CN112061533B - Automatic labeling equipment for blocking explosive-conveying hole of perforating bullet shell - Google Patents
Automatic labeling equipment for blocking explosive-conveying hole of perforating bullet shell Download PDFInfo
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- CN112061533B CN112061533B CN202010943351.1A CN202010943351A CN112061533B CN 112061533 B CN112061533 B CN 112061533B CN 202010943351 A CN202010943351 A CN 202010943351A CN 112061533 B CN112061533 B CN 112061533B
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- perforating bullet
- conveying line
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/06—Devices for presenting articles in predetermined attitude or position at labelling station
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/08—Label feeding
- B65C9/12—Removing separate labels from stacks
- B65C9/14—Removing separate labels from stacks by vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/08—Label feeding
- B65C9/18—Label feeding from strips, e.g. from rolls
- B65C9/1865—Label feeding from strips, e.g. from rolls the labels adhering on a backing strip
- B65C9/1876—Label feeding from strips, e.g. from rolls the labels adhering on a backing strip and being transferred by suction means
- B65C9/1884—Label feeding from strips, e.g. from rolls the labels adhering on a backing strip and being transferred by suction means the suction means being a movable vacuum arm or pad
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/40—Controls; Safety devices
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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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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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
- B65G47/88—Separating or stopping elements, e.g. fingers
- B65G47/8876—Separating or stopping elements, e.g. fingers with at least two stops acting as gates
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Labeling Devices (AREA)
Abstract
The invention relates to the field of automatic labeling equipment, in particular to automatic labeling equipment for blocking a detonation transmission hole of a perforating bullet shell. Including annular transfer chain, feed mechanism, labeller constructs and unloading mechanism distributes along annular transfer chain traffic direction, the shell case tray has been placed on the annular transfer chain, the annular transfer chain drives shell case tray and removes along it to jack-up shell case tray makes shell case tray location and breaks away from annular transfer chain stop motion through location climbing mechanism. The invention has the beneficial effects that: realize automatic subsides mark, improve production efficiency to make the shell case tray can keep motionless at the assigned position through climbing mechanism, improve the subsides accuracy of mark of location, guaranteed to paste the mark quality.
Description
Technical Field
The invention relates to the field of automatic labeling equipment, in particular to automatic labeling equipment for blocking a detonation transmission hole of a perforating bullet shell.
Background
One end of the perforating bullet shell of the oil-gas well is provided with a groove which is used for fixing a detonating cord when the perforator is assembled. The middle part of the groove is provided with a through hole called as a detonation transfer hole, and the detonation transfer hole of the perforating bullet plays a role in transferring detonation energy. In the perforation ignition operation, detonation waves are sequentially transmitted in a detonation train after the detonator is excited, wherein the perforating bullet is detonated by the detonating cord through the detonation hole. In the production process of the perforating bullet, before filling explosive into the shell, a perforating bullet shell explosion transfer hole needs to be labeled and plugged, so that the explosive filled in the shell is prevented from leaking from the hole. The label paper is tightly attached to the groove to achieve the effect of completely blocking the explosion transfer holes, and if the explosion transfer holes leak explosive during press mounting, the production safety risk of the perforating bullet can be obviously increased; if explosive in the booster charge is lost in the use process of the perforating charge, the risk of booster charge failure is increased. Therefore, the sealing quality of the perforation charge explosion transmission hole is very important, at present, the process is mainly carried out in a manual labeling mode in China, the efficiency is low, and the sealing quality is uneven.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide an automatic labeling apparatus for sealing a perforating bullet housing deflagration-conducting hole, which is used to solve the problems of low sealing precision and low labeling efficiency of the perforating bullet housing deflagration-conducting hole in the prior art.
In order to achieve the above and other related objects, the present invention provides an automatic labeling apparatus for plugging a perforation charge casing propagation hole, comprising an annular conveying line, a feeding mechanism, a labeling mechanism and a discharging mechanism, wherein the feeding mechanism, the labeling mechanism and the discharging mechanism are distributed along the running direction of the annular conveying line, a charge case tray is placed on the annular conveying line, the annular conveying line drives the charge case tray to move along the annular conveying line, and the charge case tray is jacked up by a positioning jacking mechanism to be positioned and separated from the annular conveying line to stop moving.
The invention has the beneficial effects that: realize automatic subsides mark, improve production efficiency to make the shell case tray can keep motionless at the assigned position through climbing mechanism, improve the subsides accuracy of mark of location, guaranteed to paste the mark quality.
Optionally, the perforating bullet packaging machine further comprises a visual detection mechanism and a pose adjusting mechanism, wherein the visual detection mechanism and the pose adjusting mechanism are located between the feeding mechanism and the labeling mechanism, and the pose adjusting mechanism adjusts the position of the perforating bullet shell according to the detection result of the visual detection mechanism; and the annular conveying line is provided with a plurality of positioning jacking mechanisms, and the plurality of positioning jacking mechanisms are respectively distributed correspondingly with the feeding mechanism, the labeling mechanism, the visual detection mechanism, the pose adjusting mechanism and the discharging mechanism.
