CN109776243B - Automatic clamping tool for industrial detonator production - Google Patents
Automatic clamping tool for industrial detonator production Download PDFInfo
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- CN109776243B CN109776243B CN201910107487.6A CN201910107487A CN109776243B CN 109776243 B CN109776243 B CN 109776243B CN 201910107487 A CN201910107487 A CN 201910107487A CN 109776243 B CN109776243 B CN 109776243B
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- 210000000078 claw Anatomy 0.000 claims description 49
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims description 31
- 239000000758 substrate Substances 0.000 claims description 15
- 238000007599 discharging Methods 0.000 claims description 11
- 238000005086 pumping Methods 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 230000007704 transition Effects 0.000 claims description 6
- 230000003014 reinforcing effect Effects 0.000 claims description 5
- 230000004323 axial length Effects 0.000 claims description 4
- 239000002360 explosive Substances 0.000 abstract 1
- 238000000034 method Methods 0.000 description 13
- 230000009471 action Effects 0.000 description 10
- 238000004806 packaging method and process Methods 0.000 description 9
- 239000000463 material Substances 0.000 description 8
- 239000000843 powder Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
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Abstract
The invention discloses an automatic clamping tool for industrial detonator production, which belongs to the technical field of civil explosive production, and comprises the following components: the mechanical arm and the clamping tool arranged on the mechanical arm; the clamping tool comprises: the ignition module comprises a main body frame, an ignition module pickup assembly, a lead handle pickup assembly and a connecting piece pickup assembly; the ignition piece module pickup assembly is provided with two ignition piece module clamping jaws, and the ignition piece module of the industrial detonator is taken and placed by controlling the relative or opposite movement of the two ignition piece module clamping jaws; the lead handle picking assembly is provided with two lead handle clamping jaws, and the pick-up and the placement of the lead handles of the industrial detonator are realized by controlling the relative or opposite movement of the two lead handle clamping jaws; the connecting piece picking assembly is provided with a plastic sucker, and the connecting piece of the industrial detonator is sucked or put down through the plastic sucker; according to the invention, through the matching of the mechanical arm and the clamping tool thereof, the automatic assembly of the industrial detonator is realized, and the unmanned dangerous post is realized.
Description
Technical Field
The invention belongs to the technical field of civil blasting equipment production, and particularly relates to an automatic clamping tool for industrial detonator production.
Background
Currently, industrial detonators are mainly classified into three types, including common electric detonators, detonating tube detonators and electronic detonators.
1. In the production process of the common electric detonator, the ignition powder head connected with the leg wire is required to be inserted into the basic detonator shell for bayonet to complete the assembly of the product.
2. In the production process of the detonating tube detonator, the open end of the detonating tube or one end provided with the delay inner tube is required to be inserted into the basic detonator shell for bayonet, so that the product assembly is completed.
3. In the industrial electronic detonator production process, the electronic ignition element module is required to be inserted into the basic detonator shell for bayonet, meanwhile, the connecting piece is required to be marked by coding, the electronic ignition element module is required to be detected, and the electronic detonator is required to be bound by three codes, so that the product production is finally completed.
However, in the production process of the 3 detonators at present, because the operation steps are complex and various and the consistency of the incoming states of raw materials is poor, each procedure is still manually operated, the degree of automation is low, the production efficiency is low, and the consistency of the product quality is poor.
For example, in the production process of the common electric detonator, the ignition powder head communicated with the leg wire is manually inserted into the basic detonator shell by hand, then the pedal is stepped on, the waist pinching and the bayonet are completed, and finally the assembly process of the common electric detonator is completed. However, the repeatability of manual operation is poor, and the product quality is unstable; and along with the fatigue of operators, the efficiency of manual operation is reduced, the accuracy is reduced, the error rate is increased, and the overall product quality is affected.
In the production process of the detonating tube detonator, the open end of the detonating tube or the end provided with the delay inner tube is manually inserted into the basic detonator shell one by one, then the pedal is stepped on by one, the waist pinching and the bayonet are completed, and finally the common electric detonator assembly process is completed. However, the repeatability of manual operation is poor, and the product quality is unstable; and along with the fatigue of operators, the efficiency of manual operation is reduced, the accuracy is reduced, the error rate is increased, and the overall product quality is affected.
In the industrial electronic detonator production process, the patent with the publication number of CN201621011780 discloses a single-shot industrial detonator integrated assembly production device, which adopts the current advanced unit machine design thought to realize the automation of procedures such as detonator bayonet, electronic ignition piece module detection, three-code binding and the like; however, at present, the three parts of the device, namely the basic detonator, the electronic ignition module and the connector are still manually finished by manpower, the finished quality of the action is poor, the repeatability is low, the high-efficiency production rhythm of the disclosed unit machine cannot be matched, and the overall production efficiency is reduced.
