CN211783087U - Demolding grabbing manipulator and firework barrel cold press molding automatic production line - Google Patents

Abstract

The application discloses demolding snatchs manipulator, including the transport frame, be equipped with transport drive arrangement in the transport frame and with transport drive arrangement transmission is connected and can reciprocate under transport drive arrangement's the drive and be used for pressing from both sides the clamping mechanism of tight fireworks barrel. When this application is used on fireworks barrel cold press forming automated production line, be close to or keep away from fireworks barrel finished product through transport drive arrangement drive clamping mechanism to effectively press from both sides tight fireworks barrel finished product through clamping mechanism, thereby realize the off-the-shelf full-automatic transport operation of fireworks barrel, satisfy the production and use demand. The application also discloses an automatic production line for cold press molding of firework cylinder bodies, which applies the demolding grabbing manipulator.

Description

Demolding grabbing manipulator and firework barrel cold press molding automatic production line

[ technical field ] A method for producing a semiconductor device

The application belongs to the technical field of fireworks production, especially relates to a demolding snatchs manipulator and fireworks barrel cold press forming automation line.

[ background of the invention ]

The manufacture of fireworks is a relatively large project. The firework barrel is heavier in the whole firework manufacturing process, and the traditional firework barrel manufacturing is mainly completed by manual manufacturing through paper cutting, gluing, rolling, trimming, drying, barrel bundling, soil filling, drilling and lead inserting. The processing method not only needs to consume a lot of time, but also needs a lot of energy input by people, the efficiency of processing the firework barrel is low, the waste of raw materials is also high, and meanwhile, the anti-explosion performance of the manufactured firework barrel is not strong, and the whole firework is easy to explode when the firework barrel is exploded. Therefore, in order to overcome the problems of low efficiency and improved reliability of the existing firework barrel, the method of compression molding is an effective method for improving efficiency, ensuring quality and realizing automation. The key technology of compression molding is to design a proper mold and process, and for this reason, industry personnel develop many new molds and/or processes, such as: the Chinese patent with the application number of 201310166825.6 discloses a mechanical hydraulic die high-temperature forming firework outer cylinder and a manufacturing process thereof, which comprises an outer cylinder manufacturing process and a die design scheme for high-temperature hydraulic die forming; chinese patent application No. 200820052952.8, discloses an apparatus for producing a firework cylinder formed at one time; the Chinese patent with the application number of 201410782453.4 discloses a method for preparing a firework cylinder, production equipment and the like.

Although these patents can solve the problems of compression molding and automation to some extent, when applied to the industrial mass production, they have the following major technical difficulties: (1) the forming of the existing product needs to solve the problem of poor forming property of materials by means of ultrasonic waves, vibration and auxiliary heating devices, so that the equipment cost is high and the equipment is more complex. (2) The problems of easy damage of equipment and short service life of the die are caused by adding ultrasonic waves, vibration and high-temperature auxiliary devices to the die. (3) Ultrasonic waves, vibration and high temperature all bring adverse effects to the operation and running environment of workers and equipment, and toxic gas released in hot forming processing can pollute the environment. (4) The production efficiency is still relatively low.

In order to solve the problems, the chinese patent with application number 201721712798.8 discloses a firework cylinder cold press molding die, which can be used for cold press molding of a firework cylinder in a cold press molding manner, has a simple process and convenient operation, does not need to add any auxiliary molding devices (such as vibration, ultrasonic waves, high-temperature heating and other auxiliary devices), has low cost and long service life, and is beneficial to the development of the firework cylinder cold press molding process technology.

However, in most firework production enterprises in China at present, the overall automation degree of a cold press molding production line for manufacturing firework cylinders is low, the finished firework cylinder product conveying link is still completed through manpower, and much labor force is still needed.

[ summary of the invention ]

In order to realize the full automatization operation of fireworks barrel finished product transport when producing fireworks barrel, this application provides a demolding snatchs manipulator and uses this demolding to snatch the fireworks barrel cold press forming automation line of manipulator.