Optionally, the location climbing mechanism includes two at least symmetric distributions at the jacking cylinder of annular transfer chain both sides, the jacking cylinder passes through mounting substrate and is connected with the frame of annular transfer chain, the last spacing clamp plate that is located the jacking cylinder outside of installing of mounting substrate, install the location guide arm with the location taper sleeve cooperation location of shell case tray bottom on the piston rod of jacking cylinder, the jacking cylinder drives the operation of location guide arm and makes the shell case tray descend and fall into annular transfer chain or make the shell case tray rise and conflict with spacing clamp plate bottom after the annular transfer chain breaks away from.
Optionally, an incoming material conveying line is arranged on one side of the feeding mechanism, a blocking mechanism is arranged on the incoming material conveying line, the blocking mechanism is mounted on the incoming material conveying line through a traversing mechanism, the traversing mechanism drives the blocking mechanism to move along the movement direction of the annular conveying line to adjust the position, the blocking mechanism comprises a blocking unit, and the blocking unit telescopically intercepts a perforating bullet shell or releases the perforating bullet shell; and a blanking conveying line is arranged on one side of the blanking mechanism.
Optionally, the feeding mechanism and the discharging mechanism both comprise a material taking manipulator body and a material taking gripper, the material taking gripper is mounted on the material taking manipulator body, and the material taking gripper is driven by the material taking manipulator body to operate to grip the perforating bullet shell to an appointed position.
Optionally, the labeling mechanism comprises a labeling machine and a labeling manipulator, the labeling manipulator comprises a labeling manipulator body and a labeling gripper, the labeling gripper is mounted on the labeling manipulator body, and takes a label from the labeling machine and sticks the label to the perforating bullet shell.
Optionally, the labeling gripper comprises a sucker provided with an air receiving hole, the sucker is connected with the manipulator body through a sucker mounting plate, the middle of the sucker is of a flat structure, the lower portion of the sucker is of a profile modeling structure matched with a groove of the perforating bullet shell, and a suction nozzle is arranged at the bottom of the sucker.
Optionally, the cartridge case tray comprises a tray bottom plate, and a positioning mechanism for placing and positioning the perforating charge case is installed at the top of the tray bottom plate.
Optionally, the positioning mechanism includes a positioning seat and a first pad plate installed on the tray bottom plate, the first pad plate is provided with a mounting hole, a magnetic ring is placed in the mounting hole, the bottom of the positioning seat is connected with the mounting hole, and a boss assembled with the perforating bullet shell is arranged on the upper portion of the positioning seat.
Optionally, the positioning mechanism comprises a second base plate, an ejector rod cylinder and two movable positioning clamping plates which are arranged oppositely, the second base plate used for placing the perforating bullet shell is arranged on the tray bottom plate, the ejector rod cylinder is arranged on the frame of the annular conveying line, the movable positioning clamping plates are movably connected with the tray bottom plate through an adjusting mechanism and are located above the second base plate, the adjusting mechanism comprises two spring supports and two movable positioning clamping plates, the movable positioning clamping plates are respectively arranged on the two spring supports, the inner sides of the two spring supports are connected through springs, the ejector rod cylinder pushes the two movable positioning clamping plates to move backwards to generate a gap used for accommodating the perforating bullet shell, and the springs drive the two movable positioning clamping plates to move oppositely to reduce the gap to clamp the perforating bullet shell.
The beneficial effect of adopting the above optional scheme is: the automatic labeling is realized, the alignment is accurate, the labeling position precision is high, the structural layout is compact, and the occupied space is reduced; the transverse moving mechanism drives the blocking mechanism to adjust the position, so that the shaft axes of the bullet shells with different specifications reach the designated position to be coincided, the grabbing center of the material taking gripper is coincided with the axis of the casing body of the perforating bullet to be grabbed, and the grabbing stability is improved; the lower part of the sucking disc adopts a profiling structure, so that the contact area between the lower part of the sucking disc and the groove is increased, the edge is prevented from being warped, and the flatness of the label is improved.