In addition, on one hand, in order to meet the requirements of the national explosion industry on 'less humanization and no humanization' of dangerous posts, and on the other hand, in order to improve the overall production efficiency and the product quality, an automatic robot is required to replace an operator, so that the efficiency of placing a plurality of working procedures of a lead handle, an ignition module and a connecting piece is improved, the operation completion quality of each working procedure is ensured, and the overall production efficiency and the product quality are further improved.
Disclosure of Invention
In view of the above, the invention provides an automatic clamping tool for industrial detonator production, which realizes the automatic assembly of various detonators such as electric detonators, detonating tube detonators, electronic detonators and the like through the cooperation of a mechanical arm and the clamping tool thereof, and realizes the unmanned dangerous post.
The invention is realized by the following technical scheme:
an automated clamping tool for industrial detonator production, comprising: the mechanical arm and the clamping tool arranged on the mechanical arm; the clamping tool comprises: the ignition module comprises a main body frame, an ignition module pickup assembly, a lead handle pickup assembly and a connecting piece pickup assembly;
the main body frame is of a frame structure and is used for installing an ignition element module pickup assembly, a lead handle pickup assembly and a connecting element pickup assembly;
the ignition piece module picking assembly is provided with two ignition piece module clamping jaws, and the two ignition piece module clamping jaws are opened and closed by controlling the relative or opposite movement of the two ignition piece module clamping jaws, so that the ignition piece module of the industrial detonator is taken and placed;
the lead handle picking assembly is provided with two lead handle clamping jaws, and the opening and closing of the two lead handle clamping jaws are realized by controlling the relative or opposite movement of the two lead handle clamping jaws, so that the lead handle of the industrial detonator is taken and placed;
the connecting piece picking assembly is provided with a plastic sucker, and the connecting piece of the industrial detonator is sucked or put down through the plastic sucker; or the connecting piece picking assembly is provided with an air cylinder, and the connecting piece of the industrial detonator is picked and placed through the air cylinder.
Further, the igniter module pick-up assembly further includes: the device comprises a mounting substrate, a linear cylinder, a guide rod, a limiting locking block and a linear guide rail type translational pneumatic claw;
the ignition piece module pickup assembly is fixed on the main body frame through the mounting substrate;
the cylinder body end of the linear cylinder is fixed on the mounting substrate, and the end part of the piston rod end of the linear cylinder is fixedly connected with the shell of the linear guide rail type translational gas claw; after the guide rods which are arranged in parallel penetrate through the mounting substrate, the tail ends of the guide rods are fixedly connected with the outer shell of the linear guide rail type translational air claw; the guide rods are parallel to the piston rods of the linear cylinders, and each guide rod is fixedly connected with a limiting locking piece, and when the piston rods of the linear cylinders extend to drive the guide rods to move along the axial direction of the guide rods, the limiting locking pieces are abutted against the mounting substrate and are used for limiting the extension length of the piston rods of the linear cylinders;
the end part of the linear guide rail type translational pneumatic claw is provided with a linear guide rail, and the length direction of the linear guide rail is perpendicular to the axial direction of a piston rod of the linear cylinder; the linear guide rail is provided with two connecting claws which are in sliding fit with the linear guide rail, and the two connecting claws can simultaneously move relatively or oppositely along the linear guide rail under the control of an internal motor of the connecting claws; the two ignition piece module clamping jaws are correspondingly and fixedly connected to the two connecting claws respectively, and when the two connecting claws move relatively or reversely, the two ignition piece module clamping jaws are opened and closed, so that the ignition piece modules of the industrial detonator are taken and placed;
further, the tail end of the ignition piece module clamping jaw is provided with a semicircular through groove matched with the appearance of the ignition piece module of the industrial detonator, and when the two ignition piece module clamping jaws are closed, the two semicircular through grooves form a circular through hole relatively.
Further, the lead handle pick-up assembly further comprises: thin type air claw, transition plate and driving motor;
the lead wire fixes the pickup assembly on the main body frame through a thin air claw;
the thin air claw is provided with a guide groove;
the two lead handle clamping jaws are of an L-shaped structure, the horizontal parts of the two lead handle clamping jaws are respectively arranged on the thin air jaw through transition plates and are in sliding fit with the guide grooves of the thin air jaw, and the vertical parts of the two lead handle clamping jaws are opposite; the two lead handle clamping jaws are respectively connected with a driving motor, and the driving motor is used for driving the two lead handle clamping jaws to move relatively or oppositely along the guide grooves of the thin air claw at the same time, so that the two lead handle clamping jaws can be opened and closed at the vertical parts, and further, the lead handle of the industrial detonator can be taken and placed;
further, the ends of the vertical portions of the wire grip jaws are provided with guide ramps that oppose each other to form a V-shaped configuration when the vertical portions of the wire grip jaws are closed.
