonator, so that a product detonator is formed. The defects of the method require manual operation, so that the labor intensity is high, and an automatic/unmanned robot bayonet system needs to be developed to realize unmanned operation because the detonator belongs to explosive articles and has certain danger.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a robot bayonet machine suitable for detonator production, wherein a wire grabbing mechanism of the bayonet machine can grab wires under the control of an automatic control device to grab detonator leg wires, and then the leg wires are arranged on a detonator tube shell under the drive of a robot arm, so that unmanned operation of detonator bayonet is realized.
The technical scheme of the invention is as follows: a robot automatic buckling system suitable for detonator production comprises a bayonet machine and a mould conveying mechanism, wherein the bayonet machine is a robot automatic bayonet machine, the mould conveying mechanism at least comprises a first mould conveying mechanism, the first mould conveying mechanism is provided with a first mould conveying frame, the first mould conveying frame comprises a left frame and a right frame, the inner sides of the left frame and the right frame of the first mould conveying frame are respectively provided with a mould guide rail and a mould conveying chain, so that a leg wire mould can be supported on the mould guide rails on the left side and the right side and can slide on the mould guide rails under the driving of the conveying chains on the left side and the right side, the mould conveying chain is provided with a thrust structure which can be connected with the bottom surface of a mould or can generate thrust action, generally, the bottom surface of the mould is provided with a connecting structure matched with the thrust structure, and the connecting structure and the thrust structure are matched with each other, for example, the pushing structure adopts a plurality of small protrusions arranged on a chain, the connecting structure adopts a pit (groove) allowing the small protrusions to be inserted, the pit is arranged on the bottom surface of the mold, the effective connection with the small protrusions on the chain can be kept, the sliding on a guide rail is not influenced, the sliding resistance is not increased, and the connecting mode does not influence the upward movement of the mold when a first mold lifting platform lifts the mold from the lower part of the mold, the bayonet machine is positioned outside the first mold conveying frame and faces the first mold conveying frame, the front part of the bayonet machine is provided with a mold working platform, the front part of the mold working platform is provided with a first mold lifting platform, the first mold lifting platform is positioned between the left side frame and the right side frame of the first mold conveying frame, the stroke of the first mold lifting platform at least comprises the lifting of the mold on the first mold conveying mechanism, other mold lifting tables arranged between the two side frames of the mold conveying mechanism can also lift the mold on the mold conveying mechanism in the same or similar way to separate the mold from the mold conveying mechanism, or drop the mold into the mold conveying mechanism.
The invention has the beneficial effects that: due to the arrangement of the relevant mould lifting platform and the oil/air pushing cylinder. The devices cooperate with each other to ensure that the mould conveying mechanism not only can convey materials like a conventional conveying mechanism, but also can convey the foot line mould (mould for short) with foot lines to a mould workbench of a bayonet machine for the manipulator to grab, and the manipulator can accurately and punctually insert the foot lines into the detonator shells and perform the bayonet by utilizing the flexibility and reliability of the action of the manipulator, thereby not only improving the production efficiency and the product quality, but also avoiding the risk brought to the operators by the field operation without the field operation personnel, and realizing the automatic operation of the detonator bayonets.
Drawings
FIG. 1 is a schematic view of a construction of a buckle system;
FIG. 2 is a schematic view of a dual layer mold delivery mechanism;
FIG. 3 is a schematic view of a bayonet machine configuration;
fig. 4 is a schematic view of a configuration involving the wire gripping mechanism and its mounting on the robot arm;
FIG. 5 is a schematic view of the configuration of the rotary bracket and the magnetic line-grasping mechanism and the gripper line-grasping mechanism in a front view;
FIG. 6 is a schematic view of the configuration of the rotary bracket and the magnetic line-grasping mechanism and the gripper line-grasping mechanism in a side view;
fig. 7 is a schematic view of a configuration involving a magnet and a magnet sleeve.