Drawings
FIG. 1 is a schematic structural diagram of an automatic labeling device for blocking a perforating bullet housing explosion hole according to the invention;
fig. 2 is a schematic structural diagram of a labeling manipulator of the automatic labeling device for blocking the explosion-conducting hole of the perforating bullet shell;
fig. 3 is a partial structural schematic diagram of a labeling gripper of the automatic labeling device for blocking a perforating bullet shell explosion hole of the invention;
FIG. 4 is a schematic structural diagram of a sucker of the automatic labeling device for plugging a perforating bullet shell explosion transfer hole;
FIG. 5 is a schematic structural diagram of a positioning and jacking mechanism of the automatic labeling device for blocking the explosive-conveying hole of the perforating bullet shell;
fig. 6 is a schematic structural diagram of a blocking mechanism and a traversing mechanism of the automatic labeling device for blocking the explosion transmission hole of the perforating bullet shell;
fig. 7 is a schematic structural diagram of a feeding mechanism and a discharging mechanism of the automatic labeling device for blocking the explosion transmission hole of the perforating bullet shell;
fig. 8 is a schematic structural diagram of a cartridge case tray of the automatic labeling device for blocking the explosive hole of the perforating cartridge case according to the first embodiment of the invention;
fig. 9 shows a cross-sectional view of a first embodiment of a cartridge case tray of the automatic labeling apparatus for plugging a booster hole of a perforating charge case according to the present invention;
fig. 10 is a schematic structural diagram of a cartridge case tray of the automatic labeling device for blocking the explosive hole of the perforating cartridge case according to the second embodiment of the invention;
fig. 11 is a schematic structural diagram of the cartridge case tray of the automatic labeling device for blocking the explosive-conveying hole of the perforating charge case, which is provided with the second backing plate and the movable positioning clamping plate, when the second backing plate and the movable positioning clamping plate are detached.
Description of reference numerals
1-an annular conveying line;
2-a feeding mechanism; 21-X axis drive mechanism; a 22-Z axis drive mechanism; 23-taking the material to grip; 231-three-jaw cylinder; 232-a clamping jaw; 24-a first mounting frame;
3-a blanking mechanism;
41-a feeding conveying line; 42-a blanking conveying line;
5-cartridge case pallet; 51-a tray floor; 511-nylon slider; 52-a first shim plate; 53-positioning seats; 54-a second shim plate; 55-movable positioning clamping plate; 56-an adjustment mechanism; 561-a base; 562-channel; 563-a spring; 564-a top rod; 565-spring support; 57-perforating charge case; 571-a groove;
6-a blocking mechanism; 61-a blocking unit; 611-blocking cylinders; 612-a blocking rod;
7-pose adjusting mechanism;
8-labeling mechanism; 81-X axis linear modules; an 82-Z axis linear module; 83-labeling the gripper; 831-sucker mounting plate; 832-suction cup; 8321-air receiving holes; 8322-suction nozzle; 833-pneumatic regulating valve; 84-a second mounting frame;
9-positioning a jacking mechanism; 91-jacking cylinder; 92-a limit pressure plate; 93-a positioning guide rod; 94-a jacket; 95-a mounting substrate;
10-traversing mechanism.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
It should be noted that the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description only, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship between the terms and the corresponding elements may be made without substantial technical changes.
Before describing embodiments of the present invention in detail, the present invention will be described in an application environment. The technology of the invention is mainly applied to the field of labeling equipment, in particular to labeling for plugging the explosion transfer hole of the perforating bullet shell. The problems of inconvenience in labeling operation, low precision, low efficiency and the like of a traditional perforating bullet shell are solved.
As shown in fig. 1, the automatic labeling device for blocking the explosion-conducting hole of the perforating bullet shell comprises an annular conveying line 1, a feeding mechanism 2, a labeling mechanism 8 and a blanking mechanism 3, wherein the feeding mechanism 2, the labeling mechanism 8 and the blanking mechanism 3 are distributed along the running direction of the annular conveying line, can be distributed on the outer side or the inner side of the annular conveying line 1, and can be distributed according to requirements and space. Placed shell case tray 5 on the annular transfer chain 1, annular transfer chain 1 drives shell case tray 5 and removes along annular transfer chain 1, when the shell case tray removes the assigned position, through location climbing mechanism jack-up shell case tray 5 make shell case tray 5 fix a position and break away from annular transfer chain 1 stop motion for shell case tray 5 is in the nimble switching of motion and quiescent condition, and the location is accurate, realizes automatic subsides mark operation, reduces and pastes the mark degree of difficulty, improves and pastes mark efficiency.
As shown in fig. 1, in an exemplary embodiment, the perforating bullet feeding device further comprises a visual detection mechanism and a pose adjusting mechanism 7, wherein the visual detection mechanism and the pose adjusting mechanism 7 are located between the feeding mechanism 2 and the labeling mechanism 8, that is, the feeding mechanism 2, the visual detection mechanism, the pose adjusting mechanism 7, the labeling mechanism 8 and the blanking mechanism 3 are sequentially distributed along the annular conveying line 1, so that the feeding, the detection of whether the perforating bullet shells are in place, the adjustment of the perforating bullet shells in place, the labeling and the blanking are sequentially and sequentially performed. The position and posture adjusting mechanism 7 adjusts the position of the perforating bullet shell according to the detection result of the visual detection mechanism, the visual detection mechanism is used for detecting the included angle between the horizontal axis of the groove at the end of the perforating bullet shell and the movement direction of the annular conveying line, and then the position and posture adjusting mechanism 7 adjusts the perforating bullet shell to rotate to the specified position according to the feedback of the visual detection mechanism. The longitudinal section of the groove on the bottom end of the perforating bullet shell can be in a semicircular arc shape or a square shape, in the embodiment, the groove on the bottom end of the perforating bullet shell is in a semicircular arc shape, so that the horizontal axis of the semicircular arc-shaped groove on the bottom of the perforating bullet shell is parallel to the motion direction of the annular conveying line through the pose adjusting mechanism 7, namely, when a labeling station of the horizontal straight line segment of the annular conveying line is used, the horizontal axis of the semicircular arc-shaped groove is parallel to the motion direction of the annular conveying line, the pose adjusting mechanism 7 can be adjusted in place only by driving the perforating bullet shell to rotate along the axial direction of the perforating bullet shell, the labeling mechanism can realize accurate labeling without rotating operation, especially when the labeling mechanism is provided with a plurality of suckers for labeling operation, the structure of the labeling mechanism can be simplified while the labeling efficiency and the labeling accuracy are ensured.