Further, the connector pickup assembly further includes: the device comprises a mounting plate, a spring air rod and an air pumping and discharging device;
the connector pickup assembly is fixed on the main body frame through a mounting plate;
the middle part of the spring gas rod is fixed on the mounting plate, one end of the spring gas rod is provided with a plastic sucker, and the other end of the spring gas rod is provided with an air pumping and discharging device; and the cavity formed by the plastic sucker and the connecting piece of the industrial detonator is communicated with the air pumping and discharging device through the inner cavity of the spring air rod.
Further, the spring gas rod is formed by connecting two hollow pipes in a sleeved mode, a spring is installed between the two hollow pipes, and the two hollow pipes can realize relative axial movement of the two hollow pipes through the compression spring, so that the axial length of the spring gas rod is adjusted.
Further, the main body frame includes: the top plate, two side plates vertically fixed on two opposite sides of the top plate and a reinforcing column arranged between the two side plates; fixing holes are respectively processed on the top plate and are used for being fixedly connected with the mechanical arm; and the side plate is provided with a mounting hole for mounting the ignition element module pickup assembly, the lead handle pickup assembly and the connecting element pickup assembly.
Further, the two igniter module pick-up assemblies are fixed on two side plates of the main body frame and are symmetrical along the center of the main body frame; the two leads symmetrically fix the pick-up assembly on the two side plates of the main body frame; the two connector pickup assemblies are fixed on the two side plates of the main body frame and are symmetrical along the center of the main body frame.
Further, the mechanical arm is a six-axis mechanical arm, one end of the mechanical arm is provided with a mechanical arm mounting disc for fixing the mechanical arm on an external supporting platform, and the other end of the mechanical arm is provided with a tool mounting disc for being fixedly connected with a clamping tool.
The beneficial effects are that: (1) According to the invention, through the matching of the mechanical arm and the clamping tool thereof, the full-automatic assembly of the electric detonator, the detonating tube detonator and the electronic detonator is realized, the full-automatic unmanned complex procedures of inserting the ignition element module into the bayonet assembly of the basic detonator, placing the lead wire handle, sucking the connecting piece, marking the information of the connecting piece and the like are realized, namely, the unmanned dangerous post is realized; the production efficiency and the quality stability of the electric detonator, the detonating tube detonator and the electronic detonator are improved, the production cost is saved, and the intelligent manufacturing is realized.
(2) The ignition element module pickup assembly realizes that an electronic ignition element module of an electronic detonator, a primer head of the electronic detonator and a delay inner tube or a detonating tube of the detonating tube detonator are automatically inserted into a basic detonator, so that the action precision is high, the repeatability is good and the production efficiency is high; and the ignition part module clamping jaw of the ignition part module pickup assembly can be correspondingly manufactured and replaced according to the appearance characteristics of the object to be clamped, so that the flexibility is high, and the application range is wide.
(3) The lead handle picking assembly realizes the picking and placing of the conductive leg wire handle of the electronic detonator, the conductive leg wire handle of the electric detonator and the detonating tube lead handle of the detonating tube detonator, and the appearance of the lead handle is tidy and consistent after the clamping; and the lead handle clamping jaw of the lead handle picking assembly can be correspondingly manufactured and replaced according to the appearance characteristics of the object to be clamped, so that the flexibility is high, and the application range is wide.
(4) The connecting piece picking assembly realizes the suction and discharge of the junction box of the electronic detonator and the connecting block of the detonating tube detonator, and has high positioning and placing precision and high working efficiency.
(5) The ignition part module picking assembly, the lead handle picking assembly and the connecting part picking assembly are two sets and are symmetrically arranged on the two side plates of the main body frame to form two sets of operation units, so that alternate material taking, material discharging and finished product taking can be realized, the action stroke is reduced, the action period is shortened, and the production efficiency is improved.
(6) The main body frame is provided with the lightening holes, so that the dead weight of the clamping tool is reduced, the load capacity is improved, the start-stop inertia is reduced, and the integral high positioning precision and high action beat are realized.