The application is realized by the following technical scheme:

demolding snatchs manipulator, including the transport frame, be equipped with transport drive arrangement in the transport frame and with transport drive arrangement transmission is connected and can reciprocate under transport drive arrangement's the drive and be used for pressing from both sides the clamping mechanism of tight fireworks barrel.

The demolding grabbing manipulator comprises a clamping rack in transmission connection with the carrying driving device, two clamping units which are oppositely arranged and used for being matched with and clamping a firework cylinder together are arranged on the clamping rack, and each clamping unit comprises a clamping plate and a clamping driving device which is used for driving the clamping plate to be close to or far away from the other clamping unit which is oppositely arranged.

According to the demolding grabbing manipulator, the clamping limiting device is arranged on the clamping rack, and the bottom of the clamping limiting device is located below the clamping unit and the clamping rack.

The demolding grabbing manipulator comprises a clamping base plate in transmission connection with the carrying driving device, two clamping support frames are oppositely arranged on the clamping base plate, and each clamping support frame is provided with the clamping unit so that the clamping units on the two clamping support frames are oppositely arranged.

The demolding grabbing manipulator comprises a supporting beam, a clamping limiting device comprises a connecting base plate detachably connected to the lower side of the supporting beam, a buffer plate is detachably connected to the lower side of the connecting base plate, and the bottom of the buffer plate is located below a clamping unit and a clamping rack.

The demolding snatchs manipulator, the transport frame include the transport base plate, be equipped with the groove of stepping down on the transport base plate, be equipped with relative setting on the transport base plate and be located respectively two backup pads on the relative both sides in groove of stepping down, the upper end of two backup pads is connected with and is located the mounting panel of groove top of stepping down, transport drive arrangement locates on the mounting panel and be located the inslot of stepping down.

The demolding grabbing manipulator comprises a clamping driving cylinder.

The demolding grabbing manipulator comprises a conveying driving cylinder.

The application also discloses fireworks barrel cold press forming automation line, including as above the demolding snatch the manipulator.

Compared with the prior art, the method has the following advantages:

when this application is used on fireworks barrel cold press forming automated production line, be close to or keep away from fireworks barrel finished product through transport drive arrangement drive clamping mechanism to effectively press from both sides tight fireworks barrel finished product through clamping mechanism, thereby realize the off-the-shelf full-automatic transport operation of fireworks barrel, satisfy the production and use demand.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below.

FIG. 1 is a schematic structural diagram of an automatic production line for cold press molding of firework cylinders;

FIG. 2 is a schematic view of the assembly structure of the cold press forming device and the feeding and discharging mechanism;

FIG. 3 is a schematic view of a portion of the cold press forming apparatus;

FIG. 4 is a first structural schematic diagram of a firework cylinder cavity structure;

FIG. 5 is a structural schematic diagram II of a firework cylinder cavity structure;

FIG. 6 is an exploded view of the firework cylinder cavity structure;

FIG. 7 is a schematic partial cross-sectional view of FIG. 2;

FIG. 8 is a schematic structural view of a push-up stitching mechanism;

FIG. 9 is a first schematic structural view of the demolding grabbing manipulator;

FIG. 10 is a second structural view of the demolding grabbing robot;

FIG. 11 is a schematic structural view of an automatic feeding mechanism;

FIG. 12 is a schematic cross-sectional view of an auger feeding device;

fig. 13 is a schematic view of a hopper structure.

[ detailed description ] embodiments

In order to make the technical problems, technical solutions and advantageous effects solved by the present application more clear and obvious, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

When the embodiments of the present application refer to ordinal numbers such as "first", "second", etc., it should be understood that the terms are used for distinguishing only when the context clearly indicates that the order is changed.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

As shown in fig. 1, the firework cylinder cold press molding automatic production line comprises a firework cylinder cold press molding mechanism 1, a demolding grabbing manipulator 4 and an automatic feeding mechanism 5.