Detailed Description
Referring to fig. 1-7, the opening system provided by the present invention includes a bayonet machine 1 and a mold conveying mechanism, the bayonet machine is a robot automatic bayonet machine, the mold conveying mechanism at least includes a first mold conveying mechanism 910, the first mold conveying mechanism is provided with a first mold conveying frame 913, the first mold conveying frame includes a left frame and a right frame, and the inner sides of the left frame and the right frame of the first mold conveying frame are both provided with a mold guide 917 and a mold conveying chain 915, so that the leg wire mold can be supported on the mold guide rails on the left side and the right side, and can slide on the mold guide rails under the driving of the conveying chains on the left side and the right side.
Preferably, the mold conveying chain is provided with a thrust structure capable of being coupled with the bottom surface of the mold or generating a thrust action, and generally, the bottom surface of the mold is provided with a coupling structure matched with the thrust structure, and the coupling structure and the thrust structure are matched with each other, for example, the thrust structure adopts a plurality of small protrusions arranged on the chain, the coupling structure adopts a pit (groove) allowing the small protrusions to be inserted, the bottom surface of the mold is provided with a pit, the sliding on the guide rail can be kept effectively connected with the small protrusions on the chain, the sliding resistance is not increased, and when the first mold lifting platform lifts the mold upwards from the lower part of the mold, the coupling mode does not influence the upward movement of the mold.
The bayonet machine is located outside the first mold conveying frame and faces the first mold conveying frame, a mold workbench 710 is arranged at the front part of the bayonet machine, and a mold workbench frame 712 extending upwards is preferably arranged at the periphery of the mold workbench except for a region for mold entering and exiting so as to prevent the mold from moving and even falling off.
The front of the mould workbench is provided with a first mould lifting platform 950, the first mould lifting platform is positioned between the left side frame and the right side frame of the first mould conveying frame, and the stroke of the first mould lifting platform at least comprises the step of jacking the mould on the first mould conveying mechanism. For other mould lifting platforms arranged between the frames at the two sides of the mould conveying mechanism, the mould on the corresponding mould conveying mechanism can be jacked up in the same or similar mode to be separated from the mould conveying mechanism, and the mould on the mould lifting platform can be supported on the guide rail of the mould conveying frame through descending, so that the mould is placed into the corresponding mould conveying mechanism.
The first mold lifting platform can be provided with a first mold lifting platform upgrading mechanism capable of driving the first mold lifting platform to lift, the outer side of the first mold conveying frame is provided with a first pushing oil/air cylinder 925, the outer end of a piston rod of the first pushing oil/air cylinder is connected with a first push plate 927, the piston rod of the first pushing oil/air cylinder is perpendicular to the first mold conveying frame and faces to the inlet of the mold workbench, therefore, when the first mold lifting platform lifts a mold originally supported on a mold guide rail to a height corresponding to the first pushing oil/air cylinder, the mold can be pushed onto the mold workbench of the bayonet machine from the first mold lifting platform through the piston rod of the first pushing oil/air cylinder, one side of the mold workbench is provided with a second mold lifting platform 960, the other side opposite to the side is provided with a second pushing oil/air cylinder 935, the outer end of the piston rod of the first pushing oil/air cylinder is connected with a second push plate 937, the second mould lifting platform is provided with a second mould lifting platform lifting mechanism capable of driving the second mould lifting platform to lift, a piston rod of the second pushing oil/air cylinder horizontally extends and faces the second mould upgrading platform, and therefore when the upper surface of the second mould lifting platform and the upper surface of the mould workbench are equal in height, the piston rod of the second pushing oil/air cylinder can push the mould on the mould workbench onto the second mould lifting platform, so that the used mould can be moved out through the second mould lifting platform.