Drawings
FIG. 1 is a schematic diagram of the structural components of the present invention;
FIG. 2 is a schematic diagram of a second embodiment of the present invention;
FIG. 3 is an overall schematic diagram of a clamping tool;
FIG. 4 is a schematic illustration of a robotic arm;
FIG. 5 is a schematic view of a body frame;
FIG. 6 is a schematic view of a igniter module pickup assembly;
FIG. 7 is a schematic view of a wire bond pick-up assembly;
FIG. 8 is a schematic view of a connector pickup assembly;
the device comprises a 1-mechanical arm, a 2-main body frame, a 3-ignition element module pickup assembly, a 4-lead wire handle pickup assembly, a 5-connection element pickup assembly, a 6-reinforcing column, a 101-mechanical arm mounting plate, a 103-tool mounting plate, a 201-top plate, a 202-side plate, a 203-fixing hole, a 204-lightening hole, a 301-mounting substrate, a 302-linear cylinder, a 303-guide rod, a 304-limiting locking block, a 305-linear guide rail type translational air jaw, a 306-ignition element module clamping jaw, a 401-thin air jaw, a 402-transition plate, a 403-lead wire handle clamping jaw, a 501-mounting plate, a 502-spring air rod and a 503-plastic sucker.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The embodiment provides an automatic clamping frock for industrial detonator production, see fig. 1 and 2, include: the mechanical arm 1 and the clamping tool arranged on the mechanical arm; referring to fig. 3, the clamping tool includes: a main body frame 2, an igniter module pick-up assembly 3, a lead handle pick-up assembly 4 and a connector pick-up assembly 5; the ignition element module pickup assembly 3 is used for clamping and placing an ignition element module of the industrial detonator, the lead handle pickup assembly 4 is used for clamping and placing a lead handle of the industrial detonator, and the connecting element pickup assembly 5 is used for sucking and putting down a connecting element of the industrial detonator;
referring to fig. 4, the mechanical arm 1 is a six-axis mechanical arm, one end of the mechanical arm is provided with a mechanical arm mounting plate 101 for fixing the mechanical arm 1 on an external supporting platform, and the other end is provided with a tool mounting plate 103 for being fixedly connected with a clamping tool; the mechanical arm 1 can realize any movement of the clamping tool in a six-axis space within the arm extension range;
referring to fig. 5, the main body frame 2 includes: a top plate 201, two side plates 202 vertically fixed to opposite sides of the top plate 201, and two parallel reinforcing columns 6 installed between the two side plates 202; a fixing hole 203 is formed in the top plate 201 and is used for being fixedly connected with the tool mounting disc 103 of the mechanical arm 1; the side plates 202 are respectively provided with mounting holes for mounting the ignition element module pickup assembly 3, the lead handle pickup assembly 4 and the connecting element pickup assembly 5; the top plate 201 and the side plate 202 are respectively provided with a lightening hole 204 for lightening the dead weight of the clamping tool, improving the load capacity, reducing the start-stop inertia and realizing the integral high positioning precision and high action beat; the two reinforcing columns 6 are used for reinforcing the overall strength of the main body frame 2, so that the problems of torsion, vibration and deformation of the clamping tool in the action process are avoided, and the action precision and the action efficiency are influenced;
referring to fig. 6, the igniter module pickup assembly 3 includes: the device comprises a mounting substrate 301, a linear cylinder 302, a guide rod 303, a limiting locking block 304, a linear guide rail type flat air claw 305 and an ignition element module clamping jaw 306;
the cylinder end of the linear cylinder 302 is fixed on the mounting substrate 301, and the end of the piston rod end of the linear cylinder is fixedly connected with the shell of the linear guide rail type translational air claw 305; after the two guide rods 303 respectively pass through the mounting substrate 301, the tail ends of the two guide rods are fixedly connected with the outer shell of the linear guide rail type translational air claw 305; and two guide rods 303 are parallel to the piston rod of the linear cylinder 302 and are used for guiding the movement of the piston rod; each guide rod 303 is fixedly connected with a limiting locking block 304, which is used for limiting the extension length of the piston rod of the linear cylinder 302, namely, when the piston rod of the linear cylinder 302 extends, the guide rods 303 are driven to move along the axial direction by the shell of the linear guide rail type translational air claw 305, and when the limiting locking blocks 304 are abutted against the mounting substrate 301, the piston rod of the linear cylinder 302 cannot extend any more;