As shown in fig. 1 and 5, in an exemplary embodiment, a plurality of positioning and jacking mechanisms are arranged on the annular conveying line 1, the positioning and jacking mechanisms can be installed on a frame of the annular conveying line 1, and a plurality of positioning and jacking mechanisms 9 are respectively distributed corresponding to the feeding mechanism 2, the labeling mechanism 8, the vision detection mechanism, the pose adjustment mechanism 7 and the blanking mechanism 3, so that the cartridge case tray 5 can be kept still at a specified position, and the corresponding mechanisms can perform related material taking, position detection, position adjustment and other problems. The start and stop of location climbing mechanism can be realized through external control platform, and whether shell case tray 5 targets in place can respond to the judgement through the sensor that sets up on annular conveyor line 1, and when shell case tray 5 targets in place, the control platform just controls location climbing mechanism operation jack-up shell case tray 5, and after the operation of accomplishing corresponding station, location climbing mechanism withdrawal resets for shell case tray 5 gets back to on the annular conveyor line 1. Wherein, location climbing mechanism 9 includes two at least symmetric distribution at the jacking cylinder 91 of 1 both sides of annular transfer chain, jacking cylinder 91 can be connected with the frame of annular transfer chain 1 through mounting substrate 95, and protect jacking cylinder 91 through cover shell 94, install the spacing clamp plate 92 that is located the jacking cylinder 91 outside on the mounting substrate 95, install the location guide arm 93 with the location taper sleeve cooperation location of 5 bottoms of shell case tray on jacking cylinder 91's the piston rod, be equipped with the through-hole that supplies location guide arm 93 to pass on the cover shell 94. When the cartridge case tray 5 needs to be positioned and kept still, the jacking cylinder 91 drives the positioning guide rod 93 to extend out to jack the cartridge case tray 5 upwards, the cartridge case tray 5 rises to be separated from the annular conveying line 1 and then is abutted against the bottom of the limiting pressure plate 92, and the cartridge case tray 5 keeps still; when the cartridge case tray 5 needs to be moved and conveyed, the jacking cylinder 91 drives the positioning guide rod 93 to retract and separate from the cartridge case tray 5, and the cartridge case tray 5 descends and falls onto the annular conveying line 1 to continue to move. Spacing clamp plate 92 can be for the L template of invering, not only can be spacing to the going upward of shell case tray 5 through spacing clamp plate 92, can also make shell case tray 5 static fast with the contact of spacing clamp plate to be convenient for carry on the operation of corresponding process, improve accurate nature.
As shown in fig. 1 and 6, in an exemplary embodiment, an incoming material conveying line 41 is provided on one side of the feeding mechanism 2, and a blanking conveying line 42 is provided on one side of the blanking mechanism 3. Be equipped with blocking mechanism 6 on the supplied materials transfer chain 41, blocking mechanism 6 installs on supplied materials transfer chain 41 through sideslip mechanism 10, and sideslip mechanism 10 drives blocking mechanism 6 and removes the adjustment position along 1 direction of motion of annular transfer chain to when making blocking mechanism 6 block the perforating bullet casing of different diameters, the axial lead homoenergetic of perforating bullet casing is located same assigned position, and the feed mechanism of being convenient for gets the material operation.
As shown in fig. 1 and 6, in an exemplary embodiment, the blocking mechanism 6 includes blocking units 61, the blocking units 61 telescopically intercept the perforating charge shells or the perforating charge shells, the number of the blocking units 61 can be set according to requirements, the number of the blocking units 61 is one more than that of the perforating charge shells on the shell tray 5, and the one more than that is used for blocking the subsequent perforating charge shells from further transportation. In this embodiment, the number of the blocking units 61 is 4, and the first three are used for adjusting the spacing between the perforating charge shells to be gripped so as to accurately grip. Each blocking unit 61 comprises a blocking cylinder 611 and a blocking rod 612, the blocking cylinder 611 can be arranged on one side of the incoming material conveying line 41 far away from the annular conveying line 4, a piston rod of the blocking cylinder 611 is connected with the blocking rod 612, and the blocking rod 612 is driven to extend out to block incoming material perforating bullet shells, so that the operation is flexible, the relative positions of the perforating bullet shells to be grabbed in the same batch are in place, the perforating bullet shells to be grabbed can be grabbed accurately, and the efficiency is improved.