The automatic buckling system can also be provided with a second mould conveying mechanism 970, wherein the second mould conveying mechanism is positioned below the first mould conveying mechanism to form a two-layer mould conveying mechanism which is distributed up and down, the second mould conveying mechanism can adopt the same structure as the first mould conveying mechanism and can be used for conveying the used moulds, a third pushing oil/air cylinder 945 is arranged outside the second mould conveying mechanism, the outer end of a piston rod of the second mould conveying mechanism is connected with a third pushing plate 947, a third mould lifting platform is arranged in front of the third pushing oil/air cylinder and positioned between left and right side frames of the second mould conveying frame, the stroke of the third mould lifting platform at least comprises jacking the moulds on the second mould conveying mechanism, and the third mould lifting platform is provided with a third mould lifting platform upgrading mechanism which can drive the third mould lifting platform to lift, and when the second mold lifting platform and the third mold lifting platform are positioned at the same height and are higher than the second mold conveying frame, the piston rod of the third pushing oil/air cylinder can push the mold on the second mold lifting platform onto the third mold lifting platform, then the third mold lifting platform descends, and the mold moves downwards along with the third mold lifting platform until the guide rail of the second mold conveying mechanism supports the mold, so that the mold is conveyed from the mold workbench to the second mold conveying mechanism.
The bayonet machine is located outside and facing the first mold transfer frame, the front part of the bayonet machine is provided with a mould workbench 710, the periphery of the mould workbench except the inlet and the outlet of the mould can be provided with a mould workbench frame 712, a first mold lifting platform 950 is arranged in front of the mold workbench, the first mold lifting platform is positioned between the left side frame and the right side frame of the first mold conveying frame, the stroke of the mould lifting platform at least comprises jacking up the mould on the first mould conveying mechanism, and other mould lifting platforms positioned between the side frames of the mould conveying mechanism can also jack up the mould from the corresponding mould conveying mechanism in the same or similar mode to separate the mould from the corresponding mould conveying mechanism, and can also place the mould on the mould lifting platform into the corresponding mould conveying mechanism through the descending of the mould lifting platform.
The bayonet machine may comprise the following parts:
the foot line grabbing mechanism 600 is used for grabbing foot lines from a foot line mold, and is provided with a foot line grabbing mechanism fixing plate 611, a rotating support 612 and a front claw device used for clamping a plunger on the foot line are mounted on the foot line grabbing mechanism fixing plate, a space is reserved between the rotating support and the front claw device, a magnetic line grabbing mechanism and a claw line grabbing mechanism used for grabbing a foot line wiring harness are mounted on the rotating support, the magnetic line grabbing mechanism is provided with a magnetic line grabbing piece used for grabbing the lines, the claw line grabbing mechanism is provided with a claw 632 used for grabbing the lines, and the extending directions of the magnetic line grabbing piece and the claw are parallel to the rotating support and face opposite directions respectively;
a manipulator arm 300 for driving the leg wire grasping mechanism to move, and provided with a plurality of joints (rotation connection pairs) for realizing the due positions and postures (orientations and angles) of the leg wire grasping mechanism;
a mold table 710 for placing the leg wire mold, located at the front side 100 of the table, vertically movably connected to the table (connected in a manner allowing vertical movement with respect to the table), and provided with a leg wire mold lifting mechanism 720 for driving the leg wire mold to vertically move;
the bayonet mechanism 500 is arranged on the upper surface of the workbench, is used for the bayonet of the detonator shell and is provided with a bayonet disc, the center of the bayonet disc is provided with a longitudinal bayonet through hole for the detonator shell to be inserted, and the front surface (the surface facing to the leg wire) faces forwards;
and the pipe jacking mechanism 400 is used for pushing the bayonet part of the detonator pipe shell into the bayonet position in the longitudinal bayonet through hole and is positioned at the rear side of the bayonet disc.
Can grab the pencil that the line mechanism was grabbed to the magnetic force or machine claw grabbed the line mechanism and snatch the leg wire automatically, through the plunger on the automatic centre gripping leg wire of front pawl device to drive the leg wire through manipulator arm and snatch the mechanism and automatically insert the leg wire to the detonator tube, need not the site operation personnel.