the end part of the linear guide rail type translational air claw 305 is provided with a linear guide rail, and the length direction of the linear guide rail is perpendicular to the axial direction of the piston rod of the linear cylinder 302; the linear guide rail is provided with two connecting claws which are in sliding fit with the linear guide rail, and the two connecting claws can simultaneously move relatively or oppositely along the linear guide rail under the control of an internal motor of the connecting claws; the two ignition piece module clamping jaws 306 are respectively and correspondingly fixedly connected to the two connecting claws, and when the two connecting claws move relatively or oppositely, the two ignition piece module clamping jaws 306 are opened and closed, so that the object to be clamped is taken and placed; the tail end of the ignition piece module clamping jaw 306 is provided with a semicircular through groove matched with the object to be clamped, and when the two ignition piece module clamping jaws 306 are closed, the two semicircular through grooves form a circular through hole relatively, so that the object to be clamped is clamped;
when the piston rod of the linear cylinder 302 is extended or shortened, the ignition element module clamping jaw 306 is driven to accurately insert the object to be clamped into the basic detonator shell or extract the object from the basic detonator shell; the limiting locking block 304 realizes that the ignition element module clamping jaw 306 accurately inserts an object to be clamped into the basic detonator shell at a set depth through limiting the extension distance of the linear cylinder 302;
referring to fig. 7, the lead frame pick-up assembly 4 includes: a thin air jaw 401, a transition plate 402, a lead handle clamping jaw 403 and a driving motor;
a guide groove is formed in the thin air claw 401; the lead wire holding jaw 403 is in an L-shaped structure, the horizontal parts of the two lead wire holding jaws 403 are respectively arranged on the thin air jaw 401 through the transition plate 402 and are in sliding fit with the guide groove of the thin air jaw 401, and the vertical parts of the two lead wire holding jaws 403 are opposite; the two lead handle clamping jaws 403 are respectively connected with a driving motor, and the driving motor is used for driving the two lead handle clamping jaws 403 to move relatively or oppositely along the guide grooves of the thin air jaw 401 at the same time, so that the opening and closing of the vertical parts of the two lead handle clamping jaws 403 are realized, and further, the taking and placing of the lead handles are realized; the tail end of the vertical part of the lead wire clamping jaw 403 is provided with a guide slope, when the vertical parts of the two lead wire clamping jaws 403 are closed, the two guide slopes are opposite to form a V-shaped structure, and the guide slope is used for gathering the lead wire handles to be picked up, realizing reliable clamping of the lead wire handles, and avoiding the lead wire handles from falling off from gaps at the tail ends of the vertical parts of the two lead wire clamping jaws 403 in the clamping process;
referring to fig. 8, the connector pickup assembly 5 includes: the mounting plate 501, the plastic sucker 503, a hardware fitting matched with the plastic sucker 503 and the air exhausting device, wherein the hardware fitting is a spring air rod 502; the spring gas rod 502 is formed by sleeving two hollow pipes, a spring is arranged between the two hollow pipes, and the two hollow pipes can realize relative axial movement of the two hollow pipes through compressing the spring, so that the axial length of the spring gas rod 502 is adjusted;
two parallel spring gas rods 502 are respectively fixed on the mounting plate 501 through nuts, one end of each spring gas rod 502 is provided with a plastic sucker 503, and the other end is provided with a gas pumping and discharging device; the cavity formed by the plastic sucker 503 and the object to be sucked is communicated with the air pumping and discharging device through the inner cavity of the spring air rod 502; when the plastic sucker 503 is attached to the object to be sucked, the spring air rod 502 is continuously pressed down, so that air in a cavity formed by attaching the plastic sucker 503 to the object to be sucked is discharged, and meanwhile, the cavity is vacuumized through the air exhausting device, so that the plastic sucker 503 is tightly attached to the object to be sucked, and separation and falling of the object to be sucked and the plastic sucker 503 in the action process are avoided; the axial length of the spring gas rod 502 is adjustable, so that when the spring gas rod 502 is pressed down, the spring gas rod 502 is buffered, and the spring gas rod 502 is prevented from being crushed;
the overall connection relationship is as follows: the main body frame 2 is fixed on the tool mounting plate 103 of the mechanical arm 1 through a top plate 201; the two igniter module pickup assemblies 3 are respectively fixed on the two side plates 202 of the main body frame 2 through respective mounting base plates 301 and are symmetrical along the center of the main body frame 2; the two lead wires symmetrically fix the pickup assembly 4 on the two side plates 202 of the main body frame 2 through respective thin air pawls 401; the two connector pickup assemblies 5 are fixed to the two side plates 202 of the main body frame 2 by respective mounting plates 501, and are symmetrical along the center of the main body frame 2.