As shown in fig. 1 and 7, in an exemplary embodiment, the feeding mechanism 2 and the discharging mechanism 3 may be mounted on the same first mounting frame 24, and the first mounting frame 24 may be constructed as a door-shaped frame using an aluminum profile. First installation frame 24 strides across annular transfer chain 1 for the crossbeam of first installation frame 24 is located the top of annular transfer chain 1, and feed mechanism 2 and unloading mechanism 3 are installed on the crossbeam of same first installation frame 24, reduce equipment occupation space and aluminium alloy's use, reduce cost. The feeding mechanism 2 and the discharging mechanism 3 can adopt the same structural design, the design cost is simplified, and the adaptability of the module is improved. The feeding mechanism 2 and the discharging mechanism 3 both comprise a material taking manipulator body and a material taking gripper 23, the material taking gripper 23 is installed on the material taking manipulator body, and the material taking gripper 23 is driven by the material taking manipulator body to operate to grip the perforating bullet shell to an appointed position. The material taking manipulator body can adopt a two-degree-of-freedom plane rectangular coordinate system robot, the material taking manipulator body comprises an X-axis driving mechanism 21 and a Z-axis driving mechanism 22, the X-axis driving mechanism 21 is installed on a cross beam of the first installation frame 24, in the embodiment, the Z-axis driving mechanism 22 is installed at the output end of the X-axis driving mechanism 21, and the X-axis driving mechanism 21 can adopt a motor and linear module driving or other mechanisms capable of converting rotary motion into linear motion. The material taking gripper 23 comprises at least one grabbing unit, the number of the grabbing units can be set according to requirements, and in the embodiment, the number of the grabbing units is the same as that of the perforating bullet shells on the bullet shell tray 5, so that the carrying times are reduced, and the grabbing efficiency is improved. Each grabbing unit comprises a three-jaw cylinder 231 and clamping jaws 232, the clamping jaws 232 are installed at the output end of the three-jaw cylinder 231, the three-jaw cylinder 231 drives the clamping jaws 232 to move to clamp the perforating bullet shell, and the three-jaw cylinder 231 can adopt a long-stroke cylinder so as to grab the perforating bullet shell flexibly.
As shown in fig. 1-4, in an exemplary embodiment, the labeling mechanism includes a labeling machine and a labeling robot, the labeling machine is disposed on one side of the labeling robot, and the labeling robot picks a label from the labeling machine and places the label into a recess of the perforating bullet housing. The labeling manipulator comprises a labeling manipulator body and a labeling gripper 83, wherein the labeling gripper 83 is installed on the labeling manipulator body and takes a label from the labeling machine and sticks the label to the perforating bullet shell. The labeling manipulator body is installed on the second installation frame 84, the second installation frame 84 can be built into a portal frame by adopting aluminum profiles, and the second installation frame 84 spans the annular conveying line 1, so that the cross beam of the second installation frame 84 is positioned above the annular conveying line 1. The labeling manipulator body comprises an X-axis linear module 81 and a Z-axis linear module 82, the X-axis linear module 81 is installed on a cross beam of the second installation frame 84, the Z-axis linear module is installed at the output end of the X-axis linear module 81, and the labeling gripper 83 is installed at the output end of the Z-axis linear module 82.
As shown in fig. 1 to 4, in an exemplary embodiment, the labeling gripper 83 includes at least one suction cup 832, the number of the suction cups 832 is set according to the requirement, in this embodiment, the number of the suction cups 832 is 3, which is the same as the number of the perforating bullet cases on the bullet case tray, and the 3 suction cups 832 are arranged along the moving direction of the endless conveyor line 1, so as to improve the labeling efficiency. Paste mark tongs 83 and still include the roll adjustment cylinder, and the roll adjustment cylinder can be installed on sucking disc mounting panel 831, and the roll adjustment cylinder passes through connecting block and sucking disc fixed connection, drives the sucking disc and removes to adjust the interval between the adjacent sucking disc, so that adapt to the difference and get mark and paste the mark demand, the quantity of roll adjustment cylinder sets up according to the demand, in this embodiment, is equipped with two roll adjustment cylinders, and two roll adjustment cylinders are connected with the sucking disc that is located both sides respectively, and the interval adjustment that adjacent sucking disc can be realized to middle sucking disc keeps motionless. The suction cup 832 is connected to the Z-axis linear module 82 of the robot body via a suction cup mounting plate 831, a pneumatic regulator valve 833 is further mounted on the suction cup mounting plate 831, the suction cup 832 is located below the pneumatic regulator valve 833, and the operation of the suction cup 832 is controlled by the pneumatic regulator valve 833. The middle part of sucking disc 832 is flat structure, reduces the space and occupies, the lower part of sucking disc 832 be with the perforation bullet casing the recess assorted profile modeling structure, in this embodiment, the longitudinal section of recess is half-circular arc, the profile modeling structure is convex half-circular arc, increases the area of contact of sucking disc lower part and perforation bullet casing recess, is favorable to preventing to stick up the limit, improves the roughness of subsides mark. The bottom of the suction plate 832 is provided with suction nozzles 8322, the number of which can be set according to the requirement, in this embodiment, 3 suction nozzles are provided. The side wall of the suction cup 832 is provided with an air receiving hole 8321, in this embodiment, two air receiving holes 8321 are provided, the air receiving holes are connected with an external air pipe, and the suction nozzle is supplied with air to enable the suction nozzle to absorb the label. In order to improve the motion stability of the suckers, linear slide rails are arranged on the sucker mounting plates 531 and arranged along the motion direction of the annular conveying line, and sliders sliding along the linear slide rails are fixedly connected to the suckers 832, so that the suckers 832 can take labels from a labeling machine to place the labels in the semi-arc-shaped grooves of the perforating bullet shell body through linear sliding, and high-precision labeling is achieved.