The firework barrel cold press molding mechanism 1 comprises a molding frame 11, wherein a cold press molding device 2 and a feeding and discharging mechanism 3 are arranged on the molding frame 11, the feeding and discharging mechanism 3 comprises a firework barrel cavity structure 31 used for placing firework barrel mold materials and matched with the cold press molding device 2 to perform cold press molding on the firework barrel mold materials to form a firework barrel, a molding driving device 32 used for driving the firework barrel cavity structure 31 to move on the molding frame 11 so that the firework barrel cavity structure 31 moves to the cold press molding device 2, and a discharging pushing device 33 used for pushing the firework barrel away from the firework barrel cavity structure 31 after the cold press molding. The demolding grabbing manipulator 4 is used for grabbing and carrying the firework cylinder pushed out by the discharging pushing device 33. The automatic feeding mechanism 5 is used for conveying firework cylinder mould materials to the firework cylinder mould cavity structure 31. This embodiment snatchs the manipulator through setting up automatic feeding mechanism and demolding and realizes that fireworks barrel mould material and fireworks barrel off-the-shelf full automatization transport are carried, realizes the full automatic cold press molding operation of fireworks barrel through setting up fireworks barrel cold press molding machine structure, consequently, this application is the full automatization operation from the transport of fireworks barrel mould material, the shaping of fireworks barrel mould material and the transport of fireworks barrel finished product, degree of automation is high, can effectively practice thrift the human cost and improve production efficiency, be favorable to improving fireworks manufacturing factory's competitiveness.

In order to further improve the production efficiency of the firework cylinder, as shown in fig. 2, two feeding and discharging mechanisms 3 are arranged on the forming frame 11, and the firework cylinder cavity structures 31 of the two feeding and discharging mechanisms 3 alternately move to the cold press forming device 2 to perform the firework cylinder cold press forming operation, so that the production efficiency of the firework cylinder can be improved in a double manner, and the production requirements can be effectively met. In order to facilitate the transportation of the firework cylinder mold material to the firework cylinder mold cavity structures 31 of the two feeding and discharging mechanisms 3, the automatic production line for firework cylinder cold press molding further comprises a transfer mechanism 6 for alternately transferring the firework cylinder mold material output by the automatic feeding mechanism 5 to the firework cylinder mold cavity structures 31 of the two feeding and discharging mechanisms 3.

Specifically, as shown in fig. 2 and fig. 3, the cold press molding device 2 includes a material pressing block guide plate 21 which is arranged on the molding frame 11 and can move up and down, an upper mold plate 22 is arranged on the lower side of the material pressing block guide plate 21, and when the cold press molding device 2 is matched with the firework cylinder cavity structure 31 to perform cold press molding on a firework cylinder, the upper mold plate 22 presses the firework cylinder mold material in the firework cylinder cavity structure 31 through downward movement of the material pressing block guide plate 21. In order to effectively form firework emitting holes in the firework barrel, a mandrel guide plate 23 capable of moving up and down is arranged above the material pressing block guide plate 21, and a mandrel component 24 which penetrates through the material pressing block guide plate 21 and the upper die plate 22 and can move relative to the material pressing block guide plate 21 and the upper die plate 22 is arranged on the lower side of the mandrel guide plate 23. In cold press forming, the mandrel assembly 24 is inserted into the firework barrel cavity structure 31 to form a firework emitting hole.

In order to effectively drive the material pressing block guide plate 21 and the mandrel guide plate 23 to move up and down, the cold press molding device 2 comprises a guide post 25 arranged on the molding frame 11, the material pressing block guide plate 21 and the mandrel guide plate 23 move up and down along the guide post 25, a fixed seat 26 positioned above the mandrel guide plate 23 is arranged on the guide post 25, a mandrel driving device 27 used for driving the mandrel guide plate 23 to move up and down and a material pressing block driving device 28 penetrating through the mandrel guide plate 23 and connected with the material pressing block guide plate 21 to drive the material pressing block guide plate 21 to move up and down are arranged on the fixed seat 26.