Working principle: the industrial detonator is an electric detonator, a detonating tube detonator or an electronic detonator;
1. when the industrial detonator is an electric detonator, the conductive foot wire handle is a lead wire handle, the ignition powder head is an ignition piece module, and no connecting piece exists;
when the electric detonator is produced: (1) a material taking stage: the two ignition element module clamping jaws 306 are controlled to be closed by the linear guide rail type translational air claw 305 to clamp a plastic plug coated outside the ignition powder head, and the two lead wires are driven by the driving motor to close the vertical parts of the clamping jaws 403 to clamp the conductive leg wire handles of the electric detonator;
(2) And (3) an assembly stage: after material taking is completed, the mechanical arm 1 moves the ignition element module pickup assembly 3 to a set operation station through the main body frame 2, the linear cylinder 302 of the ignition element module pickup assembly 3 is controlled to extend for a set length, the plastic plug of the ignition head of the electric detonator is inserted into the basic detonator at the corresponding position, then the two ignition element module clamping claws 306 are controlled to be opened through the linear guide rail type translation air claw 305, the ignition element module clamping claws 306 are separated from the plastic plug of the ignition head, and the bayonet of the electric detonator is completed through the closing device on the operation station;
the mechanical arm 1 moves the lead wire handle pick-up assembly 4 to a set operation station through the main body frame 2, and drives the two lead wire handle clamping jaws 403 to be opened vertically through the driving motor, so that the lead wire handle clamping jaws 403 are separated from the conductive leg wire handle of the electric detonator;
(3) Product taking stage: the clamping jaw 306 of the two ignition piece modules is controlled to be closed, the plastic plug which is reserved by exposing the ignition powder head of the electric detonator after the bayonet is completed is clamped again, the clamping jaw 403 is controlled to be closed by controlling the two lead wires, and the conductive leg wire handle of the electric detonator is clamped again; the mechanical arm 1 moves the whole body frame 2 to the packaging station, the two ignition element module clamping jaws 306 and the two lead wire clamping jaws 403 are opened, the assembled electric detonator is integrally sent into the packaging channel, and the electric detonator flows to the packaging procedure.
2. When the industrial detonator is a detonating tube detonator, the detonating tube handle is a lead handle, the detonating tube or the delay inner tube is an ignition piece module, and the split-flow or reflection type connecting block is a connecting piece;
when producing detonating tube detonators: (1) a material taking stage: the linear guide rail type translational air claw 305 controls the two ignition element module clamping claws 306 to be closed so as to clamp the rubber plug coated on the outer part of the detonating tube detonator or the rubber plug coated on the outer part of the delay inner tube; a detonating tube handle for clamping the detonating tube detonator is clamped by driving the two lead wires to close the vertical parts of the clamping jaws 403 through a driving motor; a shunt or reflection type connecting block for sucking the detonating tube detonator by controlling the plastic sucker 503 through the air sucking and discharging device;
(2) And (3) an assembly stage: after material taking is completed, the mechanical arm 1 moves the ignition element module pickup assembly 3 to a set operation station through the main body frame 2, the linear cylinder 302 of the ignition element module pickup assembly 3 is controlled to extend for a set length, the delay inner tube rubber plug or the detonating tube rubber plug is inserted into a basic detonator at a corresponding position, then the two ignition element module clamping claws 306 are controlled to be opened through the linear guide rail type translational air claw 305, so that the ignition element module clamping claws 306 are separated from the delay inner tube rubber plug or the detonating tube rubber plug, and the bayonet of the detonating tube detonator is completed through a closing device on the operation station;
the mechanical arm 1 moves the lead wire handle pick-up assembly 4 to a set operation station through the main body frame 2, and drives the two lead wire handle clamping jaws 403 to be opened vertically through the driving motor so that the lead wire handle clamping jaws 403 are separated from the detonating tube handle;
the mechanical arm 1 moves the connecting piece picking assembly 5 to a set operation station through the main body frame 2, and deflates the plastic sucker 503 through the air pumping and deflating device, so that the plastic sucker 503 is separated from a split-type or reflective connecting block of the detonating tube detonator; marking the lightning tube section information on the plastic label or the connecting block by a marking machine on the operation station;
(3) Product taking stage: the two ignition part module clamping jaws 306 are controlled to be closed, the pipe orifice rubber plug of the detonating tube detonator after the bayonet is completed is clamped again, the two lead wire clamping jaws 403 are controlled to be closed, the detonating tube handle is clamped again, and the split-flow or reflection type connecting block with the information marked is sucked again through the plastic sucker 503; the mechanical arm 1 moves the main body frame 2 to the packaging station integrally, the two ignition element module clamping jaws 306, the two lead wire clamping jaws 403 and the plastic sucker 503 are opened, and the assembled detonating tube detonator is sent to the packaging channel integrally and flows to the packaging procedure.