As shown in fig. 1, 8-11, in an exemplary embodiment, the cartridge case tray 5 includes a tray floor 51, and a positioning mechanism for placing and positioning the perforating charge case 57 is mounted on the top of the tray floor 51. The both sides of annular transfer chain 1 are equipped with the fender board, and tray bottom plate 51's bottom is equipped with nylon sliding block 511, and nylon sliding block 51 is placed and is followed the transport link joint motion on annular transfer chain 1, and nylon sliding block 511's width slightly is lighter than the interval between the backplate of both sides, is less than 1mm ~ 2mm for example, make nylon sliding block can place annular transfer chain 1 on, can prevent again that nylon sliding block from rotating at the transportation process, thereby place the shell case tray and rotate at transportation process.
As shown in fig. 1, 8 and 9, in an exemplary embodiment, the positioning mechanism includes a positioning seat 53 and a first pad 52 installed on the tray bottom plate 51, the first pad 52 is provided with a mounting hole, a magnetic ring is installed in the mounting hole 52, the magnetic ring can be detachably fixed in the mounting hole, the bottom of the positioning seat 53 is connected with the mounting hole, the upper portion of the positioning seat 53 is a boss 53 assembled with the perforating bullet housing 57, and the boss can be a conical structure with a diameter that is smaller at the top and larger at the bottom, which is beneficial for assembling the perforating bullet housing with the perforating bullet housing. Wherein, the upper portion of mounting hole is the taper hole of diameter by supreme crescent down for positioning seat 53 packs into in the mounting hole more easily, positioning seat 53 can adopt transition fit assembly with the mounting hole, perhaps directly adsorb positioning seat 53 through the magnetic ring that has suction, reduce the processing assembly degree of difficulty, positioning accuracy is high, easy dismounting, so that change the positioning seat that corresponds according to the model of different perforating bullet casings, the diameter of the perforating bullet casing of different models is different, the assembly of different perforating bullet casings can be realized to the positioning seat of changing the biggest external diameter of boss and perforating bullet casing diameter complex promptly. The quantity of mounting hole can set up according to the demand, can equal with the perforating bullet casing quantity on the shell case tray for the perforating bullet casing of same batch once picks and places the completion. In this embodiment, the number of mounting holes is 3, distributes along the direction of motion of annular transfer chain. The locating seat 53 may be made of ferromagnetic material so that the perforating bullet case containing ferromagnetic material can be attached to the boss.
As shown in fig. 1, 10 and 11, in an exemplary embodiment, the positioning mechanism includes a second base plate 54, a ram cylinder and two movable positioning clamping plates 55 disposed opposite to each other, V-shaped grooves are disposed on opposite inner sides of each movable positioning clamping plate 55, and openings of the V-shaped grooves on two sides face each other, that is, axes of the V-shaped grooves on two sides are vertical axes. The V type groove quantity on every activity location splint can set up as required, and in this embodiment, the inboard of every activity location splint is equipped with three V type groove, and is the same with perforating bullet shell body quantity on the shell case tray, presss from both sides tight perforating bullet shell body through the cooperation of V type groove, prevents that perforating bullet shell body from taking place to topple, and the centre pin position of guaranteeing perforating bullet shell body can automatic centering, is favorable to improving positioning accuracy. A second pad 54 may be mounted on the tray floor 51 by posts, the second pad 54 being used to place a perforating charge case 57. The ejector rod air cylinder is arranged on a frame of the annular conveying line 1, and the movable positioning clamping plate 55 is movably connected with the tray bottom plate 51 through an adjusting mechanism 56 and is positioned above the second backing plate 54 so as to clamp the upper part of a perforating bullet shell 57. Adjustment mechanism 56 can be the clamping jaw cylinder, and adjustment mechanism 56 includes base 561 and two spring support 565, and base 561 installs on tray bottom plate 51, and spring support 565 slidable mounting is on base 561, and the outside of two activity location splint 55 is connected with two spring support 565 respectively, and the inboard of two spring support 565 is passed through spring 563 and is connected, and spring 563 can be pretension spring, and the both ends of spring 563 hang respectively on the couple of two spring support inboards, easy dismounting. The ejector rod cylinder pushes the two movable positioning clamping plates 55 to move back to back through the ejector rod 564 to generate a gap for accommodating the perforating bullet shell 57, the spring is in a stretching state, and after the perforating bullet shell 57 is placed in the gap, the two movable positioning clamping plates 55 are driven by the spring to move oppositely to reduce the gap to clamp the perforating bullet shell 57. The spring support 565 is provided with a channel 562, the ejector rod cylinder is mounted on the frame of the annular conveying line, in the embodiment, two ejector rod cylinders are provided, and when the gap between the two movable positioning clamp plates 55 needs to be increased, the ejector rod cylinder drives the ejector rod to penetrate through the channel on the adjacent movable positioning clamp plate to abut against the other movable positioning clamp plate at a far distance, so that the two movable positioning clamp plates move far away and are placed into the perforating bullet shell; when the perforating bullet shell needs to be clamped, the ejector rod air cylinder returns, the ejector rod retreats, and the two movable positioning clamping plates are close to each other under the action of the spring to clamp the perforating bullet shell. Adopt this structural design's positioning mechanism for the cartridge case tray need not to connect the trachea at the motion process, simplifies the structure, avoids the trachea distortion to influence the stationarity of cartridge case tray motion, can adjust the tight scope of clamp of activity location splint again simultaneously, adapts to the perforating bullet casing of different external diameters, increases application scope, and extensive applicability is extensive.