In order to effectively limit the downward movement amplitude of the material pressing block guide plate 21 and the mandrel guide plate 23, a template in-place stop block 12 which is positioned below the material pressing block guide plate 21 and used for stopping the material pressing block guide plate 21 is arranged on the forming rack 11, a mandrel in-place stop column 13 which can penetrate through the material pressing block guide plate 21 and used for stopping the mandrel guide plate 23 is arranged on the template in-place stop block 12, in order to adjust the downward movement amplitude of the material pressing block guide plate 21 according to actual conditions, an in-place adjusting pad 14 is arranged on the upper side of the template in-place stop block 12, and a manufacturer can adjust the downward movement amplitude of the limited material pressing block guide plate 21 by replacing the in-place adjusting pad 14.

Further, in order to effectively mold the firework cylinder, as shown in fig. 4 to 6, the firework cylinder cavity structure 31 includes a mold body 311, a plurality of vertically through cavities 312 are arranged in the die body 311, the cavities 312 are used for holding firework cylinder molding materials, a bottom die assembly 313 capable of moving up and down is arranged in the cavity 312, the discharging and pushing device 33 pushes the formed firework cylinder away from the cavity 312 by pushing the bottom die assembly 313 upwards, in order to effectively form a groove on the outer side of the firework barrel during cold press molding so as to facilitate people to hold the firework barrel and fix the firework barrel during setting off fireworks, a plurality of groove forming convex strips 3121 which extend up and down and are used for forming grooves on the outer side surface of the firework barrel when the firework barrel is formed are distributed on the side wall of the cavity 312 in the circumferential direction, in order to meet the use requirement, the cross section of the groove forming protruding strip 3121 is semicircular. Bottom die assembly 313 includes shaping bottom die board 3131, makes things convenient for the lead wire to extend into fireworks launching hole's structure in order to effectively be used for placing the lead wire groove of lead wire and shaping in fireworks barrel bottom shaping, it has bottom lead wire groove shaping sand grip 3132 and is equipped with the edge to extend on the shaping bottom die board 3131 a plurality of lead wire hole shaping bellying 3133 that the extending direction of bottom lead wire groove shaping sand grip 3132 distributes.

In order to effectively be used for placing the lead wire groove of lead wire on the lateral wall of fireworks barrel shaping, the lateral wall epirelief of die cavity 312 is equipped with lateral wall lead wire groove shaping sand grip 3122 that extends from top to bottom, communicates with each other with bottom lead wire groove in order to make the lead wire groove on the external lateral wall of fireworks barrel, the one end of bottom lead wire groove shaping sand grip 3132 extends to lateral wall lead wire groove shaping sand grip 3122 department, bottom lead wire groove shaping sand grip 3132 is in be snakelike the distribution on the shaping die block 3131.

In order to effectively push off the cavity with fireworks barrel finished product, as shown in fig. 7, die block subassembly 313 is including locating removal die plate 3134 of shaping die plate 3131 below, it is equipped with two wedge buckles 3135 of relative setting to remove the die plate 3134 downside, forms ejection of compact draw-in groove 3136 between two wedge buckles 3135, ejection of compact pusher 33 includes ejection of compact hydro-cylinder 331, be equipped with ejection of compact piston rod 332 on the ejection of compact hydro-cylinder 331, the upper end of ejection of compact piston rod 332 is equipped with and is used for promoting removal die plate 3134's ejection of compact pusher 333, and passes through fireworks barrel die cavity structure 31 removes extremely ejection of compact pusher 33's top makes ejection of compact pusher 333 enter into extremely in the ejection of compact draw-in groove 3136. When the firework cylinder cavity structure 31 moves to the position above the discharging and pushing device 33, the discharging oil cylinder 331 drives the discharging piston rod 332 and the discharging push head 333 to push the movable bottom template 3134 and the forming bottom template 3131 to move upwards so as to push the finished firework cylinder product out of the cavity.