3. When the industrial detonator is an electronic detonator, the conductive foot wire handle is a lead wire handle, the electronic ignition piece module is an ignition piece module, and the junction box is a connecting piece;
when the electronic detonator is produced: (1) a material taking stage: the clamping jaws 306 of the two ignition element modules are controlled to be closed by the linear guide rail type translational air claw 305 to clamp the electronic ignition element modules of the electronic detonator; the two lead wire clamping claws 403 are driven by a driving motor to be closed at the vertical parts to clamp the conductive leg wire handles of the electronic detonator; the plastic sucker 503 is controlled by the air pumping and discharging device to suck the junction box of the electronic detonator;
(2) And (3) an assembly stage: after material taking is completed, the mechanical arm 1 moves the ignition element module pickup assembly 3 to a set operation station through the main body frame 2, the linear cylinder 302 of the ignition element module pickup assembly 3 is controlled to extend for a set length, an electronic ignition element module is inserted into a basic detonator at a corresponding position, then the two ignition element module clamping jaws 306 are controlled to be opened through the linear guide rail type translational air claw 305, the ignition element module clamping jaws 306 are separated from the electronic ignition element module, and the bayonet of the electronic detonator is completed through a closing device on the operation station;
the mechanical arm 1 moves the lead wire handle pick-up assembly 4 to a set operation station through the main body frame 2, and drives the two lead wire handle clamping jaws 403 to be opened vertically through the driving motor so that the lead wire handle clamping jaws 403 are separated from the conductive foot wire handle;
the mechanical arm 1 moves the connecting piece picking assembly 5 to a set operation station through the main body frame 2, and deflates the plastic sucker 503 through the air exhausting device, so that the plastic sucker 503 is separated from the junction box; finishing information marking of the junction box by a marking machine on an operation station;
(3) Product taking stage: clamping the upper end of the electronic ignition part module after the bayonet is finished again by controlling the clamping jaws 306 of the two ignition part modules to be closed, clamping the conductive foot wire handles again by controlling the clamping jaws 403 of the two lead wires, and sucking the junction box after the information marking is finished again by controlling the plastic sucker 503; the mechanical arm 1 moves the main body frame 2 to the packaging station integrally, the two ignition element module clamping jaws 306, the two lead wire clamping jaws 403 and the plastic sucker 503 are opened, and the assembled electronic detonator is sent to the packaging channel integrally and flows to the packaging procedure.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An automated clamping tool for industrial detonator production, comprising: the mechanical arm (1) and the clamping tool arranged on the mechanical arm; the clamping tool comprises: the device comprises a main body frame (2), an ignition element module pickup assembly (3), a lead handle pickup assembly (4) and a connecting element pickup assembly (5);
the main body frame (2) is of a frame structure and is used for installing an ignition element module pickup assembly (3), a lead handle pickup assembly (4) and a connecting element pickup assembly (5);
the ignition piece module pickup assembly (3) is provided with two ignition piece module clamping jaws (306), and the two ignition piece module clamping jaws (306) are opened and closed by controlling the relative or opposite movement of the two ignition piece module clamping jaws (306), so that the ignition piece module of the industrial detonator is taken and placed;
the lead handle picking assembly (4) is provided with two lead handle clamping jaws (403), and the opening and closing of the two lead handle clamping jaws (403) are realized by controlling the relative or opposite movement of the two lead handle clamping jaws (403), so that the lead handle of the industrial detonator is taken and put;
the connecting piece picking assembly (5) is provided with a plastic sucker (503), and the connecting piece of the industrial detonator is sucked or put down through the plastic sucker (503); or the connecting piece picking assembly (5) is provided with an air cylinder, and the connecting piece of the industrial detonator is picked and placed through the air cylinder;
the igniter module pick-up assembly (3) further comprises: the device comprises a mounting substrate (301), a linear cylinder (302), a guide rod (303), a limiting locking block (304) and a linear guide rail type translational pneumatic claw (305);
the ignition element module pickup assembly (3) is fixed on the main body frame (2) through the mounting substrate (301);
the cylinder body end of the linear cylinder (302) is fixed on the mounting substrate (301), and the end part of the piston rod end of the linear cylinder is fixedly connected with the shell of the linear guide rail type translational air claw (305); after the guide rods (303) which are arranged in parallel penetrate through the mounting substrate (301), the tail ends of the guide rods are fixedly connected with the shell of the linear guide rail type translational air claw (305); the guide rods (303) are parallel to the piston rods of the linear cylinders (302), and each guide rod (303) is fixedly connected with a limiting locking piece (304) which is used for limiting the extension length of the piston rod of each linear cylinder (302) when the piston rod of each linear cylinder (302) extends to drive the guide rod (303) to move along the axial direction of the guide rod, and the limiting locking pieces (304) are abutted against the mounting substrate (301);