Can arrange arbitrary line grabbing mechanism on the runing rest in the line position of grabbing on the runing rest through rotatory runing rest, adopt the suitable line mechanism of grabbing to grab the line according to the characteristic of foot line, usually, magnetic force is grabbed the line piece and can be used for grabbing the electric detonator foot line that has certain magnetism or be equipped with the magnetic part, and the gripper can be used for grabbing the electron detonator foot line that does not have magnetism.
The fixing plate of the foot line grabbing mechanism is preferably an L-shaped plate, and comprises a vertical section parallel to the axis of the first rotating shaft 302 and a plane section perpendicular to the axis of the first rotating shaft, the plane section of the fixing plate of the foot line grabbing mechanism is positioned at the front end of the vertical section, the first rotating shaft is positioned at the front part of the mechanical arm, the foot line grabbing mechanism is mounted on the mechanical arm in a manner that the back of the plane section of the fixing plate of the foot line grabbing mechanism is fixedly connected to the front end of the first rotating shaft, and the mounting manner of the rotary support on the fixing plate of the foot line grabbing mechanism is as follows: the rotary bracket is rotatably arranged on the vertical face section of the fixing plate of the leg wire grabbing mechanism through a rotary bracket mandrel 614 which is vertical to the vertical face section of the fixing plate of the leg wire grabbing mechanism, the rotary bracket is provided with a rotary bracket rotary driving oil/air cylinder which can drive the rotary bracket to rotate relative to the fixing plate of the leg wire grabbing mechanism, the front claw device is arranged on one side opposite to the rotary bracket in the radial direction (the diameter direction of the first rotary shaft), therefore, a plunger on the leg wire can be clamped through the front claw, a wire harness part of the leg wire is clamped through a magnetic wire grabbing mechanism and a claw wire grabbing mechanism (a specific wire grabbing mechanism is determined according to the characteristics of the leg wire) which are arranged on the rotary bracket, the leg wire grabbing mechanism is moved by a manipulator and the posture of the leg wire grabbing mechanism is adjusted (when needed), the plunger part on the leg wire is pushed to be inserted into a detonator tube shell positioned in a through hole of a, and then the bayonet mechanism performs bayonet action to realize the bayonet of the detonator shell, and the detonator assembly is completed.
The vertical surface section and the plane section of the fixing plate of the foot line grabbing mechanism can be integrated, and the fixing plate can also be two plates which are connected with each other.
The rotation of the rotating bracket relative to the fixing plate of the leg wire grabbing mechanism can be realized through the rotating bracket mandrel, and the rotation can be realized manually or mechanically.
An elastic pin positioning device 616 is preferably arranged between the vertical face section of the leg wire grabbing mechanism fixing plate and the rotating bracket, the elastic pin positioning device is arranged on the large face of the vertical face section of the leg wire grabbing mechanism fixing plate which is not connected with the rotating bracket, a pin hole (through hole) for a positioning pin to pass through is arranged on the leg wire grabbing mechanism fixing plate, two pin grooves (blind hole shape, preferably hemispherical shape) corresponding to the pin hole (can be aligned with the pin hole under the corresponding working posture of the rotating bracket) are arranged on the large face of the rotating bracket opposite to the vertical face section of the leg wire grabbing mechanism fixing plate, the elastic pin positioning device is provided with a positioning pin and a positioning pin spring for pushing the positioning pin to the pin hole side, the positioning pin extends into the pin hole under the thrust of the positioning pin spring, the head is abutted against the rotating bracket, when the rotating bracket just rotates to the working direction of the magnetic wire grabbing piece or the machine claw, a corresponding one of the pin grooves is aligned with the pin hole (the specific position of the pin groove is determined according to requirements), the head of the positioning pin is inserted into the pin groove, so that the rotating bracket is fixed, when the torque applied to the rotating bracket is large enough, the axial component of the acting force of the head of the positioning pin and the hemispherical pin groove (or other pin grooves with proper shapes and matched with elastic positioning) overcomes the pushing force of the spring of the positioning pin, the positioning pin is pushed out of the pin groove, the rotating bracket is rotated, and therefore switching can be carried out between the magnetic wire grabbing piece or the claw.