Further, as shown in fig. 2 and 8, in order to press the firework cylinder mould material more stably during cold press molding, the forming machine frame 11 is provided with an upper pushing and pressing mechanism 7 positioned below the mandrel component 24, when the firework cylinder cavity structure 31 moves above the upward pushing and pressing mechanism 7, the upward pushing and pressing mechanism 7 pushes the bottom die assembly 313 upward to enable the bottom die assembly 313 and the upper die plate 22 to jointly press firework cylinder mold materials, so that the pressed firework cylinder is firmer and more particularly, the upper pushing and closing mechanism 7 comprises an upper pushing and closing plate 71 and an upper pushing and closing oil cylinder 72 for driving the upper pushing and closing plate 71 to move up and down, a pressing and pushing head 73 is arranged on the upper pushing and closing plate 71, and the firework cylinder die cavity structure 31 moves to the upper part of the upper pushing and pressing mechanism 7, so that the pressing and pressing head 73 enters the discharging clamping groove 3136. Simple structure, the drive is stable. When the firework cylinder cavity structure 31 moves to the upper side of the upper pressing and closing mechanism 7, the upper pressing and closing cylinder 72 drives the upper pressing and closing plate 71 and the pressing and closing head 73 to move upwards to push the movable bottom template 3134 and the forming bottom template 3131 to move upwards so as to press and close the firework cylinder mold material.

In order to facilitate the up-and-down movement of the forming bottom mold plate 3131 and the movable bottom mold plate 3134 in the cavity, the forming bottom mold plate 3131 and the movable bottom mold plate 3134 are provided with a relief notch 3136 which is matched with the groove forming protrusion 3121 and can move along the groove forming protrusion 3121.

In order to facilitate the forming driving device 32 to drive the firework cylinder cavity structure 31 to move on the forming rack 11, the firework cylinder cavity structure 31 further includes a mold seat 314 for bearing the mold body 311, and a mold seat communication opening 315 communicated with the mold cavity 312 is formed in the bottom of the mold seat 314. The mold seat 314 is convenient to move on the forming machine frame through a slide block and slide rail structure, a feeding and discharging station and a cold press forming station are arranged on the forming machine frame 11, the discharging pushing device 33 is arranged at the feeding and discharging station, the upper pushing and pressing mechanism 7 is arranged at the cold press forming station, and the cold press forming device 2 is arranged above the upper pushing and pressing mechanism 7. The forming drive 32 includes a forming drive ram for driving the die holder 314 to reciprocate between the feed and discharge station and the cold press forming station.

Further, as shown in fig. 9 and 10, in order to effectively clamp and carry the formed firework cylinder, the demolding grabbing manipulator 4 comprises a carrying frame 41, a carrying driving device 42 and a clamping mechanism 43 which is in transmission connection with the carrying driving device 42, can move up and down under the driving of the carrying driving device 42 and is used for clamping the firework cylinder are arranged on the carrying frame 41, and the carrying driving device 42 comprises a carrying driving cylinder. Specifically, the clamping mechanism 43 comprises a clamping frame 431 in transmission connection with the carrying driving device 42, two clamping units 432 which are oppositely arranged and used for cooperatively clamping the firework cylinder together are arranged on the clamping frame 431, the clamping units 432 comprise a clamping plate 4321 and a clamping driving device 4322 which is used for driving the clamping plate 4321 to approach or leave the other clamping unit 432 which is oppositely arranged, and the clamping driving device 4322 comprises a clamping driving cylinder. Simple structure and convenient use.