the end part of the linear guide rail type translational air claw (305) is provided with a linear guide rail, and the length direction of the linear guide rail is perpendicular to the axial direction of a piston rod of the linear cylinder (302); the linear guide rail is provided with two connecting claws which are in sliding fit with the linear guide rail, and the two connecting claws can simultaneously move relatively or oppositely along the linear guide rail under the control of an internal motor of the connecting claws; the two ignition piece module clamping jaws (306) are respectively and correspondingly fixedly connected to the two connecting claws, and when the two connecting claws move relatively or oppositely, the two ignition piece module clamping jaws (306) are opened and closed, so that the ignition piece module of the industrial detonator is taken and placed;
the lead handle pick-up assembly (4) further comprises: a thin air claw (401), a transition plate (402) and a driving motor;
the lead wire fixes the pickup assembly (4) on the main body frame (2) through a thin air claw (401);
a guide groove is formed in the thin air claw (401);
the lead wire holding jaw (403) is of an L-shaped structure, horizontal parts of the two lead wire holding jaws (403) are respectively arranged on the thin air jaw (401) through transition plates (402) and are in sliding fit with guide grooves of the thin air jaw (401), and vertical parts of the two lead wire holding jaws (403) are opposite; the two lead handle clamping jaws (403) are respectively connected with a driving motor, and the driving motor is used for driving the two lead handle clamping jaws (403) to move relatively or reversely along the guide grooves of the thin air claw (401) at the same time, so that the two lead handle clamping jaws (403) are opened and closed at the vertical parts, and further the lead handle of the industrial detonator is taken and placed;
the connector pick-up assembly (5) further comprises: the device comprises a mounting plate (501), a spring air rod (502) and an air pumping and discharging device;
the connector pickup assembly (5) is fixed on the main body frame (2) through a mounting plate (501);
the middle part of the spring gas rod (502) is fixed on the mounting plate (501), one end of the spring gas rod (502) is provided with a plastic sucker (503), and the other end is provided with an air pumping and discharging device; the cavity formed by the plastic sucker (503) and the connecting piece of the industrial detonator is communicated with the air pumping and discharging device through the inner cavity of the spring air rod (502);
the spring gas rod (502) is formed by sleeving two hollow pipes, a spring is arranged between the two hollow pipes, and the two hollow pipes can realize relative axial movement of the two hollow pipes through compressing the spring, so that the axial length of the spring gas rod (502) is adjusted.
2. An automated clamping fixture for industrial detonator production as claimed in claim 1 wherein the end of said igniter module jaw (306) is provided with a semi-circular through-slot which mates with the igniter module profile of the industrial detonator, the two semi-circular through-slots being opposed to each other to form a circular through-hole when the two igniter module jaws (306) are closed.
3. An automated clamping tooling for industrial detonator production as claimed in claim 1 wherein the vertical portion end of said wire handling jaw (403) is provided with guiding ramps which are opposed to form a V-shaped configuration when the vertical portion of the two wire handling jaw (403) is closed.
4. An automated clamping fixture for industrial detonator production as claimed in claim 1 wherein said main body frame (2) comprises: a top plate (201), two side plates (202) vertically fixed on opposite sides of the top plate (201), and a reinforcing column (6) installed between the two side plates (202); fixing holes (203) are respectively processed on the top plate (201) and are used for being fixedly connected with the mechanical arm (1); the side plates (202) are provided with mounting holes for mounting the ignition element module pickup assembly (3), the lead handle pickup assembly (4) and the connecting element pickup assembly (5).
5. An automated clamping tooling for industrial detonator production as claimed in claim 4 wherein two igniter module pick-up assemblies (3) are fixed to two side plates (202) of the main body frame (2) and are centrally symmetrical along the main body frame (2); the two leads symmetrically fix the pick-up assembly (4) on the two side plates (202) of the main body frame (2); the two connector pick-up assemblies (5) are fixed on the two side plates (202) of the main body frame (2) and are symmetrical along the center of the main body frame (2).
6. An automated clamping tool for industrial detonator production as claimed in claim 1 wherein the mechanical arm (1) is a six-axis mechanical arm, one end of which is provided with a mechanical arm mounting plate (101) for fixing the mechanical arm (1) on an external support platform, and the other end of which is provided with a tool mounting plate (103) for being fixedly connected with the clamping tool.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910107487.6A CN109776243B (en) | 2019-02-02 | 2019-02-02 | Automatic clamping tool for industrial detonator production |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910107487.6A CN109776243B (en) | 2019-02-02 | 2019-02-02 | Automatic clamping tool for industrial detonator production |
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| CN109776243A CN109776243A (en) | 2019-05-21 |
| CN109776243B true CN109776243B (en) | 2024-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910107487.6A Active CN109776243B (en) | 2019-02-02 | 2019-02-02 | Automatic clamping tool for industrial detonator production |
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| CN114407379B (en) * | 2022-01-27 | 2024-07-02 | 雅化集团绵阳实业有限公司 | Secondary butt joint device and method applied to detonating tube and rubber plug |
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| CN109776243A (en) | 2019-05-21 |
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