The front claw device may include a front claw base 644, the front claw base is provided with a front claw 642 capable of clamping a leg wire plunger and a front claw oil/air cylinder for driving the front claw to perform a clamping action, the front claw is composed of two front claw fingers which are matched with each other, each front claw finger is respectively installed on a respective front claw finger sliding block 643, each front claw finger sliding block is inserted into a front claw finger sliding slot of the front claw base and is in sliding fit (clearance fit) with the front claw finger sliding slot, and the front claw oil/air cylinder can be driven to synchronously and reversely move along the front claw finger sliding slot, so that the front claw is opened and closed.
The magnetic member may be a magnet sleeve 622, the magnet sleeve is cylindrical, the outer end 623 of the magnet sleeve is closed or opened, a magnet 621 is arranged in the magnet sleeve, the magnet is preferably made of a permanent magnetic material and is magnetized, and a gap between the magnet and the inner wall of the magnet sleeve is preferably a fit gap capable of allowing and limiting the magnet to linearly move axially in the magnet sleeve, so that the magnet is prevented from shaking while linear reciprocating movement of the magnet is realized.
The magnet is preferably provided with a magnetic wire grabbing oil/air cylinder 624 capable of driving the magnet to axially move in the sleeve, the magnetic wire grabbing oil/air cylinder is located on the axial inner side of the magnet sleeve, the magnet is connected with the outer end of a piston rod of the magnetic wire grabbing oil/air cylinder, the magnet can linearly reciprocate under the driving of the piston rod 625, when a wire needs to be grabbed, the magnet is outwards moved to the position close to the outer end of the magnet sleeve, the magnetic wire located close to the outer end of the magnet sleeve is attracted to be attached to the outer end of the magnet sleeve tightly, the magnet is inwards moved to the position far away from the outer end of the magnet sleeve, the magnetic force of the magnet on the wire basically disappears, and the wire falls under the action of self gravity and is separated from the magnet sleeve.
The cylinder body of the magnetic line grabbing oil/air cylinder and the sleeve can be installed on a magnetic line grabbing bracket 627 which is fixedly installed on the rotating bracket.
The magnetic wire grabbing bracket can be made of plate materials and is in a plate shape.
The magnetic wire grabbing bracket is preferably fixedly arranged on the rotating bracket in a mode of large surface opposite, so that the occupied space is reduced, and the connection between the magnetic wire grabbing bracket and the rotating bracket is more convenient and firm.
The outer end of the magnetic force line grabbing support can be provided with a vertical bend, and the magnet sleeve is fixedly connected with the bent portion of the outer end of the magnet line grabbing support so as to be convenient to install and fix.
The gripper line grabbing mechanism can be arranged on a gripper line grabbing support 637, the gripper line grabbing support can be made of plates and can be L-shaped so as to realize three-dimensional fixation of the gripper line grabbing mechanism, and the gripper line grabbing support is fixedly arranged on the rotating support.
The gripper wire-gripping mechanism may be generally provided with a gripper wire-gripping driving device capable of driving the gripper to perform a wire-gripping action.
The gripper can be composed of two mutually matched gripper fingers, and the two gripper fingers are preferably mirror-symmetrical.
The gripper fingers may be movably connected to the gripper base 634, and the movable connection of the gripper fingers to the gripper base may be a movable connection that allows lateral parallel movement (for example, a linear sliding slot that is slidably engaged with the gripper finger connection end is disposed on the gripper base), or a movable connection that allows rotation (for example, a rotary connection of the gripper fingers and the gripper base is achieved by disposing a gripper finger shaft), so as to achieve opening and closing of the gripper by a translational or rotational manner.
The claw wire-grabbing driving device preferably adopts claw wire-grabbing oil/air cylinders which are in driving connection with the claw fingers through corresponding transmission mechanisms so as to drive the claw fingers to move linearly in the reverse direction or rotate in the reverse direction, and therefore opening and closing of the claws are achieved.