The working process is as follows: the perforating bullet shell moves to the tail end of the material conveying line along with the material conveying line, and the blocking units sequentially extend out; the positioning jacking mechanism positions the cartridge case tray, and the loading mechanism places the perforating cartridge case body on the positioned cartridge case tray from the incoming material conveying line; the positioning jacking mechanism resets, and the cartridge case tray continues to move along with the annular conveying line; the visual detection mechanism detects the perforating bullet shell in the positioned bullet shell tray; the position and posture adjusting mechanism adjusts the perforating bullet shell in the bullet shell tray 5; the labeling manipulator body drives the sucker to descend to the groove 571 of the positioned perforating bullet shell, and the lower part of the sucker extends into the groove of the perforating bullet shell; the labeling manipulator drives a labeling gripper to suck label paper from the labeling machine to the position right above the groove, and the labeling manipulator body drives the sucker to move downwards to the positioned groove to label the perforating bullet shell; the labeled perforating bullet shell body continues to move along with the annular conveying line, and the blanking mechanism grabs the labeled bullet shell from the annular conveying line and places the labeled bullet shell on the blanking conveying line.
The automatic labeling equipment for sealing the perforating bullet shell transfer hole is compact in arrangement, small in occupied space and low in cost, can automatically label and seal the perforating bullet shell transfer hole, is high in labeling efficiency, continuous and stable in operation, high in labeling position precision, capable of guaranteeing labeling quality, suitable for perforating bullet shells of different models and wide in application range.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (4)
1. The utility model provides an automatic subsides mark equipment that is used for shutoff perforating bullet casing to pass hole, its characterized in that: the automatic bullet shell feeding and discharging device comprises an annular conveying line, a visual detection mechanism, a pose adjusting mechanism, a feeding mechanism, a labeling mechanism and a discharging mechanism, wherein the feeding mechanism, the labeling mechanism and the discharging mechanism are distributed along the running direction of the annular conveying line;
the visual detection mechanism and the pose adjusting mechanism are positioned between the feeding mechanism and the labeling mechanism, and the pose adjusting mechanism adjusts the position of the perforating bullet shell according to the detection result of the visual detection mechanism;
the bullet shell tray comprises a tray bottom plate, a positioning mechanism for placing and positioning the bullet shell body of the perforating bullet is installed at the top of the tray bottom plate, protective baffles are arranged on two sides of the annular conveying line, nylon sliding blocks are arranged at two ends of the bottom of the tray bottom plate, and the width of each nylon sliding block is smaller than the distance between the protective baffles on the two sides;
the annular conveying line is provided with a plurality of positioning jacking mechanisms which are respectively distributed correspondingly to the feeding mechanism, the labeling mechanism, the visual detection mechanism, the pose adjusting mechanism and the blanking mechanism;
the positioning jacking mechanism comprises at least two jacking cylinders symmetrically distributed on two sides of the annular conveying line, the jacking cylinders are connected with a frame of the annular conveying line through a mounting substrate, a limiting pressing plate located on the outer side of each jacking cylinder is mounted on the mounting substrate, a positioning guide rod matched with a positioning taper sleeve at the bottom of the cartridge case tray for positioning is mounted on a piston rod of each jacking cylinder, and the jacking cylinders drive the positioning guide rods to operate to enable the cartridge case tray to descend into the annular conveying line or enable the cartridge case tray to ascend and be abutted against the bottom of the limiting pressing plate after being separated from the annular conveying line;
a supplied material conveying line is arranged on one side of the feeding mechanism, a blocking mechanism is arranged on the supplied material conveying line, the blocking mechanism is mounted on the supplied material conveying line through a transverse moving mechanism, the transverse moving mechanism drives the blocking mechanism to move along the movement direction of the annular conveying line to adjust the position, the blocking mechanism comprises a blocking unit, and the blocking unit telescopically intercepts a perforating bullet shell or releases the perforating bullet shell; a blanking conveying line is arranged on one side of the blanking mechanism;
the positioning mechanism comprises a second base plate, an ejector rod air cylinder and two movable positioning clamping plates which are oppositely arranged, the second base plate used for placing the perforating bullet shell is arranged on the tray bottom plate, the ejector rod air cylinder is arranged on the frame of the annular conveying line, the movable positioning clamping plates are movably connected with the tray bottom plate through an adjusting mechanism and are positioned above the second base plate, the adjusting mechanism comprises two spring supports and two movable positioning clamping plates, the movable positioning clamping plates are respectively arranged on the two spring supports, the inner sides of the two spring supports are connected through springs, the ejector rod air cylinder pushes the two movable positioning clamping plates to move in the opposite direction to generate a gap used for containing the perforating bullet shell, and the springs drive the two movable positioning clamping plates to move in the opposite direction to reduce the gap to clamp the perforating bullet shell.