Further, a clamping limiting device 433 is arranged on the clamping frame 431, and the bottom of the clamping limiting device 433 is located below the clamping unit 432 and the clamping frame 431. Clamping mechanism 43 moves down to carry during the fireworks barrel finished product, transport drive arrangement 42 and stop driving clamping mechanism 43 and move down after pressing from both sides tight stop device 433 and touch the mould seat, and clamping mechanism 43's position is just in time conveniently pressed from both sides tight fireworks barrel this moment, ensures that clamping mechanism can press from both sides tight fireworks barrel accurately. Specifically, the clamping frame 431 includes a clamping base plate 4311 in transmission connection with the carrying driving device 42, two clamping support frames 4312 are disposed on the clamping base plate 4311, and the clamping unit 432 is disposed on each clamping support frame 4312 and is configured to face the clamping units 432 on the two clamping support frames 4312. Simple structure and convenient assembly.

In order to facilitate the installation of the clamping limiting device 433 on the clamping support 4312, the clamping support 4312 includes a support beam 43121, the clamping limiting device 433 includes a connection pad 4331 detachably connected to the lower side of the support beam 43121, a buffer plate 4332 is detachably connected to the lower side of the connection pad 4331, and the bottom of the buffer plate 4332 is located below the clamping unit 432 and the clamping frame 431. The die seat can be effectively prevented from being damaged by collision of the clamping mechanism through the buffer plate.

Further, the carrying frame 41 includes a carrying substrate 411, a yielding groove 412 is formed in the carrying substrate 411, two supporting plates 413 which are oppositely arranged and respectively located on two opposite sides of the yielding groove 412 are arranged on the carrying substrate 411, the upper ends of the two supporting plates 413 are connected with a mounting plate 414 which is located above the yielding groove 412, and the carrying driving device 42 is arranged on the mounting plate 414 and located in the yielding groove 412. The carrying rack is compact in structure and convenient to install.

Further, as shown in fig. 11 and 12, in order to realize the full-automatic feeding of the firework cylinder body mold material, the automatic feeding mechanism 5 comprises an auger feeding device 51 for conveying the firework cylinder body mold material and an automatic weighing device 52 electrically connected with the auger feeding device 51 and used for receiving and weighing the firework cylinder body mold material output by the auger feeding device 51 and quantitatively outputting the firework cylinder body mold material.

Specifically, auger material feeding unit 51 includes feeding pipe body 511, be equipped with axis of rotation 512 in the feeding pipe body 511, the outside of axis of rotation 512 is equipped with along its axial helical distribution's feeding blade 513, feeding pipe body 511's one end be equipped with the inside communicating feeder hopper 514 of feeding pipe body 511, feeding pipe body 511's the other end be equipped with the inside communicating discharge gate 515 of feeding pipe body 511. The helical blade feeding structure can efficiently and stably convey the firework cylinder mold material.

In order to conveniently pour the firework cylinder mold material into the feeding pipe body 511, the feeding hopper 514 is arranged on the upper side surface of the feeding pipe body 511, and the discharging port 515 is arranged on the lower side surface of the feeding pipe body 511.

In order to save the occupied space, the auger feeding device 51 further comprises a feeding support frame 516 for supporting the feeding pipe body 511 to enable the feeding pipe body 511 to be obliquely arranged, so that the discharging port 515 is positioned above the feeding hopper 514.

In order to prevent the firework cylinder material output by the auger feeding device 51 from overflowing and scattering, the feeding pipe body 511 is provided with a discharging baffle 517 around the discharging port 515.

In order to effectively convey the firework cylinder mold material to the firework cylinder mold cavity structure 31 in a fixed amount, the automatic weighing device 52 includes a weighing machine body 521 electrically connected to the rotating shaft 512 and used for weighing the firework cylinder mold material, and the weighing machine body 521 sends a stop signal to the rotating shaft 512 to stop the rotating shaft 512 when the weight of the firework cylinder mold material reaches a preset value. Ensure that the weighing machine can accurately receive quantitative fireworks cylinder mould material.