The gripper finger can be divided into a finger base section and a gripper section, the base section and the gripper section of the gripper finger are connected with each other, the connection mode is preferably screw fastening, the base section of the gripper finger is used for mounting on the gripper base, the gripper section is used for clamping a leg wire, and the inner side surface (the surface for directly contacting the leg wire, namely the opposite surface of the two gripper sections) of the gripper finger is provided with a tooth-shaped structure, so that the more suitable base section and gripper section can be manufactured respectively according to respective functional requirements, and the gripper section of the gripper finger can be replaced according to requirements so as to adapt to different wire-grabbing requirements.
The place ahead of bayonet socket dish can also be equipped with guider 520, guider be equipped with vertical bayonet socket through-hole aligns (the central axis is on the same straight line) the direction through-hole, the direction through-hole is big-end-up's taper hole in the front, the front end diameter of taper hole is greater than the diameter of vertical bayonet socket through-hole, and the rear end diameter equals the diameter of vertical bayonet socket through-hole.
The front of the card port plate may also be provided with a sensor 821 for detecting the quality of the pin wire so that the pin wire is discarded in case the quality of the pin wire is not qualified.
An air control cabinet 810 used for controlling the operation of each oil/air cylinder can be arranged below the workbench, and the air control cabinet can be arranged at other positions according to requirements.
According to the prior art and the process arrangement, a pipe shell conveying mechanism matched with the pipe jacking mechanism can be arranged to convey the pipe shell to the position required by the pipe jacking mechanism.
A slat conveyor mechanism or slat conveyor 200 may be provided, along with a slat lifting mechanism associated therewith, to bring the slats to a desired location for pipelining and the like.
For convenience of description, the oil/cylinder referred to in the present invention includes a cylinder using gas pressure as a power source, and also includes a hydraulic cylinder or an oil cylinder using liquid pressure as a power source.
The technical means disclosed by the invention can be combined arbitrarily to form a plurality of different technical schemes except for special description and the further limitation that one technical means is another technical means.
Claims (9)
1. A robot automatic fastening system suitable for detonator production is characterized by comprising a bayonet machine and a mould conveying mechanism, the bayonet machine is a robot automatic bayonet machine, the mould conveying mechanism at least comprises a first mould conveying mechanism, the first mould conveying mechanism is provided with a first mould conveying frame which comprises a left frame and a right frame, the inner sides of the left and right frames of the first mould transmission frame are provided with mould guide rails and mould transmission chains, the bayonet machine is located outside and facing the first mold transfer frame, the front part of the bayonet machine is provided with a mould workbench, the front of the mould workbench is provided with a first mould lifting platform, the first mould lifting platform is positioned between the left side frame and the right side frame of the first mould conveying frame, and the bayonet machine comprises the following parts:
the foot line grabbing mechanism is used for grabbing foot lines from a foot line die and is provided with a foot line grabbing mechanism fixing plate, a rotating support and a front claw device used for clamping a plunger on the foot lines are installed on the foot line grabbing mechanism fixing plate, a space is reserved between the rotating support and the front claw device, a magnetic line grabbing mechanism and a claw line grabbing mechanism used for grabbing foot line wiring harnesses are installed on the rotating support, the magnetic line grabbing mechanism is provided with a magnetic line grabbing piece used for grabbing the lines, the claw line grabbing mechanism is provided with a claw used for grabbing the lines, and the extending directions of the magnetic line grabbing piece and the claw are parallel to the rotating support and face opposite directions respectively;
the manipulator arm is used for driving the foot line grabbing mechanism to move and is provided with a plurality of joints for realizing the due positions and postures of the foot line grabbing mechanism;
the mould workbench is used for placing the leg wire mould, is positioned at the front side of the workbench, is vertically movably connected or fixedly connected with the workbench, and is provided with a leg wire mould lifting mechanism for driving the leg wire mould to vertically move;
the bayonet mechanism is arranged on the workbench, is used for a bayonet of a detonator shell and is provided with a bayonet disc, a longitudinal bayonet through hole for inserting the detonator shell is formed in the center of the bayonet disc, and the front side of the bayonet mechanism faces forwards;
and the pipe jacking mechanism is used for pushing the bayonet part of the detonator shell into the bayonet position in the longitudinal bayonet through hole and is positioned at the rear side of the bayonet disc.