2. The automatic labeling device for sealing a perforating charge shell explosion transfer hole as claimed in claim 1, characterized in that: the perforating bullet feeding mechanism comprises a feeding mechanism body, a discharging mechanism body, a taking manipulator body and a taking gripper, wherein the taking gripper is arranged on the feeding mechanism body and drives the taking gripper to operate to grip a perforating bullet shell to an appointed position.
3. The automatic labeling device for sealing a perforating charge shell explosion transfer hole as claimed in claim 1, characterized in that: the labeling mechanism comprises a labeling machine and a labeling manipulator, the labeling manipulator comprises a labeling manipulator body and a labeling gripper, the labeling gripper is installed on the labeling manipulator body, and a label is taken from the labeling machine and stuck to the perforating bullet shell.
4. The automatic labeling device for sealing a perforating charge shell explosion transfer hole as claimed in claim 3, characterized in that: the labeling gripper comprises a sucker provided with a gas receiving hole, the sucker is connected with the manipulator body through a sucker mounting plate, the middle of the sucker is of a flat structure, the lower portion of the sucker is of a profile modeling structure matched with a groove of a perforating bullet shell, and a suction nozzle is arranged at the bottom of the sucker.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010943351.1A CN112061533B (en) | 2020-09-09 | 2020-09-09 | Automatic labeling equipment for blocking explosive-conveying hole of perforating bullet shell |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010943351.1A CN112061533B (en) | 2020-09-09 | 2020-09-09 | Automatic labeling equipment for blocking explosive-conveying hole of perforating bullet shell |
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| CN112061533B true CN112061533B (en) | 2022-04-22 |
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| CN112607162A (en) * | 2020-12-22 | 2021-04-06 | 珠海格力智能装备有限公司 | Control method and device of labeling equipment |
| CN114684444A (en) * | 2020-12-29 | 2022-07-01 | 四川宝晶玻璃有限责任公司 | Intelligent applique method for glass bottle |
| CN113060379B (en) * | 2021-03-11 | 2022-07-01 | 深圳市博林达科技有限公司 | Labeling mechanism of reagent bottle |
| CN113335694A (en) * | 2021-06-21 | 2021-09-03 | 东莞市冠佳电子设备有限公司 | Automatic labeling equipment |
| CN113682758B (en) * | 2021-09-07 | 2022-12-06 | 中科计算技术西部研究院 | Automatic allocation method, device and readable storage medium |
| CN113879647B (en) * | 2021-10-15 | 2022-11-01 | 杭州电子科技大学 | Sensor labeling equipment |
| CN116902342B (en) * | 2023-09-08 | 2023-11-28 | 兴化市新强龙不锈钢制品有限公司 | Automatic labeling equipment for metal products |
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| CN100526601C (en) * | 2006-12-06 | 2009-08-12 | 西安通源石油科技股份有限公司 | Dynamic test device for composite perforator |
| US10755160B2 (en) * | 2015-05-25 | 2020-08-25 | Wewewe Gmbh | Insertion body, assembly of insertion bodies and method for inserting an insertion body |
| CN207275189U (en) * | 2017-07-13 | 2018-04-27 | 中国物品编码中心 | Automatic labeling machine system |
| CN207797890U (en) * | 2018-01-23 | 2018-08-31 | 江西工业工程职业技术学院 | A kind of firecrackers bobbin dress basket machine |
| CN210556070U (en) * | 2019-01-24 | 2020-05-19 | 上海福赛特机器人有限公司 | Automatic labeling device |
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