In order to facilitate the weighing machine 521 to quantitatively convey the firework cylinder mold material, a material receiving groove 522 which is located below the discharge port 515 and is communicated with the inside of the weighing machine 521 is arranged on the upper side of the weighing machine 521, a weighing discharge port 523 which can be communicated or separated from the inside of the weighing machine 521 is arranged on the lower side of the weighing machine 521, specifically, the weighing discharge port 523 and the weighing machine 521 can be communicated or separated through a retractable baffle structure, when the weighing machine 521 weighs the firework cylinder mold material to a preset value, the inside of the weighing machine 521 is communicated with the weighing discharge port 523 so that the firework cylinder mold material inside the weighing machine 521 is discharged through the weighing discharge port 523, specifically, when the weighing machine 521 weighs the firework cylinder mold material to a preset value, an opening signal can be sent to the baffle structure to open the baffle structure, thereby communicating the weighing discharge port with the weighing machine body.

As shown in fig. 1, the transfer mechanism 6 includes a first rail 61 disposed below the weighing and discharging port 523 and two second rails 62 disposed below two ends of the first rail 61 respectively, the two second rails 62 extend to corresponding feeding and discharging stations on the forming frame 11 respectively, the weighing and discharging port 523 is disposed above one end of the first rail 61, the first rail 61 and the two second rails 62 are both provided with a material transporting hopper 63, as shown in fig. 13, the material transporting hopper 63 includes a material transporting hopper main body 631 and a material transporting baffle 632 disposed at the bottom of the material transporting hopper main body 631 and capable of being opened and closed, after receiving the firework cylinder mold material quantitatively output from the weighing and discharging port 523, the material transporting hopper 63 on the first rail 61 transports the firework cylinder mold material to the upper side of the material transporting hopper 63 on the corresponding second rail 62 respectively, and opens the material transporting baffle to make the firework cylinder mold material in the material transporting hopper 63 on the first rail 61 fall into the material transporting hopper 63 on the corresponding second rail 62, the fortune hopper 63 on the second track 62 transports fireworks barrel mould material to the fireworks barrel die cavity structure 31 that corresponds on receiving fireworks barrel mould material back to carry fireworks barrel mould material to the die cavity through opening fortune material baffle 632, so that carry out subsequent cold press molding operation. In order to enable the material conveying bucket 63 on the second rail 62 to move synchronously with the demolding grabbing manipulator 4 and ensure that the conveying operation of the finished firework cylinder and the feeding operation of the firework cylinder mold material do not interfere with each other, the conveying base plate 411 of the demolding grabbing manipulator 4 is slidably arranged on the second rail 62, and the conveying base plate 411 and the material conveying bucket are fixedly connected so that the demolding grabbing manipulator 4 and the material conveying bucket 63 can move synchronously on the second rail 62.

The working principle of the embodiment is as follows:

automatic quantitative feeding: pouring firework barrel mold material into a feeding hopper of an auger feeding device to enable the firework barrel mold material to enter a feeding pipe body, enabling a feeding blade to push the firework barrel mold material to be discharged from a discharging port through rotation of a rotating shaft, enabling a weighing machine body to receive the firework barrel mold material discharged from the discharging port of the feeding pipe body through a receiving groove, sending a stop signal to the rotating shaft to enable the rotating shaft to stop rotating when the weight of the firework barrel mold material reaches a preset value through the weighing machine body, and enabling the interior of the weighing machine body to be communicated with a weighing discharging port to enable the firework barrel mold material inside the weighing machine body to be discharged through the weighing discharging port to achieve quantitative output of the firework barrel mold material.

Transferring the mold material: the fortune hopper on the first track is behind receiving the fireworks barrel mould material of the bin outlet ration output of weighing, transport fireworks barrel mould material to the fortune hopper top on the second track that corresponds respectively, and make the fireworks barrel mould material in the fortune hopper on the first track drop to the fortune hopper on the second track that corresponds through opening fortune material baffle, transport the fireworks barrel mould material to the fireworks barrel die cavity structural that corresponds after receiving fireworks barrel mould material, and carry fireworks barrel mould material to the die cavity in through opening fortune material baffle.