2. The automatic buckle system according to claim 1, wherein the first mold lifting platform is provided with a first mold lifting platform upgrading mechanism capable of driving the first mold lifting platform to lift, a first pushing oil/air cylinder is provided at an outer side of the first mold conveying frame, a piston rod of the first pushing oil/air cylinder is perpendicular to the first mold conveying frame and faces an inlet of the mold workbench, a second mold lifting platform is provided at one side of the mold workbench, a second pushing oil/air cylinder is provided at the other side opposite to the one side, a second mold lifting platform upgrading mechanism capable of driving the second mold lifting platform to lift is provided at the second mold lifting platform, and a piston rod of the second pushing oil/air cylinder extends horizontally and faces the second mold upgrading platform.
3. The automatic buckle system of claim 1 further comprising a second mold delivery mechanism, the second mold conveying mechanism is positioned below the first mold conveying mechanism, the second mold conveying mechanism adopts the same structure as the first mold conveying mechanism, a third pushing oil/air cylinder is arranged on the outer side of the second mould conveying mechanism, a third mould lifting platform is arranged in front of the third pushing oil/air cylinder, the third mould lifting platform is positioned between the left side frame and the right side frame of the second mould transmission frame, the stroke of the lifting mechanism at least comprises the lifting of the mould on the second mould conveying mechanism, the third mould lifting platform is provided with a third mould lifting platform upgrading mechanism which can drive the third mould lifting platform to lift, and a piston rod of the third pushing oil/air cylinder extends horizontally and faces the third mould lifting platform.
4. The buckle system according to any one of claims 1 to 3, wherein the thread take-off mechanism fixing plate is an L-shaped plate including a vertical section parallel to the axis of the first rotation shaft and a planar section perpendicular to the axis of the first rotation shaft, the planar section of the thread take-off mechanism fixing plate is located at a front end of the vertical section, the first rotation shaft is located at a front portion of the robot arm, the thread take-off mechanism is mounted on the robot arm in such a manner that a rear surface of the planar section of the thread take-off mechanism fixing plate is fixedly connected to a front end of the first rotation shaft, and the rotary support is mounted on the thread take-off mechanism fixing plate in such a manner that: the rotary support is rotatably installed on the vertical face section of the foot line grabbing mechanism fixing plate through a rotary support mandrel perpendicular to the vertical face section of the foot line grabbing mechanism fixing plate, the rotary support is provided with a rotary support rotation driving oil/air cylinder capable of driving the rotary support rotation driving oil/air cylinder to rotate relative to the foot line grabbing mechanism fixing plate, and the front claw device is located on the side opposite to the rotary support in the radial direction.
5. The buckle system according to claim 4, wherein an elastic pin positioning device is provided between the vertical surface section of the thread catching mechanism fixing plate and the rotary bracket, the elastic pin positioning device is installed on a large surface of the vertical surface section of the thread catching mechanism fixing plate, which is not connected with the rotary bracket, a pin hole for a positioning pin to pass through is provided on the vertical surface section of the thread catching mechanism fixing plate, two pin grooves corresponding to the pin hole are provided on a large surface of the rotary bracket opposite to the vertical surface section of the thread catching mechanism fixing plate, and the elastic pin positioning device is provided with a positioning pin and a positioning pin spring for pushing the positioning pin to the pin hole side.
6. The buckle system according to claim 4, wherein the front pawl device comprises a front pawl base, the front pawl base is provided with a front pawl capable of clamping a leg wire plunger and a front pawl oil/cylinder for driving the front pawl to perform a clamping action, the front pawl comprises two front pawl fingers which are matched with each other, each front pawl finger is respectively mounted on a front pawl finger sliding block, each front pawl finger sliding block is inserted into a front pawl finger sliding groove of the front pawl base and is in sliding fit with the front pawl finger sliding groove, the magnetic member is a magnetic sleeve, the magnetic sleeve is cylindrical, the outer end of the magnetic sleeve is closed or open, a magnet is arranged in the magnetic sleeve, the magnet is provided with a magnetic wire grabbing oil/cylinder capable of driving the magnet to axially move in the sleeve, and the magnetic wire grabbing oil/cylinder is located on the axial inner side of the magnetic sleeve, the magnetic body is connected with the outer end of a piston rod of the magnetic line grabbing oil/air cylinder, the gripper line grabbing mechanism is installed on a gripper line grabbing support, the gripper line grabbing support is fixedly installed on the rotating support, the gripper line grabbing mechanism is provided with a gripper line grabbing driving device capable of driving the gripper to conduct line grabbing action, the gripper is composed of two mutually matched gripper fingers, the gripper fingers are installed on a gripper base in a movable connection mode, the movable connection mode of the gripper fingers on the gripper base is a movable connection mode allowing transverse parallel movement or a movable connection mode allowing rotation, the gripper line grabbing driving device adopts the gripper line grabbing oil/air cylinder, and the gripper line grabbing oil/air cylinder is in driving connection with the gripper fingers through corresponding transmission mechanisms.
7. The buckle system according to claim 6, wherein the cylinder body of the magnetic wire grasping oil/air cylinder and the sleeve are mounted on a magnetic wire grasping bracket, the magnetic wire grasping bracket is fixedly mounted on the rotating bracket in a large-area opposite manner, the outer end of the magnetic wire grasping bracket is provided with a vertical bend, and the magnet sleeve is fixedly connected with the outer end bend of the magnet wire grasping bracket.
8. The buckle system according to claim 4, wherein a guide device is further provided in front of the bayonet plate, the guide device having a guide through hole aligned with the longitudinal bayonet through hole, the guide through hole being a tapered hole with a larger front end and a smaller rear end, the tapered hole having a diameter at a front end larger than the diameter of the longitudinal bayonet through hole and a diameter at a rear end equal to the diameter of the longitudinal bayonet through hole.
9. The buckle system according to claim 4, wherein the gripper finger is divided into a base section and a gripper section, the base section and the gripper section of the gripper finger being connected to each other, the base section of the gripper finger being intended for mounting on the gripper base, the gripper section being intended for gripping a thread, the inner side of the gripper section being provided with a toothed structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN107686438B true CN107686438B (en) | 2020-06-16 |
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| CN111995487B (en) * | 2020-09-07 | 2021-10-08 | 雅化集团绵阳实业有限公司 | Basic detonator tube loosening device and tube loosening and box packing integrated equipment formed by same |
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| CN106045800A (en) * | 2016-07-28 | 2016-10-26 | 陈娟 | Assembling device of nonel detonator |
| CN106748603A (en) * | 2017-03-10 | 2017-05-31 | 贵州全安密灵科技有限公司 | Method and system are known in a kind of electric detonator automatic assembling, detection, mark |
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| GB542082A (en) * | 1940-06-12 | 1941-12-24 | Donald George Ashcroft | Improvements in or relating to the assembling of articles comprising a wire or wiresthreaded through an annular object of resilient material |
| RU2436755C1 (en) * | 2010-05-24 | 2011-12-20 | Открытое акционерное общество "Муромский приборостроительный завод" (ОАО "МПЗ") | Method of packing percussion caps |
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| CN203653462U (en) * | 2013-12-27 | 2014-06-18 | 贵州久联民爆器材发展股份有限公司 | Jacking type detonator waist clamping device |
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| CN107686438A (en) | 2018-02-13 |
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