Cold press molding: after the firework barrel mold material is conveyed into the cavity, the molding driving device pushes the firework barrel mold cavity structure located at the feeding and discharging station to the cold press molding station, the firework barrel mold cavity structure is inserted into the cavity of the firework barrel mold cavity structure through the mandrel assembly, and the upper pushing and pressing mechanism upwards pushes the bottom die assembly and the upper die plate to move downwards so as to jointly cold press the firework barrel mold material to mold the firework barrel.

Discharging and carrying: after the firework barrel is molded, the molding driving device pushes the firework barrel cavity structure located at the cold-press molding station to the feeding and discharging station, the bottom die assembly is pushed upwards through the discharging pushing device to push the molded firework barrel away from the cavity, the demolding grabbing manipulator moves to the position above the firework barrel cavity structure, and the molded firework barrel is moved away from the firework barrel cavity structure and can be moved to a finished product conveying line through the driving of the conveying driving device and the clamping operation of the clamping mechanism.

The foregoing is illustrative of one embodiment provided in connection with the detailed description and is not intended to limit the disclosure to the particular embodiments described. Similar or identical methods, structures, etc. as used herein, or several technical deductions or substitutions made on the premise of the idea of the present application, should be considered as the protection scope of the present application.

Claims (9)

1. Demolding snatchs manipulator, its characterized in that, including transport frame (41), be equipped with transport drive arrangement (42) on transport frame (41) and with transport drive arrangement (42) transmission is connected and can reciprocate under the drive of transport drive arrangement (42) and be used for pressing from both sides clamping mechanism (43) of tight fireworks barrel.

2. The demolding grasping robot according to claim 1, wherein the clamping mechanism (43) comprises a clamping frame (431) in transmission connection with the carrying driving device (42), two clamping units (432) arranged oppositely for cooperatively clamping the firework cylinder are arranged on the clamping frame (431), and the clamping units (432) comprise a clamping plate (4321) and a clamping driving device (4322) for driving the clamping plate (4321) to approach or depart from the other clamping unit (432) arranged oppositely.

3. The stripper finger robot according to claim 2, characterised in that the clamping frame (431) is provided with a clamping stop (433), the bottom of the clamping stop (433) being located below the clamping unit (432) and the clamping frame (431).

4. The demolding grabbing manipulator according to claim 3, wherein the clamping frame (431) comprises a clamping base plate (4311) in transmission connection with the carrying driving device (42), two clamping support frames (4312) are oppositely arranged on the clamping base plate (4311), the clamping unit (432) is arranged on each clamping support frame (4312), and the clamping units (432) on the two clamping support frames (4312) are oppositely arranged.

5. The stripper grip robot of claim 4, wherein the clamping support frame (4312) comprises a supporting beam (43121), the clamping limiting device (433) comprises a connecting pad (4331) detachably connected to the lower side of the supporting beam (43121), the lower side of the connecting pad (4331) is detachably connected with a buffer plate (4332), and the bottom of the buffer plate (4332) is located below the clamping unit (432) and the clamping frame (431).

6. The demolding grabbing manipulator according to claim 1, wherein the carrying frame (41) comprises a carrying base plate (411), the carrying base plate (411) is provided with an abdicating groove (412), the carrying base plate (411) is provided with two supporting plates (413) which are oppositely arranged and respectively located on two opposite sides of the abdicating groove (412), the upper ends of the two supporting plates (413) are connected with a mounting plate (414) located above the abdicating groove (412), and the carrying driving device (42) is arranged on the mounting plate (414) and located in the abdicating groove (412).

7. The stripper grip robot of claim 2, wherein the clamp drive means (4322) comprises a clamp drive cylinder.

8. The stripper grip robot of claim 1, wherein the handling drive means (42) comprises a handling drive cylinder.

9. The automatic production line for cold press molding of firework cylinder bodies is characterized by comprising the demolding and grabbing manipulator as claimed in any one of claims 1 to 8.

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